JPS61265291A - Industrial robot device - 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 a piping configuration of an industrial robot device in which a moving actuator is provided and a piping for driving fluid is arranged through the actuator. .

[Conventional technology]

First, 6th. For example, according to FIG.
A conventional industrial robot device similar to that shown in the '786 publication will be described.

In the figure, (1) is the base of the robot device, and (2) is the base (1
) is an elevating body configured to be able to rise and fall, (3) is an elevating body (2
), one end of which is rotatably attached to the upper end of (
4) is the second arm seeded at the rotating end of the first arm +31, (5
) is a drive unit that is attached to the rotating end of the second arm (4) and has a hanging end rotating shaft (5a), and (6) is a drive unit that is fixed to the lower end of the rotating shaft (5a) and is located in the middle in the width direction. Actuating body with groove-like recess (6a).

(7) is a T-shaped rocking body, and the T-shaped side surface (7a) is provided in the actuating body (6) by being pivotally supported by the recess (6+!L) n wall of the actuating body (6). It is rotated about the horizontal surface (7a) by a driving machine, and a support shaft (no) is formed by the vertical surface of the T-shape. (8) is a gripping device which is pivotally supported by the support shaft (7b) and rotates with respect to the support shaft (7b).

(9) is a flexible tube such as a pressure-resistant hose that is disposed between the base body (I) 1 and the gripping device 18) and flows a driving fluid such as hydraulic pressure to operate the gripping device (8). (3), second arm (
4), the middle part is held by the second arm (4) and the gripping device (8).
), and between the members that are relatively displaced, the piping is arranged with some clearance as shown in FIG.

That is, although a detailed explanation will be omitted, the elevating body (2) moves up and down, and the first arm (3), second arm (4), and two actuating bodies (6
).

The swinging body (7) 1 and the gripping device (8) are driven and rotated.

- Furthermore, the gripping device (8) is controlled via the flexible tube (9) to carry out the required work.

[Problem that the invention seeks to solve]

In conventional industrial robot equipment like the one mentioned above.

Flexible tube (9
) is twisted and bent, which shortens the life of the flexible tube (9) and requires a lot of trouble to maintain the flexible tube (9).

The present invention aims to solve the above-mentioned problems, and extends the life of the piping by reducing the deformation of the driving fluid piping due to the operation of the robot device.

The present invention aims to provide an industrial robot device with fewer problems caused by piping.

[Means for solving problems]

The industrial robot device according to the present invention has a rotary joint disposed coaxially with the pivots of two members that rotate relative to each other.
A pipe body for the driving fluid is provided from one part of the member to one rotating part of the rotary joint, and another pipe body for the driving fluid is provided from the other part of the two members to the other rotating part of the rotary joint. is provided, and the tube bodies are connected to each other via a rotation joint at the connecting portion of the two members.

[Effect]

In this invention, since the rotation axis of the rotation joint is arranged on the same line as the rotation axis of the pivots of the two members, it is possible to eliminate deformation that occurs in the tube body when the two members operate.

〔Example〕

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 4.

In the figure, No. 6. The same symbols as in FIG. 1 indicate corresponding parts.

(6) is a first member consisting of an actuating body, (71 is a T-shaped oscillating body, i) A pivot (7a) consisting of a T-shaped lateral surface pivots on the first member (6) K, and the joint portion is The configured and connected second member +1 (I is fixed to the first member (6) by a stand (10a) and is arranged so that its axis coincides with the rotation axis of the lateral surface (7a) of the second member. (11a) is the first shaft member that is fitted with the first shaft member, and (11a) is the first rotation joint;
The inner tube of the first pivot joint aυ held on the first shaft a0 by a retaining ring (111N), (11c) is -gill
A K ball bearing (11d) is provided and opens on the other side, and the inner tube (
11a) The first outer cylinder is fitted to the long side -1111 via a ball bearing (11d).

(11θ) is a communication hole that communicates from the inner pipe to the outer surface of the first outer cylinder (11C), (11f) is the same as the first outer cylinder (11G), and the ball bearing (11g) and the communication hole (11h) are similar to the first outer cylinder (11G). ) with an inner tube (1
1a) External surface.

The second outer cylinder (11j) forms one space (111) with the first outer cylinder (11c).
), a low-friction viscoelastic material 2, for example, an oil seal made of soft fluororesin, fitted in grooves formed in the opposing end surfaces of the second outer tube (11f), (11k) on the outer surface of the inner tube (11a). An oil seal that is fitted and placed close to both ball bearings (11d) and (11g) and has the same function as an oil seal (11j), (+3 is attached to the second arm (4) by a stand (12a) The rotating shaft (5) of the fixed drive machine (5)
03 is a shaft body formed by a part of the support shaft (7b) consisting of a T-shaped vertical surface of the second member (71), (110) is a shaft body arranged in alignment with the rotation axis of A rotary joint having the same structure as the one-swivel joint αυ and having outer cylinders (110a) and (110b) fitted to the shaft body (1B) provided on the second arm (4), respectively.

(111) is fitted into the shaft body a of the support shaft (7b) and the first
The outer cylinder (111a) is configured in the same way as the rotation joints all.
(111b), (I4 is a metal tube and is connected from the second arm (4) to the communication hole of one outer cylinder (110a1) of the rotation joint (110), (+
9 is a metal tube, and one end is connected to the rotation joint (1) of the second arm (4).
10) is connected to the communication hole of the other outer cylinder (110b),
That is, the first pipe member (6) whose other end is connected to the communication hole (11θ) of the first outer cylinder (11c) of the first rotary joint α from the shaft 11, α0 is a metal pipe and one end is the support shaft (7
b) is connected to the communication hole of one outer cylinder (111a) of the rotation joint (111), that is, the other end from the second member i714A11 is connected to the communication hole of the second outer cylinder (11f) of the first rotation joint aD. The second tube body aD connected to (11h) is a metal tube, and one end is connected to the communication hole of the other outer tube (111b3) of the rotation joint (111) of the support shaft (7b), and the other end is gripped. It is a pipe body connected to a hydraulic drive part (not shown) of the device (8).Although illustration and detailed explanation are omitted, the second arm (4
) and the first arm (3) are provided with pivot joints similar to the pivot joint (110), and the pipe body α4 and similar The tube body (91) of the base body (1) is connected to the tube body α4, and the base body f
A driving fluid flows between i+ and the gripping device (81).

That is, the joint portion of the robot device configured by connecting two members such as the first member (6) and the second member (71, etc.) via the pivot shaft (7a) has the same structure as the first rotation joint α0. A rotation joint is fitted and attached to a shaft such as a first shaft Q1 provided on the same axis as the pivot of the joint. The second tube 719 (19, etc.) is connected via a pivot joint, that is, via one sealed space (111).

In this way, the tube bodies arranged corresponding to the members of the robot device are connected from the base body (1) to the gripping device (8), and the driving fluid of the gripping device (81) is flowed. Even if the members of the first and second tubes α'jtm
KK type does not occur, and the first. Maintenance work due to wear and tear on the second tube body αe can be eliminated, and the operating efficiency of the robot device can be improved. Also, the first rotation joint (+1i
etc. are installed by fitting into the first shaft G (IICJI) and are structurally independent from the robot device. Therefore, even if the machining accuracy of the first shaft body axis is rough, the required function can be obtained. The robot device can be manufactured at low cost.In addition, the first rotary joint aυ and other rotary joints are structurally independent from the robot device, so they can be installed easily.

It is easy to remove, easy to repair in the event of a failure, and prevents a decrease in the operating rate of robot work.

FIG. 5 shows another embodiment of the invention.

In the figure, the same reference numerals as in FIGS. 1 to 4 indicate corresponding parts.

(81) is a shaft (13) consisting of the tip of the second member (71).
(8) is the first gripping device attached to the negative side of the base (81); (8') is the base (81);
) and others (IIK layered second gripping device, (10'
) is a shaft body similar to the first shaft body α1, and is attached to the first member (61) facing the first shaft body Ql, and its axis is aligned with the rotation axis of the pivot (7a) of the second member (]1. It is arranged accordingly. (
11 is the first rotation joint (10') attached to the shaft (10').
A rotation joint similar to 11 (111 is a rotation joint fitted to the shaft body 03 (1m), (15 is a rotation joint similar to 1m)
The pipe body (similar to I!9) is connected from the first member (6)a to the rotary joint (11), (16') is the second
Similar to the pipe body he, there is a rotary joint (11) and a rotary joint (
111'), (17'1 is the tube ll
Similar to η, the rotation joint (111') and base (81
), the second gripping device (a tubular body connected to eight hydraulic drive units (not shown)).

That is, the embodiment shown in FIG. 5 is equipped with an fJ2 gripping device (8) in addition to the gripping device (8) of the embodiment shown in FIGS. (111'),
The driving fluid is sent to the second gripping device (8') through the pipe body (15') (1<S') (17). It is clear that even if a device is provided, stone chips can be easily removed, and the embodiment shown in FIG. 5 provides the same effect as the embodiments shown in FIGS. 1 to 4.

〔Effect of the invention〕

As explained above, the present invention provides a rotary joint coaxial with the pivots of two members that rotate relative to each other, and a rotary joint for driving a robot device from one side of the two members to the other side through the rotary joint. It is equipped with a pipe body for fluid flow. For this reason 2
There is no deformation of the tubular body during relative movement of the members, so wear and tear of the tubular body due to fatigue etc. is reduced, maintenance work for replacing the tubular body is reduced, and the operating efficiency of the robot device can be improved.

In addition, the two-swivel joint is structurally independent from the robot device and is attached to the shaft by fitting the leather, so even if the manufacturing precision of the robot device is rough, the required function can be obtained and it can be manufactured at a low cost. - Furthermore, it is possible to easily attach and replace the rotation joint, thereby realizing a small industrial robot device that does not reduce operating efficiency.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an embodiment of an industrial robot apparatus according to the present invention, and is a view corresponding to the main part of FIG. 6, which will be described later. Fig. 2 is a right side view of Fig. 1, Fig. 3 is an enlarged view of the main part of Fig. 2 and a partial longitudinal section, and Fig. 4 is an enlarged view of the rotation joint αυ of Fig. 3. 5 is a diagram corresponding to FIG. 3 showing another embodiment of the industrial robot device according to the present invention, FIG. 6 is a conceptual front view showing a conventional industrial robot device, and FIG. 7 is a diagram corresponding to FIG. FIG. 2 is a left side view of the main part of the figure. +61 ,,,first member, +71. ,, second member,
(7a)6. ,pivot. Part 11. first shaft body, allo, first rotation joint,
(11a)00. inner tube. (11C)...First outer cylinder, (11e)...Communication hole, (11f)--Second outer cylinder, (11h),
, communication hole, (111)...space, (L9...first tube body, sleeve...second tube body. In addition, the same parts or equivalent parts in the two figures are indicated by the same reference numerals.

Claims (1)

[Claims] A first member, a second member connected to the first member via a pivot to form a joint, and a piping for conveying a driving fluid between the first member and the second member. In the above, the inner tube and the outer surface of the inner tube are respectively rotatably fitted and arranged so as to be rotatable with each other, and are opposed to each other to form one sealed space with the outer surface of the inner tube. a rotary joint comprising a first outer tube and a second outer tube, each having a communication hole communicating with the outside, and the inner tube is fitted to a shaft body provided on the same line as the rotation axis of the pivot; A first tube body connected to the communication hole of the first outer cylinder from the first member side and a second tube body connected to the communication hole of the second outer cylinder from the second member side. An industrial robot device featuring: