JPH11216698A - Wiring and piping support device for industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wiring and piping support device for an industrial robot capable of coping with increase of wiring and piping without enlarging a turn part structure including a base and a turn frame. SOLUTION: One end of this support device is fixed to an internal wall of a base 31, and space 33, 34 are divided into four annular spaces 35, 36, 37, 38 by a first/second intermediate partition 13a, 13b almost on the concentric circle relating to a turn shaft O of a turn frame 32. Flexible conduits 5, (6), 7, 8 housing bundles 12 including wirings and pipings, are fixed at one end to the internal wall of the base 31 by clamps 9, extended in about half turn forward direction in a peripheral left direction along the annular space 35, 36 in the internal wall of the base 31, then folded back so as to form a U-shaped part in the upward, extended in about half turn return direction in a peripheral right direction in the two annular spaces 37, 38 so as to come into contact with a lower surface of the internal wall of the turn frame 32. Each of the four flexible conduits 5, 6, 7, 8 leading to a right end of the turn frame 32 is fixed to the turn frame 32 by a clamp 10, 11 at one end thereof.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot including a base having a first space therein and a turning frame rotatably mounted on the base having a second space therein. The present invention relates to a device for supporting a plurality of wirings and / or pipes arranged at a position.

[0002]

2. Description of the Related Art Conventionally, a wiring support device typified by a wiring cable of an industrial robot has been installed in a robot body for reasons such as aesthetics, to maintain free space around the robot, and to protect wiring. It is often stored and arranged. For example, Japanese Unexamined Utility Model Application Publication No.
As shown in FIG. 7 and FIG. 8 which is a cross-sectional view taken along the line DD in FIG. 7, the base 1 has a first space 20 inside and a second space 21 inside. Base 1
A wiring bundle 42 including a plurality of wirings 42a arranged on an industrial robot including a turning frame 2 rotatably mounted on the base 1 and a turning frame O around the turning axis O of the turning frame 2 Along the concentric portions, two flexible elastic conduits 51 and 52 each containing a bundle 42 of wires.
Has one end fixed to the inner wall of the base 1 with the clamps 9, 9 and extends in the circumferential direction along the first space 20 of the inner wall of the base 1 in a half-circumferential direction. And extends in the circumferential direction about half way backward so as to be able to contact the inner wall lower surface 23 of the revolving frame 2, and the other end is fixed to the revolving frame 2 by clamps 10, 10. In the figure, reference numeral 4 denotes a speed reducer fixed to the base 1 and having an output shaft fixed to the turning frame 2, and connected to an output shaft 24 of the drive motor 3 fixed to the turning frame 2.

Each of the two elastic conduits 51 and 52 is disposed so as to be symmetrical with respect to a horizontal center line 25 passing through the pivot axis O, and is divided into approximately half circumferences. With this arrangement, when the revolving frame 2 revolves in one direction, the bundle of wires 42 contained in one of the two elastic conduits 51 and 52 is bent at an appropriate radius of curvature and advances, while Is similarly bent and receded, so that it does not interfere with each other and a stable load is applied to the bundle of wires 42 at the time of turning, so that it has been widely used as an advantageous structure for preventing wiring trouble. As shown in Japanese Patent Application Laid-Open No. 9-150393, there is also a type in which a bundle of wires is arranged by changing the height in parallel to the direction of displacement of the turning part so that the wires do not overlap due to the turning operation of the turning frame. is there.

[0004]

By the way, the number of wirings and piping such as air and water mounted on the robot tends to increase year by year. For example, in a spot welding robot configured to perform a predetermined welding operation by holding a welding gun on a wrist, an air cylinder was previously used as an actuator for operating an electrode tip of the welding gun, Recently, servo motors have been used,
As a result, power lines and control lines to the servomotor, and piping such as air / water were added to the wiring. Also,
Force sensors used for force control, visual sensors used for handling robots, and the like also cause an increase in wiring and piping.

However, as the number of wirings and pipes increases, the constructions of Japanese Utility Model Laid-Open No. 3-36790 and Japanese Patent Laid-Open No.
U-shaped part extending between the base and the swivel part frame due to the thick elastic conduit housing the wiring piping
Since the radius of curvature of 44 becomes large, there is a problem that the size of the turning portion structure must be increased in the vertical direction. Similarly, in Japanese Patent Application Laid-Open No. 9-150393, when the number of wirings and pipes increases, the wirings and pipes overlap in parallel in the vertical direction, so that the height required in the vertical direction increases and the turning part structure becomes large. there were. Therefore, in the conventional wiring and piping processing mechanism, there is a problem that an increase in the number of wirings and piping directly leads to an increase in the height and size of the robot body.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and an industrial robot which can cope with an increase in wiring and piping without increasing the size of a swivel structure including a base and a swivel frame. It is to provide a wiring and piping support device.

[0007]

In order to achieve the above object, according to the present invention, a base having a first space therein and a base having a second space therein are provided in the present invention. In the industrial robot including a revolving frame rotatably mounted on the other side, the first and second spaces are fixed at one end to at least one inner wall of the base and the revolving frame, and are connected to a revolving shaft of the revolving frame. On the other hand, it is divided into an annular space including a plurality of annular portions by at least one or more intermediate partition walls having portions extending substantially concentrically, and a plurality of wirings and a plurality of wirings are arranged in each of the plurality of annular spaces. Each of the bundles including the wiring and the piping, which are bundles including the piping, has one end fixed to the inner wall of the base and extends in the circumferential direction along one of the annular spaces of the inner wall of the base in about half the forward direction. Up Industrially characterized by being folded back so as to form a U-shaped portion and extending in a circumferential direction about half way backward so as to be able to contact the lower surface of the turning frame inner wall, and having the other end fixed to the turning frame inner wall. The present invention provides a wiring and piping support device for an industrial robot. Thereby, the first and second spaces in the base and the turning frame are each divided into two or more annular spaces by the intermediate partition, and the bundle including wiring and piping arranged in each annular space is divided. And the number of wires and pipes arranged per unit annular space is reduced, and as a result, the curvature of the U-shaped portion, which is the folded portion of the bundle including the wires and pipes in the base and the turning frame, is reduced. An object of the present invention is to provide a wiring and piping support device for an industrial robot which can keep a radius small and can cope with an increase in wiring and piping without increasing the size of a swiveling portion structure including a base and a rotating frame.

According to a second aspect of the present invention, the bundle including the wiring and the piping is accommodated in the flexible conduit for each annular space partitioned by the intermediate partition, so that the wiring and the piping are reduced. The bundle included is protected by the flexible conduit, and adjacent flexible conduits do not interfere with each other even during the turning operation of the turning frame. As the flexible conduit, a coil spring is generally used. However, if the flexible conduit has sufficient elasticity for bending operation and has a property of being resistant to friction, for example, a plastic tube may be used. You may.

Further, as in the invention according to claim 3,
The bundle including each wiring and piping is housed in a coil spring, and each coil spring is divided into approximately half circumferences so as to be symmetrical with respect to a horizontal center line passing through the pivot axis. When the revolving frame pivots in one direction, a half circumference of the plurality of coil springs is bent at an appropriate radius of curvature, respectively, and advances, and a half circumference of the other coil spring is similarly bent and retreats, so that the two springs retreat each other. There is no interference, and a stable load is applied to the bundle including each wiring and piping at the time of turning, so that wiring and piping troubles are prevented.

[0010]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a sectional view of an essential part of an elevation showing an embodiment of a wiring and piping support device for an industrial robot according to the present invention, FIG. 2 is a view taken in the direction of arrow P in FIG. 1, and FIG.
FIG. 4 is a cross-sectional view taken along the line CC of FIG. 1, and FIG. 4 is a cross-sectional view taken along the line CC of FIG. The industrial robot of the embodiment includes:
It includes a base 31 having a first space 33 therein and a revolving frame 32 having a second space 34 therein and rotatably attached to the base 31. The reduction gear 4 is fixed to the base 31, and the output shaft of the drive motor 3 fixed to the turning frame 32
Outer housing which is the output shaft of reducer 4 connected to 24
The turning frame 32 is rotated by the rotation of the output shaft 24. A robot arm (not shown) is provided above the revolving frame 32. A portion 39 having one end fixed to the inner wall of the base 31 and extending approximately 280 degrees substantially concentrically with respect to the pivot axis O of the pivot frame 32;
The first space 33 is divided into two annular spaces 35 and 36 by the first intermediate partition 13a having (FIG. 4). The second intermediate partition 13b, one end of which is fixed to the inner wall of the revolving frame 32 and is opposed to the first intermediate partition 13a with a small gap therebetween.
As a result, the second space 34 is divided into two annular spaces 37 and 38.

A bundle including a plurality of wires 12a and / or pipes 12b connected to a robot control device and a robot wrist working device (both not shown).
12 are housed in coil springs, respectively.
The first space 33 enters the divided two annular spaces 35 and 36 from the right end of the base 31 as viewed in FIG. The bundle 12 including the wiring and the piping is a bundle including the plurality of wirings 12a, and the plurality of the wirings 12a.
And a bundle including one pipe, a bundle including a plurality of wirings 12a and a plurality of pipes, and a bundle including a plurality of pipes. The bundle 12 containing the wiring and piping entering the base 31 is divided into four groups, each of which is protected by four flexible conduits 5, 6, 7, 8 consisting of coil springs. As can be seen in FIG. 4, which is a cross-sectional view taken along the line CC in FIG. 1, the four flexible conduits 5, 6, 7, 8 are:
The flexible conduits 6,8 and the flexible conduits 5,7 are arranged so as to be axisymmetrical with respect to a lateral center line 40 passing through the pivot axis O of the pivot frame 32 so as to be axisymmetric. .

As can be seen in FIGS. 1 and 3, four flexible conduits 5,6,
7, 8 are fixed at one end to the inner wall of the base by the clamp 9 and extend leftward in the circumferential direction along the annular spaces 35, 36 of the inner wall of the base 31 in the leftward direction for about half a turn, and then are upwardly U-shaped. It is folded back so as to form the portion 14 and extends in the two annular spaces 37, 38 in the circumferential direction to the right in the circumferential direction in the half backward direction so as to be able to contact the inner wall lower surface of the revolving frame 32. As shown in FIG. 2, each of the four flexible conduits 5, 6, 7, 8 is fixed at one end to a revolving frame 32 by clamps 10, 11, as shown in FIG. Thus, the bundle including the wiring and the piping is protected by the flexible conduit, and the adjacent flexible conduits do not interfere with each other even when the turning frame 32 is swung. As the flexible conduit, any material having sufficient elasticity to a bending operation and a property of being resistant to friction may be used, and any material having such a property, such as a plastic tube, may be used. It may be.

With such a configuration, the first and second spaces 33 and 34 in the base 31 and the revolving frame 32 are separated from the intermediate partition 13a,
13b, each of which is divided into two or more annular spaces 35, 36, 37, and 38, and the bundle 12 including the wiring and piping arranged in each annular space is divided by the divided number. As a result, the number of wires and pipes arranged per contact is reduced, and as a result, the radius of curvature of the U-shaped portion 14 which is the folded portion of the bundle including the wires and pipes in the base and the turning frame can be reduced, and It is possible to cope with an increase in the number of wirings and pipes without increasing the size of the revolving portion structure including the revolving frame. Since the enlargement of the turning section structure is prevented, an increase in material costs is prevented, and a wiring and piping support device for an industrial robot which is more advantageous in terms of cost than before is provided.

Hereinafter, when the turning frame 32 is turned,
The function of the above configuration will be described. The flexible conduits 5 and 7 containing the bundles 12 including the wiring and the piping are separated from the other two flexible conduits 6 and 8 by a horizontal center line 40 passing through the pivot axis O of the pivot frame 32. Since it is arranged in the installation base 31 and the turning frame 32 so as to be line symmetric,
Thereby, when the turning frame 32 turns in one direction,
Half the circumference of the plurality of flexible conduits is bent at an appropriate radius of curvature, respectively, and advances, and the other half of the other flexible conduit is similarly bent and retracted, so that they do not interfere with each other, so that they can pivot. Occasionally, a stable load is applied to the bundle 12 including the wiring and piping, thereby preventing wiring and piping troubles.

In the above-described embodiment, two intermediate partition walls are used.
The flexible conduit containing the bundle 12 including the wiring and the piping by 13a and 13b is arranged so as to be doubly arranged on the concentric circle with respect to the rotation axis O, as shown in FIG. Flexible conduits 5, 6, 7, 8, 15, 15, 1 containing bundles 12 including wiring and piping by two intermediate guides 13a, 13b and 17a, 17b
By arranging 6 on the concentric circle with respect to the turning axis O, it is possible to cope with a larger increase of the bundle 12 including the wiring and the piping.

Further, in the above-described embodiment, the flexible conduits 5, 6, 7, 8 accommodating the bundle 12 including the wiring and the piping have the same cross-sectional area as shown in FIG. In addition, by appropriately setting the cross-sectional area for each flexible conduit, it is possible to cope with the shape of the turning mechanism section including the base 31 and the turning frame 32 and the intended use of the bundle 12 including wiring and piping.

The embodiment of the present invention has been described above. In each of the above-described embodiments, the turning axis O of the turning frame 32 is perpendicular to the base 31. However, the present invention can be applied to an industrial robot in which the turning axis O is horizontal. . In this connection, the application of the present invention is not limited to the joint between the base 31 and the turning frame 32, but may be applied to other joints, for example, the joint between the upper arm and the lower arm in a vertical articulated robot. May be.

[0018]

According to the present invention, at least one or more intermediate partition walls having one end fixed to at least one inner wall of the base and the revolving frame and extending substantially concentrically with respect to the revolving axis of the revolving frame. Is divided into an annular space including a plurality of annular portions, and a bundle including wiring and piping arranged in each of the plurality of annular spaces has one end fixed to the inner wall of the base, and is formed into one of the annular spaces of the inner wall of the base. After extending in the circumferential direction about half way forward, it is folded upward to form a U-shape, extends in the circumferential direction about half way backward so as to be able to contact the lower surface of the inner wall of the turning frame, and turns the other end. Since the first and second spaces in the base and the revolving frame are divided into two or more annular spaces by the intermediate partition wall, the first and second spaces are arranged in the respective annular spaces. Since the bundle including the wiring and the piping to be divided is divided by the divided number, the number of the wiring and the piping arranged per unit annular space is reduced, and as a result, the wiring and the piping in the base and the turning frame are reduced. The wiring and wiring of the industrial robot which can suppress the radius of curvature of the U-shaped portion which is the folded portion of the bundle including the base and the turning frame including the turning frame without increasing the size of the turning portion structure including the base and the turning frame. A pipe support device has been provided.

Preferably, a bundle including wiring and piping is accommodated in a flexible conduit for each annular space partitioned by the intermediate partition, so that the bundle including wiring and piping is formed of a flexible conduit. In addition to being protected, adjacent flexible conduits do not interfere with each other even during the turning operation of the turning frame. As the flexible conduit, a coil spring is generally used. However, if the flexible conduit has sufficient elasticity for bending operation and has a property of being resistant to friction, for example, a plastic tube may be used. You may.

More preferably, the bundle including the wiring and the piping is housed in a coil spring, and each coil spring is divided into approximately half turns so as to be symmetrical with respect to a horizontal center line passing through the pivot axis. If it is arranged, when the revolving frame pivots in one direction, a half circumference of the plurality of coil springs is bent at an appropriate radius of curvature and moves forward, and a half circumference of the other coil spring is similarly bent. Since it is receded and retracted, it does not interfere with each other, and a stable load is applied to the bundle including each wiring and piping during turning, so that wiring and piping troubles are prevented.

[Brief description of the drawings]

FIG. 1 is a sectional view of a principal part of an elevation showing an embodiment of a wiring and piping support device of an industrial robot of the present invention.

FIG. 2 is a view as seen from an arrow P in FIG.

FIG. 3 is a cross-sectional view of a main part along a line BB in FIG. 2;

FIG. 4 is a sectional view taken along the line CC of FIG. 1;

5 is a cross-sectional view of a principal part similar to FIG. 3, showing an example in which the number of rows of wiring pipes is increased with respect to the embodiment of the present invention shown in FIG. 3;

FIG. 6 is a cross-sectional view of an essential part similar to FIG. 3, showing an example in which the arrangement of wiring pipes is changed from the embodiment of the present invention shown in FIG. 3;

FIG. 7 is a cross-sectional view of an essential part of an elevation showing an example of a conventional wiring and piping processing mechanism.

8 is a cross-sectional view of a main part along line DD of FIG. 7;

[Explanation of symbols]

5,6,7,8,15,16 Flexible conduit 12 Bundle including wiring and piping 13a, 13b, 17a, 17b Intermediate partition wall 14 U-shaped part 31 Base 32 Swivel frame 33 First space 34 Second space 35,36,37,38 Annular space 39 A part extending almost concentrically with respect to the pivot axis of the pivot frame 40 Lateral center line passing through the pivot axis of the pivot frame

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Kiyoshi Kaniya 1-1-1 Fujikoshi Honcho, Toyama City, Toyama Prefecture

Claims (3)

[Claims] 1. An industrial robot comprising: a base having a first space inside; and a revolving frame having a second space inside and rotatably attached to the base, wherein the first and the second robots are provided. The second space includes a plurality of intermediate partitions having one end fixed to at least one inner wall of the base and the turning frame and having at least one intermediate partition having a portion extending substantially concentrically with respect to a turning axis of the turning frame. Each of the bundles including the wiring and the piping, which is divided into an annular space including an annular portion, and is arranged in each of the plurality of annular spaces, is a bundle including a plurality of wirings and / or piping. After being fixed to the inner wall and extending in the circumferential direction about one half of the circumferential direction along one of the annular spaces of the base inner wall, the base is folded back so as to form a U-shaped portion, and the lower surface of the turning frame inner wall is formed. A wiring and piping support device for an industrial robot, wherein the device extends in the circumferential direction so as to be able to contact in a half backward direction and the other end is fixed to the inner wall of the turning frame. 2. Each of the intermediate partition walls has a slight gap between the first intermediate partition wall having one end fixed to the upper surface of the base inner wall and the first intermediate partition having one end fixed to the lower surface of the turning frame inner wall. 2. A bundle comprising a second intermediate partition wall disposed opposite to each other via a wire, and the bundle including each of the wiring and the pipe is housed in a flexible conduit.
3. The wiring and piping support device for an industrial robot according to claim 1. 3. A bundle including each of said wires and pipes is housed in a coil spring, and each of said coil springs is divided into approximately half turns so as to be symmetrical with respect to a horizontal center line passing through said swivel axis. The wiring and piping support device for an industrial robot according to claim 1, wherein the wiring and piping support device is arranged in a manner to be arranged.