JPS61297096A - 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] The present invention relates to an industrial robot that performs, for example, welding, painting, or moving parts on products on a production line, and particularly relates to an industrial robot that drives a robot arm and a hand device. This concerns the installation of power cables for

[Conventional technology]

FIG. 6 is an overall configuration diagram showing an example of a conventional industrial robot. In the figure, (1) is the robot body, (2) is the lifting axis, (3) is the first arm, (4) is the first drive machine that rotates this first arm (3), and (5) is the 2 arms, (
6) is a second drive machine that rotates this second arm (5), (
7) is a hand device, (8) is a third drive machine that rotates this hand device (7), (9) is a frame, and (11) is a first to
3rd drive machine (4) - (61# (8) respective rotation axes, 02 is the lift axis (2) from the robot body (1), the first
Cable clips (
It is a flexible power cable that is fixed by the ILK and formed in an arc shape with a margin at the rotating part between the fixed points, and is branched at the first drive machine (4) and the second drive machine (6). The hand device (7)K is connected to the hand device (7)K, and power is supplied to each of them.

As mentioned above, in the conventional industrial robot, the hand device (7) moves up and down by the lifting axis (2) according to the work such as welding, painting, moving the workpiece position, etc.
1st. The second arms (3), (5) and the gripping device (7) are rotated. Due to these operations, the arc-shaped portion of the power cable 03 whose both ends are restrained by cable clips 01 etc. is subjected to bending and torsional forces, but due to its flexibility, the arc-shaped portion corresponding to these bending and torsional stresses is While deforming, it follows the above-mentioned rotational motion◎ [Intermediate point to be solved by the invention] As mentioned above, in the conventional industrial robot device, the power cable (12 is the first Since it is arranged in an arc shape extending from the two arms (a) e (5) and the hand device (7), interference with surrounding objects is likely to occur due to rotational movement during robot operation, and depending on the conditions for this interference, There is a risk of accidents such as cutting of the power cable 02 or damage to surrounding objects, and that if the arc-shaped part of the power cable (13) is subjected to repeated bending and twisting, it may deform from its initial configuration as illustrated by U. Therefore, depending on this deformed shape, the possibility of interference with the above-mentioned surrounding objects may become even higher.Furthermore, strands such as copper of power cables subjected to bending and torsion stress over a long period of time may There was a problem that the material would eventually break due to the fatigue phenomenon caused by these stresses.

This invention was devised to solve this problem, and reduces the stress that acts on the power cable 03 when the arms rotate, and reduces the stress that acts on the power cable 03 when the arms rotate. The purpose of the present invention is to provide an industrial robot device that can be operated safely by making the overhanging parts from the second arms (3), (5) and the hand device (7) large, and is equipped with a long-life power cable. shall be.

[Means for solving problems]

The industrial robot device according to the present invention includes a reel mount that is arranged so that the axes of the rotation axes of the arm and the hand device coincide with the center of rotation, and a flexible robot that is arranged along the arm and the hand device. The wound power cable is always stretched in the centrifugal direction and held in a ring shape by the spring force provided on the reel of the reel mount, and when the arm or hand device is rotated, the power cable is The radius of curvature changes while the annular portion is stretched in the centrifugal direction by a spring force.

[For production]

In this invention, a flexible power cable is arranged along the arm and hand device, and the part that is affected by stress when these are rotated is wound on a reel whose center coincides with the center of rotation. Therefore, there is no overhanging part that may interfere with surrounding objects during operation of the arm and hand device, and uniform bending stress is applied to the winding part of the power cable.
Torsional stress acts strongly.

〔Example〕

1 and 2 are overall configuration diagrams of an industrial robot device according to an embodiment of the present invention. FIG. 1 is a front view, and FIG. 2 is a top view. These are the same or corresponding parts as the same reference numerals in FIG. 6 showing an example. (21)
, (22) and (23) are reel mounts, which are equipped with a first arm (3), a second arm (5) and a hand device (7).
) and, for example, the reel rotation axis (
21e) are arranged on the first to third driving machines (4), (6), and (8), respectively, so that the centers of the driving machines 21e and 21e coincide with each other.

The fixed part of the flexible power cable az disposed from the robot body (1) is, for example, a cable guide (24).

(25) The movable part that is supported by the cable clip al- provided at the corner and that responds to the rotation of the robot is the cable that slides in the groove (21b) provided in the pedestal (21a) as shown in Figure 6. The outer periphery of the holding claw (21c) is wound approximately once), and this wound annular power cable aa is always held stretched in the centrifugal direction by the pressing force of the compression spring (21d). Similarly, other movable parts are also attached to the reel stand (22).

(23) is stretched and held in an annular shape, and the distal end is connected to a hand device along a cable guide (29).

In the industrial robot device configured as described above, the reel mounts (21), (22), For example, when the first arm (3) rotates counterclockwise from the state shown in FIG. 3 and moves to the position shown in FIG. Cable holding claw (21c)
As the winding angle of the power cable a on the outer periphery of the power cable a decreases, the annular diameter (
It is held in the stretched state shown in FIG. 4 while expanding the length.

Next, for example, when the first arm (3) rotates clockwise in this state and further rotates from the state shown in FIG. 3 to the position shown in FIG. As the turning angle increases, the cable holding claw (21c) is pressed to reduce the annular diameter (l) and hold the cable in the state shown in FIG. 5.

〔Effect of the invention〕

As described above, the present invention includes a flexible power cable that supplies power to a robot arm and a driver of a hand device, the fixed part of which is arranged along the cable guide and the robot arm, and the movable part Since the power cable is held in an annular shape whose center coincides with the center of rotation of the robot arm, etc., there is no part of the power cable that stretches out from the robot arm, etc., so when each part of the robot rotates, the power cable and the surrounding area This has the effect of providing an industrial robot device that can be operated safely without fear of interference with objects and is equipped with a long-life power cable.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of an industrial robot device according to an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, and FIG.
FIGS. 4 and 5 are diagrams illustrating the operation of the present invention, and FIG. 6 is an overall configuration diagram showing an example of a conventional industrial robot device. In the figure, (3) is the first arm, (5) is the second arm, (7) is the hand device, 03 is the power cable, (21)
, (22). (23) is the reel stand. In addition, the same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Claims] A fixed part of a flexible power cable for supplying power to the robot arm and hand device in an industrial robot device that rotates the robot arm and hand device to perform work such as welding, painting, or moving parts on a production line. is arranged almost along the robot arm and hand device, and the movable part is wound so as to be always stretched in the centrifugal direction on a reel mount whose center is aligned with each rotation axis. An industrial robot device, characterized in that the device is held while changing the winding angle when the device rotates.