WO1999021689A1 - Robot industriel et connecteur subdivise - Google Patents

Robot industriel et connecteur subdivise Download PDF

Info

Publication number
WO1999021689A1
WO1999021689A1 PCT/JP1998/004828 JP9804828W WO9921689A1 WO 1999021689 A1 WO1999021689 A1 WO 1999021689A1 JP 9804828 W JP9804828 W JP 9804828W WO 9921689 A1 WO9921689 A1 WO 9921689A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
connector
industrial robot
housing
base
Prior art date
Application number
PCT/JP1998/004828
Other languages
English (en)
Japanese (ja)
Inventor
Koji Tsukuda
Kazuhiro Haniya
Original Assignee
Kabushiki Kaisha Yaskawa Denki
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Publication of WO1999021689A1 publication Critical patent/WO1999021689A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R9/00—Structural associations of a plurality of mutually-insulated electrical connecting elements, e.g. terminal strips or terminal blocks; Terminals or binding posts mounted upon a base or in a case; Bases therefor
    • H01R9/03—Connectors arranged to contact a plurality of the conductors of a multiconductor cable, e.g. tapping connections

Definitions

  • FIG. 2 is a side cross-sectional view of the industrial robot
  • FIG. 3 is a side cross-sectional view for explaining a method of attaching the in-machine cable and the integrated connector inside the industrial port robot.
  • reference numeral 1 denotes an industrial robot manipulator.
  • the manipulator 1 has a base 2, a swing head 3, a lower arm 4, an upper arm 5, and a wrist 6.
  • the base 2 is fixed to the installation location, and the revolving head 3 is supported by the base 2 so as to be rotatable around a vertical axis, and is driven by the first motor 7.
  • the lower arm 4 is supported by the revolving head 3 so as to be able to swing around a horizontal axis
  • the upper arm 5 is supported by the lower arm 4 so as to be able to swing around a horizontal axis.
  • the wrist 6 is attached to the tip of the upper arm 5, has a rotational degree of freedom about three axes, and is driven by fourth, fifth and sixth motors (not shown).
  • Reference numeral 8 denotes an in-flight cable, which is a bundle of a large number of strands, and connects the upper arm 5, the lower arm 4, and the swing head 3 from the first to sixth motors and other attached devices (not shown). It passes through the base 2 and is connected to a first connector 9 fixed to the base 2.
  • Reference numeral 10 denotes a second connector that fits with the first connector 9.
  • An external cable 11 connects the second connector 10 and a control device (not shown).
  • the wires 12 constituting the in-machine cable 8 are joined one by one to terminal fittings (not shown) of the first connector 9 by soldering or caulking, respectively.
  • the in-machine cable 8 previously integrated with the first connector 9 is inserted into the base 2 through the opening 13 provided on the upper surface of the base 2.
  • the face of the first connector 9 facing the second connector 10 is the side face of the base 2. Attach it to the base 2 from the hole 14 provided in the base 2) and fix it to the base 2.
  • the first connector 9 is fitted with the second connector 10, and the second connector 10 is connected to the external cable 11.
  • the first connector 9 for connecting dozens of strands 12 has a larger cross-sectional dimension than the in-machine cable 8, so it is necessary to make the screw 13 larger. is there. Therefore, the external dimensions of the manipulator become large.
  • the problem described above is not limited to the connection of cables by connectors on the base 2 of the manipulator 1, but when the cables are connected to each other inside the manipulator 1 or the control device, or This is also a problem when connecting a control device to an external cable: This is a common problem when connecting cables through connectors in the limited space of an industrial robot. Problem.
  • the present invention provides an industrial port which requires a small space for connecting a cable and a connector, and saves the work of connecting a cable and a connector and has a low possibility of erroneous connection.
  • the purpose is to.
  • the present invention provides a cable in which a small number of terminal fittings are mounted on a single housing, and a plurality of the housings are combined and connected to a split connector housed in a single frame. It is.
  • FIG. 1 is a view showing an embodiment of the present invention, (a) is a side sectional view of a base of an industrial mouth bot, and (b) is a plan sectional view of a housing of a split connector:
  • FIG. FIG. 3 is a side sectional view of an industrial robot showing a conventional technique
  • FIG. 3 is a side sectional view of a base of the industrial robot showing a conventional technique.
  • FIG. 1 (a) is a side sectional view of a base of an industrial mouth bot showing an embodiment of the present invention.
  • 1 (b) is a plan sectional view of the housing of the split type connector c
  • reference numeral 15 denotes a known split type connector
  • the split type connector 15 includes a frame 16, a housing 17, and a force.
  • the frame 16 has a slot 16a power S, and five are arranged vertically.
  • the housing 17 is inserted into the slot 16a by l flSl, and a total of five housings 17 are inserted into the frame 16.
  • a slot (not shown) is provided in the slot 16a, and the inserted housing 17 is fixed.
  • the housing 17 is made of insulating material and has four terminal fittings 17a inside.
  • the wire 12 of the in-machine cable 8 is connected to the terminal fitting 1 1a. That is, four strands 2 are connected to one housing 17, and 20 strands 12 are connected to the entire split connector 15.
  • Reference numeral 10 denotes a second connector connected to the external cable 11.
  • the type of the second connector 10 is not limited as long as the second connector 10 is fitted into the split type connector 15 and is electrically connected.
  • the housing 17 When inserting the housing 17 into the slot 16 a of the frame 16, usually, the housing 17 is identified by a mark on the nozzle 17 or the strand 12 to identify the slot. Insert into 16 a.
  • the operator performs this insertion work by hand from the above-mentioned opening that asked the originally narrow base 2, it is difficult to visually check the slot 16a directly, It is necessary to find the slot 16a and insert the housing 17 into it. After inserting all the housings 17 into the slots 16a, it is also difficult to check that they are assembled correctly.
  • the base 2 and the working opening may be enlarged, but this contradicts the purpose of downsizing the base 2. Therefore, the following measures should be taken.
  • the housings 17 can be arranged in the frame 16 in the order of red, orange, yellow, green, and indigo. From the outside of the frame 16, that is, the outside of the base 2, the user can work while confirming correctness of the assembly. It is also easy to confirm after the assembly is completed. If the number of housings 17 is large and the number of colors is not enough, you can combine several colors to make a pattern.
  • the present invention can be applied to the case where the control device is connected to an external cable.
  • the connector is fixed to the body of the control device and the external cable 11 is connected to the connector, but if the connector is a split connector, Since the space for connecting the cable inside the control device and the connector can be reduced inside the housing of the control device, the size of the housing of the control device can be reduced.
  • a robot integrated with electromechanical system that is, in a robot with a built-in control device or a part of the control device, for example, a servo amplifier built in a manipulator, the cable extending from the servo motor is connected to the servo amplifier.
  • the present invention can be applied to connection.
  • the present invention has the following effects.
  • the opening for inserting the mechanical cable into the base can be made smaller, the size of the manipulator can be reduced. Further, from the opening, for example, chips, spatter, foreign matter splash like water and fat, penetrates inside the base 2 Difficulty les, c
  • the wires of the cable are divided into a small number of bundles and connected to the housing, they can be bent with a small radius. Therefore, a large space is not required to change the direction of the cable. Therefore, the space for connecting the connector and the cable can be reduced. Further, even if the wire is bent with a small radius, the wire does not break or come off.
  • the present invention is useful as an industrial port for connecting a cable via a connector and a split connector used for connecting the cable.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un grand nombre de torons (12) se subdivisent en plusieurs groupes de fils et chaque groupe de fils loge dans un boîtier (17), les torons (12) constituant les groupes de fils étant connectés à un métal de borne (17a). Un connecteur subdivisé (15) stockant plusieurs boîtiers (17) dans un cadre (16) est connecté avec un câble dans l'appareil. L'ouverture (13), par laquelle le câble (8) est introduit dans la base (2) de l'appareil peut avoir des dimensions réduites de même que l'espace destiné à stocker le câble (8) dans l'appareil.
PCT/JP1998/004828 1997-10-29 1998-10-23 Robot industriel et connecteur subdivise WO1999021689A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP31449697A JP4275207B2 (ja) 1997-10-29 1997-10-29 産業用ロボットおよび分割式コネクタ
JP9/314496 1997-10-29

Publications (1)

Publication Number Publication Date
WO1999021689A1 true WO1999021689A1 (fr) 1999-05-06

Family

ID=18054007

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1998/004828 WO1999021689A1 (fr) 1997-10-29 1998-10-23 Robot industriel et connecteur subdivise

Country Status (2)

Country Link
JP (1) JP4275207B2 (fr)
WO (1) WO1999021689A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1139503A2 (fr) * 2000-03-28 2001-10-04 Matsushita Electric Industrial Co., Ltd. Dispositif de câble de connexion
EP1752265A1 (fr) * 2005-05-12 2007-02-14 Matsushita Electric Industrial Co., Ltd. Robot manipulateur

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7032789B2 (en) * 2002-10-31 2006-04-25 Nordson Corporation Solenoid using color-coded visual indicia in a liquid dispensing system
JP2007245345A (ja) * 2007-07-03 2007-09-27 Yaskawa Electric Corp 産業用ロボット
JP2009166172A (ja) * 2008-01-16 2009-07-30 Seiko Epson Corp ロボットのシミュレーション方法及びロボットのシミュレーション装置
JP5552329B2 (ja) * 2010-02-10 2014-07-16 株式会社ダイヘン 溶接ロボット

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5996779U (ja) * 1982-12-20 1984-06-30 株式会社正興電機製作所 ユニツト式コネクタ
JPS59176771U (ja) * 1983-05-16 1984-11-26 三菱電機株式会社 ロボツト
JPH0574514A (ja) * 1991-09-10 1993-03-26 Sumitomo Wiring Syst Ltd 集合コネクタ
JPH0538778U (ja) * 1991-10-24 1993-05-25 矢崎総業株式会社 ハウジングブロツクの係止構造
JPH0615587A (ja) * 1990-12-19 1994-01-25 Kurono Kinzoku:Kk ロボットの腕
JPH07112392A (ja) * 1993-10-18 1995-05-02 Fanuc Ltd ロボット装置
JPH09139263A (ja) * 1995-11-13 1997-05-27 Yazaki Corp Ｐｃｂ用コネクタ

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5996779U (ja) * 1982-12-20 1984-06-30 株式会社正興電機製作所 ユニツト式コネクタ
JPS59176771U (ja) * 1983-05-16 1984-11-26 三菱電機株式会社 ロボツト
JPH0615587A (ja) * 1990-12-19 1994-01-25 Kurono Kinzoku:Kk ロボットの腕
JPH0574514A (ja) * 1991-09-10 1993-03-26 Sumitomo Wiring Syst Ltd 集合コネクタ
JPH0538778U (ja) * 1991-10-24 1993-05-25 矢崎総業株式会社 ハウジングブロツクの係止構造
JPH07112392A (ja) * 1993-10-18 1995-05-02 Fanuc Ltd ロボット装置
JPH09139263A (ja) * 1995-11-13 1997-05-27 Yazaki Corp Ｐｃｂ用コネクタ

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1139503A2 (fr) * 2000-03-28 2001-10-04 Matsushita Electric Industrial Co., Ltd. Dispositif de câble de connexion
EP1139503A3 (fr) * 2000-03-28 2003-07-09 Matsushita Electric Industrial Co., Ltd. Dispositif de câble de connexion
EP1752265A1 (fr) * 2005-05-12 2007-02-14 Matsushita Electric Industrial Co., Ltd. Robot manipulateur
EP1752265A4 (fr) * 2005-05-12 2007-11-14 Matsushita Electric Ind Co Ltd Robot manipulateur
US7540214B2 (en) 2005-05-12 2009-06-02 Panasonic Corporation Manipulator-type robot

Also Published As

Publication number Publication date
JP4275207B2 (ja) 2009-06-10
JPH11129185A (ja) 1999-05-18

Similar Documents

Publication Publication Date Title
EP1752265B1 (fr) Robot manipulateur
US7476996B2 (en) Resolver external conductor fixing structure
JP3790958B2 (ja) レゾルバのリード端子構造
EP2011731A1 (fr) Kit d'instrumentation pour bicyclette et bicyclette comportant un tel kit
WO1999021689A1 (fr) Robot industriel et connecteur subdivise
EP3522311B1 (fr) Système et procédé d'assemblage assisté
EP1139503B1 (fr) Dispositif de câble de connexion
US5688135A (en) Case for a wire harness having color-coded cable routing lines on adhesive tape
JPH01157073A (ja) 電気装置ユニットの電気的端子結合デバイス，該デバイスを備えたしゃ段器および関連する部品の組立品
EP1478078B1 (fr) Moteur électrique
US8269386B2 (en) Phase lead connections for a bar wound stator
JPS6096147A (ja) 交流電機
JP2007245345A (ja) 産業用ロボット
CN112008757A (zh) 机器人
JP2021058041A (ja) ジョイントボックス、屋内配線用ユニットケーブル、及び屋内配線用ユニットケーブルの製造方法
JPH11146600A (ja) モータ装置
JP3010149B2 (ja) 遠隔着脱コネクタ装置
WO1988000516A2 (fr) Outil de sertissage et matrices combines servant a attacher un cable de fibres optiques a des connecteurs de fibres optiques
WO1992004759A1 (fr) Borne externe de moteur
JP2001308559A (ja) 表示計器、並びに複数の個々の芯線を有する接続ケーブルに表示計器のプリント配線板を結合させるための方法
JP2558318Y2 (ja) モータの端子装置
EP0406196A1 (fr) Dispositif connectable avec le capot d'un connecteur
JP2534467B2 (ja) ブラシレス電気信号伝達装置の製造方法
JP2000243488A (ja) 電線接続構造および該構造の形成方法
WO1996027220A1 (fr) Procede de raccordement de plusieurs conducteurs isoles a une cosse

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): CN KR US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: KR

122 Ep: pct application non-entry in european phase