KR100660661B1 - Swing device of industrial robot - Google Patents

Abstract

The turning device of the industrial robot detects the rotation angle of the motor 30 by fixing the brake 40 to the motor shaft 3Os of the motor 30 to stop the motor 30 and the motor shaft 3Os to be fixed. A communication hollow portion is formed by coupling with the encoder 50 and the motor shaft 3Os, and at the same time, the rotation of the motor 3O is decelerated and connected to the rotary shaft arm 20. One end is connected to the tubular bearing 72 connected to the communication hollow portion and the rotating arm 2O is fixed to the tubular bearing 72, and the other end is fixed to the tubular bearing 72. The low-speed rotary tube 70 to be wired is provided.

Description

Swing device of industrial robot {SWING DEVICE OF INDUSTRIAL ROBOT}

The present invention relates to a pivoting device for an industrial robot, in which a pipe member is inserted into a hollow installed in a reducer, a motor, and an encoder, and a cable is inserted into the pipe member. Will be wired.

The turning device of the conventional industrial robot is demonstrated according to Unexamined-Japanese-Patent No. 5-57664. According to the above publication, a movable base such as a robot base connected to the fixed base of the robot, a swing body connected to the fixed base by a pivoting material, and a robot arm connected to the upper part of the swing body, a motor for pivoting the swing body, and the output of the motor, the swing body It is equipped with a reduction gear to transmit to the hollow shaft of the motor and the reduction gear is formed concentrically, and the shaft of the motor and the reducer is disposed concentrically with the pivot shaft of the turning body, and to the drive mechanism parts such as robot arms. Cables for supplying electric power and the like are disposed in a protective pipe passing through the hollow of the motor and the hollow of the reducer.

The pivoting device of the industrial robot configured as described above forms the shaft centers of the motor and the reducer in a hollow manner, and concentrically disposes them. The shafts of the motor and the reducer are concentrically arranged with the pivot shaft of the swing body. By passing through the hollow of the hollow and the hollow of the speed reducer, the cable passes through the pivotal axis of the pivoting body so that slippage with the housing and the fixed base is eliminated, so that disconnection due to wear can be prevented.

However, as the turning device of the industrial robot increases the amount of information for driving control of an arm or the like, and as the bundle of cables becomes thicker, the protective pipe rotates together with the shaft of the motor, There was a problem that the coating might be damaged.

This invention is made | formed in order to solve the said subject, Comprising: It aims at providing the turning device of the industrial robot in which the cable by turning drive is extremely hard to wear in the joint of a robot.

A pivoting device for an industrial robot according to the first aspect of the present invention is a pivoting device for an industrial robot having a fixed part, a rotating part pivoting with respect to the fixed part, and a tip end operated through the rotating part. A motor having a first shaft having a first hollow portion, a second hollow portion penetrated through a central portion thereof, and the first shaft is engaged with the second hollow portion. An encoder configured to have a brake fixed to open and stop the motor, a third hollow portion penetrated through a center portion thereof, and the first shaft is fixed to the third hollow portion to detect a rotation angle of the motor; A second shaft having a fourth hollow portion penetrated at a central portion thereof, the second shaft being connected to the first shaft and connected through the first and fourth hollow portions; A hollow portion is formed, and at the same time, the rotation of the first shaft is slowed down, and the rotating portion has a reducer connected to the fixed portion, and has a first inner ring and a first outer ring. The concentricity of the inner ring of 1 is provided on the concentric line of the communication hollow portion, the first bearing having the first outer ring fixed to the fixing portion, and one end connected to the first inner ring, and the other end thereof is fixed. It is connected and fixed to the rotating portion, and inserted into the communication hollow portion (遊 揷; inserted into the gap), a tubular tubular member having a through hole, and one end is fixed to the fixed portion and the other end is And a cable fixed to the rotating part and inserted into the through hole and connected to the tip part.

According to the turning device of such an industrial robot, one end is connected to the fixed part and the other end is connected to the rotating part and the tubular member is inserted into the communication hollow part formed by arranging the motor, the reducer, the encoder, and the brake in a straight line shape. Then, the cable is routed to the through hole of the pipe member.

Therefore, since the wiring of the cable is not impeded by the motor or the like and there is no use of the useless wiring path, the wiring space is small, and the turning device becomes small. In addition, since the tubular member is rotated only by the rotation of the fixing part and the rotating part, the speed at which the tubular member contacts the cable inserted into the tubular member is also considerably reduced than the rotational speed of the motor. Therefore, there is an effect that the sheath of the cable is extremely difficult to damage.

A turning device for an industrial robot according to a second aspect of the present invention is a turning device for an industrial robot having a fixed part, a rotating part pivoting with respect to the fixed part, and a tip end part operated through the rotating part, the penetrating device having a penetrating portion through a central portion thereof. A motor having a first shaft having a first hollow portion, a second hollow portion penetrated through a central portion thereof, and the first shaft is engaged with the second hollow portion to open and open the motor; An encoder for stopping the brake, a third hollow portion penetrating through the center portion, and having the first shaft engaged with the third hollow portion to detect a rotation angle of the motor; A communication hollow having a second shaft having four hollows, the second shaft being connected to the first shaft and penetrated by the first and fourth hollows; At the same time, the rotation of the first shaft is decelerated, and the rotary part has a reducer connected to the fixed part, a second inner ring and a second outer ring, and the concentricity of the second inner ring is in communication with each other. A second bearing in which the second outer ring is fixed to the rotating part, one end of which is connected to the second inner ring, and the other end of the hollow part is installed on the concentric line of the hollow part; The tubular tubular member having a through hole and being inserted into the communication hollow portion, and one end is fixedly connected to the fixed portion, and the other end is fixed to the rotating portion, and inserted into the through hole to the front end portion It is characterized by including the cable to be connected.

According to the turning device of the industrial robot, since the second bearing is provided in the rotating part instead of the first bearing provided in the fixing part, the structure of the fixing part is simple and easy.

The turning device for an industrial robot according to the third invention includes a drive unit in which a second shaft, a motor, an encoder, and a brake are integrated.

According to the turning device of such an industrial robot, there is an effect that the assembling property of the turning device is improved.

The pivoting device of the industrial robot according to the fourth invention is fixed to the fixed side lead-out portion in which the cable is drawn out from the through-hole to the side of the fixed portion while being fixed to the fixed portion. And a second clamp for fixing the cable substantially vertically, with the first clamp being described above and the rotating side lead-out portion from which the cable is drawn out from the through-hole to the side of the rotating portion.

According to such a turning device of the industrial robot, since the cable is properly fixed by the first and second clamps, the deterioration due to the movement of the cable can be extremely reduced, and the turning device can be made smaller.

1 is an exploded perspective view of a turning device for an industrial robot according to an embodiment of the present invention.

FIG. 2 is a cross-sectional view of the turning device of the industrial robot shown in FIG. 1.

3 is a cross-sectional view of a turning device of an industrial robot according to another embodiment of the present invention.

Example 1.

An embodiment of the present invention will be described with reference to FIGS. 1 and 2. 1 is an exploded perspective view of a turning device for an industrial robot according to an embodiment of the present invention, and FIG. 2 is a cross-sectional view of a turning device for an industrial robot shown in FIG. 1.

In FIG. 1 and FIG. 2, the turning device 1 of an industrial robot consists of the fixed side arm 10 as a fixed part, and the rotating side arm 20 as a rotating part which rotates with respect to the fixed side arm 10. In FIG. .

In the inside of the rotation side arm 20, the cross section has a substantially inverted "co" shape, and has a circumferential cavity 20u, and the cavity 20u is centered on the motor 30 in FIG. The brake 40, the encoder 50, and the reducer 60 are arranged in a straight line on the right side so that the shaft center is horizontal and fixed to the right side.

Bearings 22 and 24 are fixed to both ends of the cavity 20u, respectively. At the center of the cavity 20u, a drive source for rotating the arm 20 rotates, and a motor as a first shaft having a first hollow portion 30c circumferentially penetrated at the center of the shaft center. A synchronous motor 30 having a shaft 30s (motor shaft) is provided, and the motor 30 has a ring-shaped coil 30L for generating a rotating magnetic field, and the surface of the motor shaft 30s is provided. The magnet 30m is fixed through the core.

A second hollow portion 40c disposed adjacent to the motor 30 and circumferentially penetrated at the center of the shaft center, and engaging and securing the motor shaft 30s to the second hollow portion 40c; At the same time, the brake 40 is provided to open and stop the rotation of the motor 30. The brake 40 is configured to press one surface of the circular disk 40d from the opening by the suction force of the electromagnetic coil 40L. As a result, the rotation of the motor 30 is stopped at the opening.

It is arranged adjacent to the brake 40 and has a third hollow portion 50c circumferentially penetrated at the center of the shaft center, and bearings the motor shaft 30s protruding from the second hollow portion 40c. 24 and an encoder 50 for engaging and fixing the end of the motor shaft 30s to the third hollow portion 50c and detecting the rotational angle of the motor 30, wherein the encoder ( 50, a disc 52 having a pattern fixed to the motor shaft 30s, a light emitting element 54 for irradiating the pattern, and light generated from the light emitting element 54 through the disc 52; The cover 58 is provided to cover the light receiving element 56 for receiving light and the disc 52.

It is arranged adjacent to the motor 30 and is coupled to the motor shaft 30s, and at the same time rotates the wave generator 62 as a second shaft having a fourth hollow portion 60c penetrated through the shaft center. A harmonic drive (60) as a reducer that generates an output that decelerates the rotation of the motor (30), and includes a hollow portion (30c) of the motor shaft (30s) and a hollow portion (60c) of the wave generator (62). Is in communication with each other to form a communication hollow portion in which a through hole is formed.

The speed reducer 60 is, for example, a harmonic drive. The hollow 60c of the hollow wave generator 62 is coupled to the end of the motor shaft 30s to form a circular through a flexible spline 64. As the spline 66 is fixed to the rotating arm 20, the rotation speed of the motor 30 is sufficiently reduced, for example, the rotation speed of the motor 30 is 5000 (rpm) and 50 (rpm). The rotating arm 20 is rotated with respect to the fixed side arm 10, and the wave generator 62 is provided with a plurality of bearings 62b.

The reduction gear 60 forms a reduction gear bearing by the circular spline 66 corresponding to an inner ring, the outer ring 68, and the bearing 67 between the circular spline 66 and the outer ring 68. The rotating arm 20 is pivoted with respect to the fixed side arm 10 by fixing the rotating side arm to the circular spline 66 and fixing the fixed side arm 10 to the outer ring 68 of the reducer bearing. It is.

In addition, the conventional bearing 72 as the first bearing has a first inner ring and a first outer ring, and the concentricity of the first inner ring is fixed on the concentric line of the communication hollow portion. The first outer ring is fixed to the side arm, and the first inner ring is engaged with the low speed rotary tube 70 serving as the tube member.

The low-speed rotary tube 70 has a cylindrical shape having a through hole, and has a ring-shaped edge portion at one end thereof so as to penetrate through the motor shaft 30s and the wave generator 62. At the same time, the edge portion 70t is fixed to the rotation side arm 20 by being fixed to the cover 58, and the other end is connected to the fixed side arm 10 through the ring 71 and the tubular bearing 72. It is fixed. For this reason, the low-speed rotary tube 70 is formed so that it may rotate by the speed which the fixed side arm 10 and the rotation side arm 20 move relative, ie, the speed which fully decelerated rotation of the motor 30. FIG.

The cable 80 which transmits electric power and control to the tip arm (not shown) as a tip end part of a robot penetrates through the low speed rotary tube 70, and the cable 80 is rotated from the low speed rotary tube 70 to the rotation side arm ( The rotation side lead-out portion 80r of the cable 80 drawn out to the 20) side is immediately straightened and is fixed to the rotation side arm 20 by the loop portion 84L of the rotation side clamp 84. The cable 80 fixes the fixed side lead-out portion 80f of the cable 80 drawn out from the low speed rotating tube 70 to the fixed side arm 100 in parallel with the through hole of the low speed rotating tube 70. The distances of the wires are fixed to the fixed arm 10 by the fixed side clamp 82, and the wires are vertically wired. This causes the fixed side lead-out portion 80f to be rotated at a low speed rotary tube so that the deviation of the fixed side lead-out portion 80f relative to the fixed rotation side lead-out portion 80r of the cable 80 is increased. Since wiring is parallel to 70, it is made to bend vertically. On the other hand, since the deviation of the rotation side lead-out part 80r is minute, it does not wire in parallel and reduces wiring space.

Next, the assembly of the turning device of the industrial robot comprised as mentioned above is demonstrated. The drive unit 10l which the wave generator 62 couple | coupled is formed in the motor shaft 30s by making the shaft center of the motor 30, the brake 40, the encoder 50, and the harmonic drive 60 match. The bearing outer ring of the drive 60 is attached to the fixed side arm 10, and the bearing inner ring of the harmonic drive 60 is attached to the rotation side arm 20.

The tubular bearing 72 is fixed to the stationary side arm 10 so that the shaft center of the drive unit 101 of the stationary side arm 10 and the center of the tubular bearing 72 coincide with each other, and a ring is formed on the inner ring of the tubular bearing 72. Insert and fix (71). The edge portion 70t of the low speed rotary tube 70 is fixed to the cover 58 of the encoder 50, and the other end of the low speed rotary tube 70 is inserted into the ring 71 to fix it.

The fixed side clamp 82 as the first clamp such that the fixed side lead-out portion 80f of the cable 80 is substantially parallel to the through hole of the low speed rotary tube 70 via the cable 80 to the low speed rotary tube 70. Fixed to the loop portion 82L, the cable-side 80 is drawn out of the low-speed rotating tube 70 and wired slightly in parallel to the rotating side lead-out portion 80r of the cable 80. It is fixed to the loop portion 84L of the rotation side clamp 84 as the second clamp so as to be bent almost vertically.

Next, operation | movement of the turning device of the industrial robot comprised as mentioned above is demonstrated. When the control command signal is input to the motor 30, the motor 30 rotates, the disc 52 connected to the motor shaft 30s rotates, and the rotation angle of the motor 30 is detected by the encoder 50. To generate a position detection signal.

The wave generator 62 of the harmonic drive 60 connected to the motor shaft 30s rotates to sufficiently decelerate the rotational speed of the motor 30 by the circular spline 66 through the flex spline 64 and then rotate on the rotating side. The arm 20 is pivoted.

By this turning, the low-speed rotating tube 70 turns by the relative rotational speed of the fixed side arm 10 and the rotating arm 20, and the relative movement of the fixed side lead-out portion 80f of the cable 80 is reduced. It is the largest and the rotation side lead-out part 80r of the cable 80 moves smallest. In addition, since the rotation of the motor 30 is sufficiently decelerated by the harmonic drive 60 and the low speed rotating tube 70 rotates, the covering of the cable 80 inserted into the low speed rotating tube 70 is sufficiently protected.

Example 2.

Another embodiment of the present invention will be described with reference to FIG. 3. 3 is a cross-sectional view of a turning device of an industrial robot according to another embodiment. In FIG. 3, the same code | symbol as FIG. 2 has shown the same or equivalent part, and abbreviate | omits description.

In Example 1, one end of the low speed rotary tube 70 is fixed to the fixed side arm 10 via the ring 71 and the bearing 72, and the other end (edge portion, 70t) of the low speed rotary tube 70 is fixed. To the rotating arm 20 by fixing the cover 58 to the cover 58.

However, the turning device 100 of the industrial robot of the present embodiment, in contrast to the first embodiment, has one end of the low-speed rotary tube 70 connected to the ring 171 and the bearing 172 as the second bearing, as shown in FIG. The other end (edge part, 70t) of the low speed rotary tube 70 is fixed to the fixed side arm 10 through the cover 158 and fixed to the cover 158.

One end of the cable 80 is fixed to the rotating arm 20 by the rotating lamp 184, and the other end of the cable 80 is fixed to the fixing arm 10 by the fixing side clamp 182. will be.

That is, the cable 80 passes through the low-speed rotating tube 70 through the rotating side lead-out portion 80r drawn from the low-speed rotating tube 70 to the rotating arm 20 and the through-hole of the low-speed rotating tube 70. The fixed side clamp 182 is wired so as to be nearly parallel, and fixed to the rotating arm 20 by the rotating side clamp 184, and the fixed side lead-out portion 80f is wired in parallel a little and then bent almost vertically. Secure in. This is rotated by the relative rotational speeds of the fixed side arm 10 and the rotary side arm 20, and the deviation of the rotation side lead-out portion 80r of the cable 80, that is, the relative movement is greatest, and the fixed side lead-out portion Since the deviation of 80f is the smallest, the fixed side lead-out portion 80f is not connected in parallel but is vertically wired to reduce wiring space.

According to the present embodiment, as in the first embodiment, since the rotation of the motor 30 is sufficiently decelerated by the harmonic drive 60, the low speed rotary tube 70 rotates, and thus the cable inserted into the low speed rotary tube 70 ( 80) is sufficiently protected.

As mentioned above, the turning device of the industrial robot which concerns on this invention is suitable for wiring a cable to a joint structure.

Claims (4)

In the swinging device of the industrial robot having a fixed portion, a rotating portion pivoting with respect to the fixed portion, and a tip portion operating through the rotating portion, A motor 30 having a first shaft having a first hollow portion 30c penetrating the central portion thereof; A brake 40 having a second hollow portion 40c penetrated through a central portion thereof, and the first shaft is engaged with and fixed to the second hollow portion 40c to open and stop the motor 30. Wow, The third shaft has a third hollow portion 50c which penetrates through the center portion and has the same axis as the second hollow portion 40c of the brake 40, and the first shaft has the third hollow portion ( An encoder 50 engaged with and fixed to 50c to detect a rotation angle of the motor 30; A second shaft having a fourth hollow portion 60c penetrated at a central portion thereof, and the second shaft is coupled to the first shaft to connect the first and fourth hollow portions 30c and 60c. A reducer 60 fixed to the rotating shaft and connected to the rotating part and the fixing part while forming a communication hollow portion penetrated by the first shaft; The first bearing 72 which has a 1st inner ring and a 1st outer ring, the concentric of the said 1st inner ring is installed on the concentric line of the said communication hollow part, and the said 1st outer ring was fixed to the said fixing part 72 )and, A tubular tubular member having one end connected and fixed to the first inner ring, the other end connected to the rotating part, being inserted into the communication hollow portion, and having a through hole; And a cable (80) having one end fixed to the fixed part, the other end fixed to the rotating part, and inserted into the through hole and connected to the tip part. In the turning device of the industrial robot having a fixing part, a rotating part pivoting with respect to the fixing part, and a tip part operating through the rotating part, A motor 30 having a first shaft having a first hollow portion 30c penetrating the central portion thereof; A brake 40 having a second hollow portion 40c penetrated through a central portion thereof, and the first shaft is engaged with and fixed to the second hollow portion 40c to open and stop the motor 30. Wow, The third shaft has a third hollow portion 50c which penetrates through the center portion and has the same axis as the second hollow portion 40c of the brake 40, and the first shaft has the third hollow portion ( An encoder 50 engaged with and fixed to 50c to detect a rotation angle of the motor 30; A second shaft having a fourth hollow portion 60c penetrated at a central portion thereof, and the second shaft is coupled to the first shaft to connect the first and fourth hollow portions 30c and 60c. A speed reducer 60 connected to the rotating part and the fixed part to reduce the rotation of the first shaft while forming a communication hollow portion penetrated by the same; The second bearing 172 which has a 2nd inner ring and a 2nd outer ring, the concentric of the 2nd inner ring is installed on the concentric line of the said communication hollow part, and the said 2nd outer ring was fixed to the said rotating part. and, A tubular tubular member having one end connected to and fixed to the second inner ring, the other end connected to and fixed to the fixing part, being inserted into the communication hollow portion and having a through hole; And a cable (80) having one end fixed to the fixed part, the other end connected to the rotating part, and inserted into the through hole and connected to the tip part. The method according to claim 1 or 2, And a drive unit (101) integrating the second shaft, the motor (30), the encoder (50), and the brake (40). The method of claim 1, A first clamp 82 which is fixed to the fixing part and at the same time fixes the fixed side lead-out part 80f drawn out from the through-hole to the fixing part side in the through hole; A turning device for an industrial robot, characterized in that the cable (80) is provided with a second clamp (84) which fixes the rotation side lead-out portion (80r) drawn out from the through hole to the side of the rotation portion almost vertically.

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