JPS591193A - Wiring device for industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a device for interconnecting the arms of an industrial robot.

In industrial robots that have electric motors built into their working arms, these electric motors are wired with control cables. This is shown in FIGS. 1 and 2.

In the figure, (1) is the robot body with a built-in electric motor, (2)
) is a first arm that is pivotally attached to the main body (1) and is moved up and down and rotated by the electric motor of the main body (1), (3) is a second arm that is pivotally attached to the tip of the first arm (2), ( 4) and (5) are holders that are fixedly installed through the peripheral walls of the first arm (2) and the second arm (3), respectively, and (6) and (7) are the holders that are fixedly installed through the peripheral walls of the first arm (2) and the second arm (3), respectively.
) and the electric motor built into the second arm (3), (6a),
(7a) is the sunrise line, (8) is the control cable installed between the first arm (2) and the second arm (3) and held by the retainers (4) and (5). 8a) is its core, (9
) and αQ are stored in the first arm (2) and second arm (3), respectively, and connect the Hiji wire (6a) and the wire core (8a), and the Hiji wire (7a) and the wire core (8a), respectively. It is a connection tool for

That is, the first arm (2) moves vertically and rotates in the horizontal plane by driving the electric motor within the main body (1). 1st arm (2)
The rotation of the electric motor (6) inside rotates the second arm (3) in a horizontal plane. Furthermore, the rotation of the electric motor (7) within the second arm (3) rotates a gripper (not shown) pivotally attached to the second arm (3). Through these operations, predetermined work is performed.

Now, if the second arm (3) is rotated by an angle θ as shown in Fig. 2, the holding end A of the control cable (8) is at point A.
′ and twist by an angle α. Similarly, the holding end B moves to point B' and is twisted by an angle β. Generally, the control cable (8) is strong against bending but weak against twisting. Therefore, after long-term use, there is a risk that the strands of the core in the twisted portion may break.

This invention is intended to improve the above-mentioned problem, and by connecting the electric wire wired to the arm and the electric motor through contact between a movable contact and a fixed contact, no screws occur in the electric wire.
An object of the present invention is to provide a wiring device for an industrial robot that can prevent wire breakage.

An embodiment of the present invention will be described below with reference to FIG.

In the figure, (2a) is an arm body forming the peripheral wall of the first arm (2),
(2) is a sliding bearing fixed in a hole that penetrates the arm body (2a) and opens upward; ), α→ is the nut screwed into the above-mentioned screw of the holder α, and αQ is the ring-shaped holder α.
A wire core (8
A movable contact is connected to a), Q is a fixed contact that is in contact with movable contact α0 and connected to the Hiji wire (6a), and α has one end fixed to the inner wall of the arm (2a) and the other. This is a leaf spring that holds the fixed contact α at its end and applies a force to press it against the surface of the movable contact QQ. Other than the above, the configuration is the same as in FIG. 1.

Note that the control cable (8) is inserted into the holder 03,
When the nut α→ is rotated, the inner periphery of the holder (2) presses and holds the surface of the control cable (8), but the details are omitted.

Now, when the second arm (3) rotates, the control cable (8)
The holding end of is rotated.・However, the control cable (8) is held by the holder (2), and the holder (2) is held by the arm (2).
a) Since it is rotatable about K, no twisting force acts on the wire core (8a). Even if the holder (to) rotates, the wire core (8a)
The conduction between and the sunrise wire (6a) is maintained.

In the embodiment, a control cable (8) is used, but it is obvious that the present invention is not limited to this and can be applied to electric wires in general.

As explained above, in this invention, an electric wire wired to an arm of an industrial robot is held in a holder that is rotatably provided at a position where the electric wire exits from the arm and a position where it enters another arm, and this holder A movable contact is provided around the arm, and the connection between the electric wire and the motor is maintained through contact with the fixed contact, so that even when the arm rotates, screw damage to the electric wire is avoided. It is possible to prevent shortening of the life of the electric wire.

[Brief explanation of the drawing]

Fig. 1 is a partially cutaway side view showing a conventional industrial robot wiring device, Fig. 2 is an explanatory diagram of the relationship between arm rotation and control cable twisting, and Fig. 3 is an industrial robot wiring according to the present invention. FIG. 1 is a partially cutaway front view showing one embodiment of the device. (2)...First arm, (3)...Second arm, ((+)
, (7)...Electric motor, (8)...Control cable (
electric wire), (6)... sliding bearing, (2)... holder,
α0: Movable contact; α: Fixed contact. In the drawings, the same parts are indicated by the same reference numerals. Agent Makoto Kuzuno - (1 other person) Figure 2 Figure 3 561-

Claims (1)

[Claims] In the case where arms are pivotally connected to each other, an electric motor is built in these arms, and the electric motor is wired by electric wires installed in the arms, the electric wires are connected to the positions where the electric wires exit from the arms and to the other arms. A holder that is rotatably provided in a position to hold the electric wire, a movable contact provided around the holder and connected to the electric wire, and a fixed contact that is connected to the electric motor and contacts the movable contact. A wiring device for an industrial robot, characterized in that it is equipped with a child.