JPS61249295A - 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] [Industrial Application Field] The present invention relates to an industrial robot equipped with an electrically driven hand device, and particularly to a power supply from the robot body to the hand device via a robot arm that rotates and moves up and down. This invention relates to an industrial robot equipped with flexible electric wires for use in industrial robots.

[Conventional technology]

FIG. 5 is an overall configuration diagram showing an example of a normal industrial robot equipped with an electrically driven hand device vi-(1) is the robot body, (2) is the lifting axis, (3), (4) ) are robot arms that rotate horizontally by drive machines (5), 8 and (6), respectively. (7) is a drive machine that rotates one hand device (9) that grips the workpiece (8), and the head is a lifting shaft (2) between the robot body (1) and the hand device (9).
), mouth, and flexible wires (hereinafter referred to as cables) clamped at several points on the bot arms (3) and (4).
It is.

In the conventional industrial robot configured as described above, the cable (g) between the robot body (1) and the hand device (9) is connected to the drive unit (s), (6), (
In order to reduce the influence of stresses such as torsion and bending that are received each time the arms (3), (4) and the no-gond device (9) rotate due to It is formed to have greater flexibility to withstand the above-mentioned repeated stress.

[Problems that the invention attempts to solve]

In conventional industrial robots such as those mentioned above, the cable (toward) is fixed with a clamp midway in order to suppress the effects of repeated stress exerted by the rotation of the drive machines (5), (6), and (7). Since the points between the points are formed in an upward arc, the arm (3), (
4) and the hand device (9), this arc-shaped cable (g) and surrounding objects may interfere with each other, and if the effects of repeated stress overlap, material fatigue may cause If the shape changes to a shape different from the original arc shape as exemplified by (1Oa) in the figure, and the flexibility against the above stress becomes extremely small, the material will deteriorate at an accelerated rate, eventually leading to cutting and short-term There was a problem of having to replace the product with a good one after using it for a while.

This invention was made to solve this problem, and includes arms (3), (4) and hand device (9).
An object of the present invention is to provide an industrial robot equipped with a cable that has durability over a long period of time since there is no fear of interference with surrounding objects when the robot turns, and the stress that is applied during the turn is small.

[Means for solving problems]

In an industrial robot equipped with an electrically driven hand device according to the present invention, the robot arm and the hand device are rotated in the middle of the cable route for driving power supply from the robot body, the lifting axis, and the robot arm to the hand device. A buffer section is provided in which the above-mentioned cable is formed into an arc shape around the center of the rotation axis, and the cables between the buffer sections and to the hand device are arranged along the top surface of the robot arm, etc. .

[Effect]

The buffer section of the cable, which undergoes deformation during turning, is formed into an arc shape whose center coincides with the center of turning, so that almost no torsional stress occurs during turning, which is a major factor in causing cable material fatigue. [Embodiment] FIGS. 1 and 2 are overall configuration diagrams of an industrial robot according to an embodiment of the present invention. FIG. 1 is a front view, FIG. 2 is a top view, and (1) to ( 9) shows the conventional example and is exactly the same part as the same reference numeral in FIG. (to) is the robot body (
1) A cable that supplies driving power to the horizontal drive machines (5), (6), (7) and the hand device (9), and connects the center to the pivot axis on the way to the hand device (9). (II, (17), A buffer part against external force formed in an arc shape that coincides with al is supported by a disk-shaped cable receiver (1 m, (14, (1!9), and the pivot axes ae and αη, respectively.

The above-mentioned buffer section is arranged almost horizontally along the robot arms (3), (4) K, and the stepped section is provided with a cable guide kasumi, co, (c).
The traps are arranged along these arrangement routes, and the positions where restraint is required are held by clamps (2).

Also, ■ is a branch line for supplying power to the drive machines (5), (6), and (7).

In the industrial robot according to the present invention configured as described above, for example, the position of the hand device (9) that grips the workpiece (8) is moved to transport the workpiece (8) to another station. When, arm (3).

(4) and hand device (9) t-swivel axis a
S, αη.

- rotates, and in response to this rotation, as shown in Figures 3 and 4, 1, for example, the direction of winding the arc of the cable (to) when the axis of rotation is tilted and the direction of rotation of the axis of rotation αe. There is a difference in the change in the radius of curvature of the cable due to the correlation. That is, when the robot arm (3) turns in the same direction as the winding direction of the cable aO as shown in Fig. 3, the diameter of the buffer part becomes smaller than the original shape, and the radius of curvature of the cable (toward) in this part becomes approximately 172. On the other hand, if it turns in the opposite direction to the winding direction, the diameter of the buffer part becomes larger and the radius of curvature becomes approximately 1/2B, and only the bending stress corresponding to the change in the radius of curvature increases. K is that almost no stress is applied to the cable α1 in the twisting direction.

〔Effect of the invention〕

In accordance with the present invention, the portion of the cable that is deformed by external force due to the rotation of the robot arm and hand device during robot operation is formed into an arc shape with a center that coincides with the rotation axis, and nine buffer portions are provided. , the stress on the cable during turning is limited to only bending stress by removing torsional stress, and the cable is arranged along the top surface of the robot arm, etc., so it can withstand long-term turning operation and is easy to turn. This has the effect of providing a device that is free from interference with objects surrounding the robot arm and hand device.

[Brief explanation of the drawing]

1 and 2 are general configuration diagrams of an industrial robot according to an embodiment of the present invention, FIGS. 3 and 4 are plan views explaining the invention in detail, and FIG. 5 is a conventional electrically driven robot. 1 is an overall configuration diagram showing an example of an industrial robot equipped with a hand device. In the figure, (3) and (4) are robot arms, (
8) is the work, (9N! huff) 'equipment, <LO ha'
I''7'k, as e a7) -a seconds is the pivot axis, α1.

Claims (1)

[Claims] In a device that is equipped with an electrically driven hand device and that lifts, lowers, and rotates the hand device that grips a workpiece to transport it, etc., the middle of the path of a flexible electric wire that supplies driving power to the hand device, etc. A buffer section in which the flexible electric wire is formed in an arc shape whose center coincides with the pivot axis is provided above the pivot shaft, and the flexible electric wire is pivoted between the hand device and the buffer section and between the buffer sections. An industrial robot characterized in that the flexible electric wire described above is arranged along a rotating member of the robot.