JPS60177894A - Wiring structure of 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 <Field of Industrial Application> The present invention relates to a wiring structure for wiring between a fixed base and an hτ rotating base of a robot having a rotating base and a rotating base for a fixed base. It is.

<Prior art> In general, in a robot having a swivel base that rotates relative to a fixed heir, the electrical wiring that connects the control device and the robot body is once inserted into the fixed heir via a connector fixed to the fixed heir. Wiring is done from this fixed connector to the swivel base's motor, position detector, etc. In such robots, it would be difficult to assemble the cables between the motor and position detector and the connector on the fixed base using one continuous cable. Attach the receptacle on the side and perform wiring between this receptacle and the connector on the fixed base.
Wiring is accomplished by attaching a plug to the end of a cable connected to the motor and position detector on the swivel table, and connecting the plug to the receptacle.

However, with such a configuration, the connector connection part is exposed to the outside, so if the robot is used in a bad environment, there is a risk of a connector connection failure, and there is also a possibility that the There was also the problem that the connectors protruded, spoiling the aesthetics.

<Objective of the Invention> Therefore, the present invention aims to provide a robot that is highly reliable and aesthetically pleasing by making it possible to connect cables without exposing the connector for such connection to the outside of the swivel base. The purpose is to

<Structure of the Invention> In the present invention, a hollow support tube is erected in the center of a fixed heirth, and a swivel base is shaped to surround this support tube, and is rotatably supported via this support tube. The base has a hollow chamber that extends in a direction parallel to the axis of the support tube and can accommodate the relay connector, and a first opening that opens toward the support tube near the tip of the support tube. A second opening spaced apart from the first opening is formed in communication with the hollow chamber, and the wiring on the fixed base side is introduced into the hollow chamber through the center hole of the support tube and the first opening. , the wiring on the swivel base side is introduced into the hollow chamber through the second opening, and connected to the wiring on the fixed base side via a connector in this hollow chamber, and the first and second openings are covered. It is characterized by being covered with the body.

<Example> Embodiments of the present invention will be described below based on the drawings.

In FIG. 1, 10 is a fixed base, and 11 is a swivel base rotatably supported on the fixed base 10.
First, it is turned by a servo motor 12 fixed on a turning table 11. A first arm 13 is pivotally supported on the upper end of this swivel base 11, and this 17th-
A second arm 15 is pivotally supported at the tip of the arm 13. In addition, 16 indicates a feed mechanism for rotating the first arm 13,
It is rotated by a servo motor 17. Further, 18.19 indicates a position detector connected to the servo motor 12.17.

Next, the support drive mechanism and wiring structure of the swivel base 11 will be explained based on FIGS. 2 to 4.

The fixed heath 10 has a shape in which a hollow support tube 20 having a vertical through hole 20a is vertically provided, and a recess 21 communicating with the through hole 20a is formed on the bottom surface. A swivel base 11 is supported on the outer periphery of the rotor 20 via a pair of bearings 22 and 23. A gear G1 rotated by a servo motor 12 on the swivel base 11 meshes with a gear G2 fixed to the fixed base 10, and as the servo motor 12 rotates, the swivel base 11 rotates the support tube 20. Rotate around the center.

The recess 21 formed in the fixed base 10
A pair of receptacles 26a and 26b are attached to the peripheral wall 25 of the enclosure for connecting a cable arranged between the enclosure and a control device.

On the other hand, the swivel base 11 has a mounting portion 28 for mounting the servo motor 12 on the outer periphery of a cylindrical portion 27 that fits into the support tube 20.
is provided protrudingly, and the phase is 9 with respect to this several phrase part 28.
Box-shaped projecting portions 29a and 29b are provided on both sides of the supporting tube 20 at a position shifted by 0 degrees and protrude outward in the radial direction. 17-mu 13 is pivotally supported.

Inside these projecting parts 29a and 29b, relay connectors 52a and 52 extend in a direction parallel to the axis of the support cylinder 20.
Hollow chambers 30 a and 30 b capable of accommodating the support cylinder 20 are formed respectively, and a first hollow chamber communicating with the hollow chambers 30 a and 30 b is formed on the inner surface of the upper end located above the upper end of the support cylinder 20 .
openings 31a and 31b are formed respectively. Further, second openings 32a and 32b with large areas are formed on the sides of these protruding uBs 29a and 29b, respectively.
A cover 33a is provided over the second openings 32a and 32b.

33b are attached respectively. Incidentally, the lower ends of the covers 33a and 33b are formed with bulges 35a and 35b, respectively, as shown in FIG.
, 53b are introduced into the hollow chambers 30a, 30b from the outside of the projecting parts 29a, 29b through the bulges 35a, 35b.

Further, a lid body 36 having a hole 36a formed in the center is fixed to the upper end of the cylindrical part 27, and a cross section extending between the inner surfaces of the pair of overhang parts 29a and 29b is provided on the upper surface of the lid body 36. A rectangular duct 37 is provided. This duct 37 is connected to the first opening 3 in contact with the inner surfaces of the projecting parts 29a and 29b.
Flanges 38a and 38b covering each of 1a and 31b
are formed at both ends, and also function as a cover to cover the first openings 31a and 31b.In order to attach the duct 37 to the lid body 36, mounting parts 39a and 39b are formed at the lower part, and these few parts The duct 37 is fixed at 39a and 39b. Further, an opening 40 is formed at the center of the lower surface of the duct 37 at a position corresponding to the hole 36a of the lid 36, so that cables 51a and 51b can be introduced into the duct 37 through the through hole 20a of the support tube 20. In addition, it has a structure that can be split into two at the center in the width direction, and the duct can be attached after wiring the cables s1 and 51b.

'c L/receptacle 26a on fixed base 0
, 25b is introduced into the duct 37 from the through hole 20a of the support tube 20, and guided to the hollow chambers 30a, 30b of the overhangs 29a, 29b,
In the hollow chambers 30a and 30b, the relay connector 5
2a and 52b, the cable 53a of the swivel table 11 examples
; Connected to 53b.

Note that the receptacles ss of the relay connectors 52a and 52b
a, 55b can pass through the first openings 31a, 31b and the mounting holes 10a, 1 of the receptacles 26a, 26b.
A size that can pass through 0b is used.

In the structure configured as described above, the wiring work is performed with the duct 37 and the covers 3'3a and -33b removed. First, the receptacles 26a and 26b are attached to one end, and the receptacle 55a is attached to the other end.

Prepare in advance cables 51a and 51b with several lengths of 55b, insert the cables 51a and 51b into the fixed heath 10 from the mounting side of the receptacles 55a and 55b through the holes 10a and 10b, and Support tube 2
0 through the through hole 20a of the cover 36 and the hole 36a of the lid 36, and pull it out above the support cylinder 20.

In this state, the receptacles 2'6a and 26b are fixed to the fixed heath 10, and then the receptacle 55a is fixed.

55b is attached to the first opening 31a.

31b into the hollow chambers 30a and 30b, respectively. On the other hand, the relay connectors 52a are also provided at the ends of the cables 53a and 53b of the 11 examples of swivel tables.

52b, plugs 56a and 56b are provided in several examples, and the plug attachment ends of these cables 56a and 56b are connected to the second
hollow chambers 30a, 30b through openings 32a, 32b of
into this hollow chamber 30a.

Plugs 56a, 56b are coupled within receptacles 55a, 55b, respectively, within 30b. After that, the cable 51a is inserted into the duct 37.

The duct 37 is installed with the cover 51b housed, and the cables 53a and 53b pass through the bulges 35a and 35b of the covers 33a and 33b to exit the hollow chambers 3a and 30b.

33b is installed.

In this way, wiring work can be performed with the connector assembly attached to the end of the cable, so there is no need to attach the connector assembly to the cable at the assembly site in Lohosoto, resulting in high work efficiency.

Furthermore, since the relay connectors 52a and 52b are configured to be housed in the hollow chambers 30a and 30b formed in the swivel base 11, even if the robot is used in a bad environment, the relay connectors 52a and 52b will not be exposed to water. No oil etc. attached,
Inexpensive connectors without waterproof and dustproof functions can be used as the relay connectors 52a and 52b.

Furthermore, since the relay connectors 52a and 52b are not exposed to the outside of the swivel base 11, the robot can have a simple outer shape without irregularities.

Moreover, when the swivel base 11 rotates by m due to the work of the robot, although some twisting occurs in the portions of the cables 51a and 51b located within the support tube 20, the inside of the duct 37 and the hollow chamber 30a , 30b, the cable 51a.

There is almost no displacement of the relay connectors 51b, and the relay connectors 52a,
52b is not fixed to the swivel base 11, so the relay connectors 52a, 52b and the cables 51a, 51b
No unreasonable force will be applied to the connection between the connectors 53a and 53b.

<Effects of the Invention> As described above, in the present invention, since the relay connector is configured to be housed inside the swivel base, an inexpensive connector that does not have a waterproof and dustproof function can be used as the relay connector. Not only does this provide high reliability, but also the connector does not protrude from the outer surface of the swivel base, which has the advantage of simplifying the appearance of the robot.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a view in the direction of arrows showing the overall configuration of the robot, FIG. 2 is a vertical cross-sectional view showing the internal structure of the rotating base 11 in FIG. 1, and FIG. Fig. 4 is a sectional view taken along line mm in Fig. 2, and Fig. 4 is an IV in Fig. 3.
A sectional view taken along the line -IV, and FIG. 5 is a view taken from the direction ■ in FIG. 4. 10...Fixed base, 11...Swivel base, 12.17
...Servo motor, 20...Support tube, 29a, 29
b-Protruding portion, 30a, 30b...Hollow chamber, 312.
31b...first opening, 32a, 32b-knee second
opening, 33a. 33b... Cover, 35a, 35b... Swelling part, 37... Duct, 51a, 51'b... Cable full, 52a, 52b... Relay connector, 53a,
53b...Cable. Patent applicant Toyota Machinery Co., Ltd. Figure 2 Figure 3 'OΦα

Claims (2)

[Claims] (1) A wiring structure for wiring between the fixed base and the swivel base of a robot having a swivel base that rotates with respect to the fixed base, in which a hollow support tube is erected in the center of the fixed base. At the same time, the swivel table is shaped to surround the support tube and is rotatably supported via the support tube,
The swivel table has a hollow chamber that extends in a direction parallel to the axis of the support tube and can accommodate a relay connector, and a hollow chamber that opens toward the support tube near the tip θ (a part) of the support tube. and a second opening spaced apart from the first opening are formed to communicate with the hollow chamber, and the wiring on the fixed heath side is connected to the central hole of the support tube and the second opening spaced apart from the first opening. At the same time, the wiring on the swivel base side is introduced into the hollow chamber through the second opening 1'', and the fixed base is connected through the connector in this hollow chamber. The robot robot 1 to 1 are connected to the wiring of the example, and the first and second openings are covered with a cover structure.
wiring structure. (2) The first and second openings are large enough to allow the connector to pass through, and the cover structure is configured to open the first and second openings after the wiring is introduced into the hollow chamber. The wiring structure for a robot according to claim 1, characterized in that it is configured to be installed in the second opening.