JPS6142797Y2 - - Google Patents
Info
- Publication number
- JPS6142797Y2 JPS6142797Y2 JP15370282U JP15370282U JPS6142797Y2 JP S6142797 Y2 JPS6142797 Y2 JP S6142797Y2 JP 15370282 U JP15370282 U JP 15370282U JP 15370282 U JP15370282 U JP 15370282U JP S6142797 Y2 JPS6142797 Y2 JP S6142797Y2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- arm member
- wires
- built
- electric wires
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 239000000463 material Substances 0.000 claims description 6
- 239000013307 optical fiber Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000011152 fibreglass Substances 0.000 claims description 4
- 239000002990 reinforced plastic Substances 0.000 claims 1
- 239000004918 carbon fiber reinforced polymer Substances 0.000 description 3
- 239000007769 metal material Substances 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000011151 fibre-reinforced plastic Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920005992 thermoplastic resin Polymers 0.000 description 1
- 229920001187 thermosetting polymer Polymers 0.000 description 1
Description
【考案の詳細な説明】
この考案はロボツトのマニプレーターなどの様
に先端に制禦された運動や動作を行わせる多関節
の腕部に使用するアーム部材に関するものであ
る。[Detailed Description of the Invention] This invention relates to an arm member used in a multi-jointed arm portion, such as a manipulator of a robot, whose tip performs controlled movements or movements.
ロボツトなどでは多数のアームを関節部により
連結し、関節部は電気式や油圧式のモーターによ
つてアームの方向を制禦しつつアームを運動させ
て、その先端の運動や動作を行わせるようになつ
ている。アームには金属製のものや、軽量化をは
かるためガラス繊維強化プラスチツクス
（GFRP）や炭素繊維強化プラスチツクス
（CFRP）が用いられている。従来の腕部と関節
部は第１図に示すようにアーム１，１′，１″……
を関節部において回転自在に連結し、関節部にエ
ンコーダー２，２′，２″……を付したモーター
３，３′，３″……を取り付けてアームを適当な角
度、方向に動かすようになつている。この場合モ
ーターを回転および制禦するために動力および信
号用の多数の回路が必要であり、従来は多数の電
線を束ねたケーブル４をアームに沿つて取り付
け、関節部でそれぞれの単電線５を分岐してエン
コーダー、モータなどに配線している。しかしこ
の方法では関節部でアームが回転移動する動作を
繰り返すと配線した電線が切断し易く、またアー
ムに沿つてケーブル、電線を取り付けるので外観
上見苦しく、また組立時に電線が複輳して配線し
にくい欠点がある。 In robots, a large number of arms are connected by joints, and the joints use electric or hydraulic motors to control the direction of the arms and move the arms, allowing the tips of the arms to move and operate. It's getting old. The arms are made of metal, or glass fiber reinforced plastics (GFRP) or carbon fiber reinforced plastics (CFRP) are used to reduce weight. The conventional arms and joints are arms 1, 1', 1''... as shown in Figure 1.
are rotatably connected at the joints, and motors 3, 3', 3''... with encoders 2, 2', 2''... are attached to the joints to move the arm at appropriate angles and directions. It's summery. In this case, a large number of power and signal circuits are required to rotate and control the motor, and conventionally a cable 4 made up of a large number of electric wires is attached along the arm, and each single electric wire 5 is connected at the joint. It is branched and wired to the encoder, motor, etc. However, with this method, if the arm rotates and moves repeatedly at the joint, the wires are likely to break, the cables and wires are attached along the arm, which is unsightly, and the wires are bundled together during assembly. There are some serious drawbacks.
この考案はロボツトなどのアーム部材におい
て、あらかじめ多数の動力ならびに信号用の電線
（光フアイバー線を含む）を部材の内部に内蔵せ
しめるように構成することによつて上記の欠点を
解消したものである。 This invention solves the above-mentioned drawbacks by configuring an arm member for a robot, etc., so that a large number of power and signal wires (including optical fiber wires) are built into the member in advance. .
第２図は本考案のアーム部材の実施例の基本的
構造を示すもので、多数の電線７を繊維強化プラ
スチツクスの部材６の内部に内蔵せしめたもので
ある。この部材を製造するには金型の内部に多数
の電線（光フアイバー線を含む）を並列に適当に
配列し、その周囲にガラス繊維あるいは炭素繊維
を含有した熱硬化性あるいは熱可塑性樹脂を充填
して加熱成形して固化させる。図面には平型形状
の部材を示したが断面および端末の形状は金型に
よつて自由に製造でき、また電線の端末も任意の
場所から外部に引き出すようにすることができ
る。 FIG. 2 shows the basic structure of an embodiment of the arm member of the present invention, in which a large number of electric wires 7 are housed inside a member 6 made of fiber-reinforced plastic. To manufacture this component, a large number of electric wires (including optical fiber wires) are appropriately arranged in parallel inside a mold, and the surrounding area is filled with thermosetting or thermoplastic resin containing glass fiber or carbon fiber. Then heat mold and solidify. Although a flat member is shown in the drawings, the cross section and end shape can be freely manufactured using a mold, and the end of the electric wire can also be drawn out from any location.
第３図は本考案のアーム部材を用いてロボツト
用の腕部の実施例を示すものである。アーム部材
１，１′，１″がそれぞれ回転自在な関節部で連結
されている。アーム部材１，１′の間の関節部に
はエンコーダー２、およびモーター３が取り付け
られアーム部材１′をアーム部材１に対して制禦
されて角度、方向に運動させるようになつてい
る。アーム部材１の内部には多数の電線５が内蔵
されており、アーム部材１の先端から引き出さ
れ、その内エンコーダー２、モーター３に用いら
れ電線５は直接それぞれエンコーダー２、モータ
ー３に結ばれ、残りの多数の電線はまとめられて
先端は多芯プラグ８に結ばれる。アーム部材１′
にはアーム部材１と同様に多数の電線が内蔵され
ており、その一端はアーム部材１′の側面に取り
つけられた多芯ソケツト９に連結され、多端は適
当な位置から引き出されている。引き出された電
線５′はアーム部材１′とアーム部材１″間の関節
部にもうけられたエンコーダー２′、モーター
３′に連結される。腕部を組立てるにはアーム部
材１とアーム部材１′を関節部によつて連結し、
電線５をエンコーダー２、モーター３に結び、つ
ぎに多芯プラグ８をアーム部材１′の多芯ソケツ
トに差し込む。つぎにアーム部材１′とアーム部
材１″を関節部によつて連結し同様に組立作業を
行う。以上アーム部材はGFRP、あるいはCFRP
を用いるように説明したが、内蔵する電線に障害
を与えない材料であれば金属材料あるいは単なる
プラスチツク材料などの構造材料で良いことはも
ちろんである。また電線としては同種の線に限定
されず動力用、信号用などの各種の電線を１つの
アーム部材に内蔵させることも容易である。 FIG. 3 shows an embodiment of a robot arm using the arm member of the present invention. Arm members 1, 1', 1'' are connected by rotatable joints. An encoder 2 and a motor 3 are attached to the joints between arm members 1, 1' to connect arm member 1' to the arm. The arm member 1 is controlled to move in angles and directions.A large number of electric wires 5 are built inside the arm member 1, and are drawn out from the tip of the arm member 1. 2. The electric wires 5 used for the motor 3 are directly connected to the encoder 2 and the motor 3, respectively, and the remaining many electric wires are gathered together and their tips are connected to the multi-core plug 8. Arm member 1'
Like the arm member 1, there are built-in a large number of electric wires, one end of which is connected to a multicore socket 9 attached to the side surface of the arm member 1', and the other end pulled out from an appropriate position. The drawn-out electric wire 5' is connected to an encoder 2' and a motor 3' provided at the joint between the arm member 1' and the arm member 1''.To assemble the arm, the arm member 1 and the arm member 1' are connected to each other. connected by a joint,
The electric wire 5 is connected to the encoder 2 and the motor 3, and then the multi-core plug 8 is inserted into the multi-core socket of the arm member 1'. Next, arm member 1' and arm member 1'' are connected by the joint and assembled in the same way.The arm members are made of GFRP or CFRP.
Although it has been explained that a metal material or a simple plastic material is used as long as the material does not cause damage to the built-in electric wires, it is of course possible to use a structural material such as a metal material or a simple plastic material. Further, the electric wires are not limited to the same type of wires, and various electric wires such as power wires, signal wires, etc. can be easily built into one arm member.
本考案のアーム部材は多数の伝送路を部材中に
内蔵しているので各種の電線はあらかじめ整然と
アーム部材中に配列されているので組立作業が簡
単であり、配線や保守の時に回路を探し易く、ま
た配線誤りが少く容易である。また電線や光フア
イバーがアーム部材のような複合構造物に内蔵し
て保護されているため伝送路が傷つけられたり断
線することがない。さらに多数の電線が外部に露
出しないので伝送路が多くても外観上美しいなど
の利点がある。 The arm member of the present invention has many transmission paths built into the member, and various electric wires are arranged in an orderly manner in advance in the arm member, making assembly easy and making it easy to find circuits during wiring and maintenance. Also, wiring errors are small and easy. Furthermore, since the electric wires and optical fibers are protected by being built into a composite structure such as an arm member, the transmission line will not be damaged or disconnected. Furthermore, since many electric wires are not exposed to the outside, there are advantages such as a beautiful appearance even if there are many transmission lines.
第１図は従来のロボツト用アーム部材を用いた
腕部を示す斜視図、第２図は本考案のアーム部材
の基本的構造を示す斜視図、第３図は本考案のア
ーム部材を用いた腕部の実施例を示す斜視図であ
る。
１，１′，１″……アーム部材、２，２′……エ
ンコーダー、３，３′……モーター、４……ケー
ブル、５，５′，７……電線、６……部材、８…
…多芯プラグ、９……多芯ソケツト。
Fig. 1 is a perspective view showing an arm using a conventional arm member for a robot, Fig. 2 is a perspective view showing the basic structure of the arm member of the present invention, and Fig. 3 is a perspective view showing an arm using the arm member of the present invention. It is a perspective view showing an example of an arm. 1, 1', 1''... Arm member, 2, 2'... Encoder, 3, 3'... Motor, 4... Cable, 5, 5', 7... Electric wire, 6... Member, 8...
...Multi-core plug, 9...Multi-core socket.
Claims (1)
駆動のためのエネルギーと制御のための信号の
電線（光フアイバーを含む）をアーム部材の素
材内に一体として内蔵したことを特徴とするア
ーム部材。 ２ ガラス繊維強化プラスチツク製あるいは炭素
強化プラスチツク製のアーム部材の素材内に多
数の電線（光フアイバーを含む）を内蔵したこ
とを特徴とする実用新案登録請求の範囲第１項
記載のアーム部材。 ３ 内蔵した多数の電線（光フアイバーを含む）
の両端または片端にコネクターを取り付け、関
節部で結合されたアーム部材間の伝送路を該コ
ネクターによつて連結することを特徴とする実
用新案登録請求の範囲第１項もしくは第２項記
載のアーム部材。[Scope of claims for utility model registration] 1. In arm members used for robots, etc.
An arm member characterized in that energy for driving and signal wires (including optical fibers) for control are integrally built into the material of the arm member. 2. The arm member according to claim 1 of the utility model registration, characterized in that a large number of electric wires (including optical fibers) are built into the material of the arm member made of glass fiber-reinforced plastic or carbon-reinforced plastic. 3 Built-in large number of electric wires (including optical fibers)
The arm according to claim 1 or 2, characterized in that a connector is attached to both ends or one end of the arm, and a transmission path between arm members connected at a joint is connected by the connector. Element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15370282U JPS5959293U (en) | 1982-10-08 | 1982-10-08 | Arm parts for robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15370282U JPS5959293U (en) | 1982-10-08 | 1982-10-08 | Arm parts for robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5959293U JPS5959293U (en) | 1984-04-18 |
| JPS6142797Y2 true JPS6142797Y2 (en) | 1986-12-04 |
Family
ID=30339974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15370282U Granted JPS5959293U (en) | 1982-10-08 | 1982-10-08 | Arm parts for robots |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5959293U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007015050A (en) * | 2005-07-07 | 2007-01-25 | Kawada Kogyo Kk | Outer-sheathing structure of precision mechanical equipment and mobile robot |
-
1982
- 1982-10-08 JP JP15370282U patent/JPS5959293U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5959293U (en) | 1984-04-18 |
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