JPS6244394A - Cable wiring device for 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, for example, a medium-sized, vertically articulated arc welding robot. This relates to a built-in industrial robot cable wiring device.

[Conventional technology]

Conventional vertically articulated industrial robots of this type include a fixed body mounted on a base and incorporating a servo motor for driving rotation, and a robot arm that is rotatably attached to the fixed body and has a hand device. The base connector of the base, which is composed of a rotating body and a fixed body, and a cable clamp of the rotating body are electrically connected to each other by a flexible cable. ing.

[Problem that the invention seeks to solve]

However, the turning angle of the robot arm of this type of industrial robot is extremely wide, and many of them make a trapping turn of around 180'. Therefore, it is extremely difficult to wire the cables in order to smoothly rotate the rotating body that rotates together with the robot arm, and the wiring process (cable length, cable arrangement, cable fixing position, etc.)
If you make a mistake, the cable may be forcibly bent or pulled, causing problems such as breakage (1).
[Means for Solving the Problems] The cable wiring device for an industrial robot according to the present invention includes a rotating body rotatably attached to a fixed body formed on the upper surface of a base and housing a servo motor for driving the swing. and a flexible cable having one end connected to a cable clamp provided at a predetermined position in the upper part of the rotating fuselage and hanging vertically, and the other end connected to a base connector at the bottom of the base,
The lower half of the fixed body in the vicinity of the cable insertion opening formed on the upper surface of the base is tapered into a narrow constriction.

[Effect]

In this invention, one end of the flexible cable is connected to a cable clamp provided at a predetermined position in the upper part of the rotating body, and the other end of the flexible cable is connected to a base connector at the bottom of the base. At the same time, the lower half of the fixed fuselage near the cable insertion hole formed on the top surface of the base is tapered into a thin tapered shape, so that even if the revolving fuselage makes a large turn, the cable will not be forced to bend. , troubles such as disconnection due to tension will not occur.

[Embodiments of the invention]

Figures 1 to 4 all show one embodiment of the present invention, with Figure 1 being a vertical cross-sectional view of the lower half of an industrial robot, and Figure 2 being a vertical sectional view of the lower half of the industrial robot.
The figure is a cross-sectional view taken along line (n)-(n) in Figure 1, and
The figure is a cross-sectional view taken along the line (110-(Ill) in Figure 1,
FIG. 4 is an explanatory diagram of the operation of the rotating fuselage.

In the figure, (1) is a base that houses a servo motor (4) for rotation drive inside, has a fixed body (1A) formed on its upper surface, and has a base connector (7) on one side of its lower part; (2) is a rotating body that is rotatably supported on the upper part of the fixed body (1A) via a bearing (3) and covers this fixed body (1A) through an annular cable accommodation chamber αq. 2) A column (11) equipped with a robot arm (not shown) having a hand device is rotatably attached to the upper surface of the robot. (5) is a reducer installed in the connection between the servo motor (4) and the rotating body (2), and (8) is a reducer installed in the rotating body (2), that is, at a predetermined position above the cable storage room αQ. A flexible cable that hangs vertically with one end connected to a cable clamp (6), and the other end of this cable (8) is connected to a base connector provided on one side of the bottom of the base (1). (7).

(6) is a cable insertion hole for inserting the cable (8) in the cable storage chamber aq into the base (1), and (1B) is the fixed body (1) near this cable insertion hole (2).
The tapered constriction part (9) formed in the lower half of A) is a coil spring-shaped cable protector inserted into the constriction part (9) to protect the cable (8).

Since the wiring device for an industrial robot according to the present invention is configured as shown in 5 above, the rotating body (2
) turns in the direction of arrow F, the cable clamp (6) that is integral with it moves in the same direction.
] moves together with the cable protector (9) in the direction of arrow F as shown in Figure 4, but the cable clamp (6
) is long, and even if it wraps around the lower half of the fixed torso (one person) as the cable (8) moves, the lower half will not be constricted into a tapered shape. Since the cable (8) is compressed and has a thinner diameter, the cable (8) does not interfere with the rotation of the rotating fuselage (2'), and as shown in Fig. 4, the cable (8) does not interfere with the rotation of the rotating fuselage (2'), and the rotation angle tPLX of 155°, which is required in practice, can be achieved as shown in Fig. 4.
It is possible to secure it.

〔Effect of the invention〕

As described above, according to the present invention, the cable clamp (6) is provided at a predetermined position in the upper part of the rotating fuselage (2).
Connect one end of the flexible cable (8) hanging vertically and connect the other end of the cable (8) to the base (1). ) A tapered constriction part (1B) is formed in the lower half of the fixed body (1A) near the cable insertion port (6) formed on the upper surface of the rotating 11tiM body (2+ is thick). This has an excellent effect in that even when the cable (8) is rotated, the cable (8) will not be forcibly bent or pulled, causing problems such as disconnection.

[Brief explanation of drawings]

? Figures 1 to 4 all show one embodiment of the present invention, and Figure 31 is a vertical sectional view of the lower half of the industrial robot;
FIG. 2 is a sectional view taken along line (■)-(■) in FIG. 1, FIG. 6 is a sectional view taken along line (m)-(III) in FIG. 1,
FIG. 4 is an explanatory diagram of the operation of the rotating fuselage. In the figure, (1) is a rolled body, (1A) is a fixed body, (1
B) is the throttle part, (2) is the rotating body, (4) is the servo motor, (5) is the reducer, (6) is the cable clamp, (7
) is a pace connector, (8) is a cable, (9) is a cable protector, OO is a cable accommodation chamber, and (6) is a cable insertion port. Note that the same reference numerals in the figures indicate the same parts. Agent Patent Attorney Tadashi Sato Figure 1 L-1 Figure 2 Figure 3 Figure 4

Claims (3)

[Claims] (1) A base with a fixed body housing a swing drive servo motor on its upper surface and a base connector on one side of the lower part, which is rotatably attached to the fixed body and cables are accommodated between the fixed body and the fixed body. A rotating body with a robot arm forming a chamber, one end of which is connected to a cable clamp provided at a predetermined position in the upper part of this rotating body, and the other end of a hanging flexible cable is connected to a base connector in the lower part of the base. A cable wiring device for an industrial robot, comprising: a cable insertion port on the top surface of the base provided for connection to the cable insertion port; and a constriction portion formed in the lower half of the fixed body near the cable insertion port. . (2) The cable wiring device for an industrial robot according to claim 1, wherein the cable is inserted into a coil spring-shaped cable protector. (3) The cable wiring device for an industrial robot according to claim 1, wherein the swing drive servo motor in the fixed body is connected to the swing body via a reduction gear.