WO2020188659A1

WO2020188659A1 - Industrial robot

Info

Publication number: WO2020188659A1
Application number: PCT/JP2019/010974
Authority: WO
Inventors: 剛志津田; 遊野塚本; 圭祐松村
Original assignee: 三菱電機株式会社
Priority date: 2019-03-15
Filing date: 2019-03-15
Publication date: 2020-09-24
Also published as: JP6843317B2; CN113557109A; JPWO2020188659A1

Abstract

An industrial robot includes a base part provided with a protection box (11) housing a control board (7); a bendable and extendable arm including a joint, extending from the base part, and provided with a wrist part equipped with an end effector on an end of the arm; a plurality of motors installed inside the arm that drive the joint and perform bending and extending of the arm and changing of an orientation of the wrist part; an internal cable (5) that extends out from inside the protection box (11), is routed inside the arm, and is connected to the motors; and a cable bushing (112) press fitted in an internal cable hole (111) through which the internal cable (5) extends out from the protection box (11), wherein the cable bushing (112) is formed of an elastic material and is formed with a cable hole (113) in which the internal cable (5) is disposed, and the cable hole (113) is smaller than an outer diameter of the internal cable (5) in a state when the internal cable (5) is not disposed.

Description

Industrial robot

The present invention relates to an industrial robot equipped with an arm.

Industrial robots have joints and are equipped with bendable and stretchable arms. The arm is covered with a cover. For applications such as loading and unloading workpieces on machine tools, industrial robots with a waterproof and dustproof structure that can operate even in an oil mist environment where cutting oil is scattered are used. In an industrial robot, members requiring protection such as a substrate and a connector are scattered inside the robot, so that the entire robot needs to have a waterproof and dustproof structure.

In order to make the entire robot waterproof and dustproof, oil seals or V seals are required for all joints, and O-rings or gaskets are required for all covers. Therefore, if the entire robot has a waterproof and dustproof structure, the number of parts will increase. In addition, the oil seal or O-ring attachment portion of the robot housing needs to be processed with high dimensional accuracy and fine surface roughness on a high-hardness material, which reduces productivity.

In Patent Document 1, a housing having a waterproof and dustproof function is attached to a connector base portion, a cable connection connector and a lead wire peeling portion are housed in the housing, and a power supply cable connection connector and a cable passing through the inside of the robot are housed in the housing. An industrial robot having a connector and having a waterproof treatment in the gap with the outside is disclosed.

JP-A-2007-044767

However, in the industrial robot disclosed in Patent Document 1, since the in-flight cable is routed into the housing through the connection union, the in-flight cable greatly overhangs inside the machine at the portion where the in-flight cable penetrates the housing. Therefore, the industrial robot disclosed in Patent Document 1 can increase the productivity, but it is difficult to reduce the size.

The present invention has been made in view of the above, and an object of the present invention is to obtain an industrial robot having high productivity, waterproof and dustproof functions, and capable of miniaturization.

In order to solve the above-mentioned problems and achieve the object, the present invention has a base portion provided with a protective box for accommodating a control board, and a wrist portion having joints extending from the base portion and to which an end effector is mounted. Is provided at the tip of the arm, which is installed inside the arm to drive the joints to bend and extend the arm and change the posture of the wrist part, and is pulled out from the protective box. It is provided with an in-flight cable that is routed inside the arm and connected to the motor, and a cable bush that is press-fitted into the in-flight cable hole that pulls out the in-flight cable from the protection box. The cable bush is made of an elastic material and has a cable hole in which an in-flight cable is arranged. The cable hole is smaller than the outer diameter of the in-flight cable when the in-flight cable is not arranged.

The industrial robot according to the present invention has the effects of high productivity, waterproof and dustproof functions, and miniaturization.

A perspective view showing the configuration of the robot according to the first embodiment of the present invention. Cross-sectional view of the robot according to the first embodiment Enlarged view of the robot protection box according to the first embodiment The figure which shows the structure of the cable bush of the robot which concerns on Embodiment 1. The figure which shows the structure of the cable bush of the robot which concerns on Embodiment 2 of this invention. The figure which shows the structure of the cable bush of the robot which concerns on Embodiment 3 of this invention. The figure which shows the structure of the cable bush of the robot which concerns on Embodiment 4 of this invention. The figure which shows the structure of the cable bush of the robot which concerns on Embodiment 5 of this invention. The figure which shows the structure of the cable bush of the robot which concerns on Embodiment 6 of this invention. The figure which shows the structure of the cable bush of the robot which concerns on Embodiment 7 of this invention.

The industrial robot according to the embodiment of the present invention will be described in detail below with reference to the drawings. The present invention is not limited to this embodiment.

Embodiment 1.
FIG. 1 is a perspective view showing a configuration of a robot according to a first embodiment of the present invention. FIG. 2 is a cross-sectional view of the robot according to the first embodiment. The robot 100, which is an industrial robot, has a base portion 1 and an arm 2 extending from the base portion 1.

The base portion 1 includes a motor accommodating portion 19 accommodating a motor 41 that swivels the entire arm 2 and a protection box 11. The arm 2 has a joint 21 and can be bent and stretched. At the tip of the arm 2, a wrist portion 3 to which an end effector such as a hand for loading and unloading the work is mounted is provided. The end effector attached to the wrist portion 3 is not limited to the hand, but is a rotary tool that rotates the blade to perform processing such as deburring, and sprays paint or the like on the work to form a coating film on the surface of the work. It may be a spray gun or a dispenser that applies a sealant or the like to the work. The end effector attached to the wrist portion 3 may be other than those illustrated. The arm 2 is provided with a motor 42 that drives the joint 21 to bend and stretch the arm 2 and a motor 43 that drives the joint 21 to change the posture of the wrist unit 3. In order to avoid complicating the drawings, FIG. 2 shows only a part of a plurality of motors included in the robot 100.

The protection box 11 contains a control board 7 on which a control circuit for controlling the

motors

41, 42, 43 is formed. The

motors

41, 42, 43 and the control board 7 are connected by an in-machine cable 5. The in-flight cable 5 is a multi-cable including a signal line 51 and a power supply line 52. The in-flight cable 5 is not provided with a relay connector between the

motors

41, 42, 43 and the control board 7. The base portion 1 is connected to the robot controller 9 through an inter-device cable 6.

FIG. 3 is an enlarged view of the robot protection box according to the first embodiment. The control board 7 is mounted with an external connector 76 to which the signal line 61 of the inter-device cable 6 is connected and an internal connector 75 to which the signal line 51 of the in-flight cable 5 is connected. The device-to-device cable 6 is a multi-cable including a signal line 61 and a power supply line 62. The signal line 61 of the inter-device cable 6 and the signal line 51 of the in-flight cable 5 are connected via a control circuit formed on the control board 7. Further, in the protection box 11, a relay connector 8 for connecting the power supply line 62 of the inter-device cable 6 and the power supply line 52 of the in-flight cable 5 is housed.

The protection box 11 is composed of a main body 12 having an opening 121 formed therein and a lid 13 for closing the opening 121. A packing 14 is installed between the edge of the opening 121 and the lid 13, so that the opening 121 is waterproof and dustproof. By opening the lid 13, the control board 7 can be installed in the protective box 11 and the connector can be connected in the protective box 11.

The lid 13 is formed with an inter-device cable hole 131 through which the inter-device cable 6 is passed. A connection union 132 is installed in the inter-device cable hole 131. A tubular packing 133 is installed inside the connection union 132, and the packing 133 is in close contact with the inter-device cable 6. Therefore, the waterproof and dustproof property in the cable hole 131 between devices is ensured.

The protection box 11 is formed with an in-flight cable hole 111 through which the in-flight cable 5 is passed in the motor accommodating portion 19. A cable bush 112 is installed in the in-flight cable hole 111. FIG. 4 is a diagram showing a configuration of a cable bush of the robot according to the first embodiment. The cable bush 112 has a disk shape made of an elastic material such as an elastomer, and has a plurality of cable holes 113 through which the in-flight cable 5 is passed. The cable hole 113 is smaller than the outer diameter of the in-flight cable 5 when the in-flight cable 5 is not arranged. The side wall of the cable hole 113 is in close contact with the in-flight cable 5, and the waterproof and dustproof property of the cable hole 113 is ensured.

Since the cable bush 112 has a structure in which a cable hole 113 is formed in a plate-shaped elastomer, the thickness dimension is smaller than that of the connecting union. Therefore, the size of the in-flight cable 5 protruding into the protection box 11 or the motor accommodating portion 19 can be reduced in the portion through which the in-machine cable hole 111 is passed. Therefore, in the robot 100 according to the first embodiment, the protection box 11 and the motor accommodating portion 19 can be made smaller, and the size can be reduced. Further, since the cable bush 112 has a structure in which a cable hole 113 is formed in a plate-shaped elastomer, high-precision processing is not required. Further, since both the part where the signal line 51 of the in-flight cable 5 is pulled out from the protection box 11 and the part where the power line 52 is pulled out from the protection box 11 can be made waterproof and dustproof by one cable bush 112, it is assembled. The increase in man-hours can be suppressed. Therefore, the robot 100 according to the first embodiment has high productivity. Further, there is a gap between the part where the signal line 51 of the in-flight cable 5 is pulled out from the protection box 11 to have waterproof and dustproof properties and the part where the power line 52 is pulled out from the protection box 11 to have waterproof and dustproof properties. Since it is not necessary, the opening area of the in-flight cable hole 111 can be reduced. Further, the relay connector 8 that connects the power supply line 62 of the inter-device cable 6 and the power supply line 52 of the in-flight cable 5 is housed in the protection box 11. Therefore, waterproof and dustproof properties are ensured at the connection portion between the power supply line 62 of the inter-device cable 6 and the power supply line 52 of the in-flight cable 5. Further, since there is no relay connector between the

motors

41, 42, 43 and the control board 7, it is not necessary to provide a waterproof and dustproof structure at the joint 21 portion.

Embodiment 2.
The structure of the robot 100 according to the second embodiment of the present invention is the same as that of the robot 100 according to the first embodiment, but the structure of the cable bush 112 is different. FIG. 5 is a diagram showing a configuration of a cable bush of the robot according to the second embodiment of the present invention. The cable bush 112 of the robot 100 according to the second embodiment is formed with slits 114 connected to each cable hole 113 from the outer edge portion.

Since the cable bush 112 of the robot 100 according to the second embodiment can arrange the in-flight cable 5 in the cable hole 113 after connecting the end of the in-flight cable 5 to the connector, the operation of connecting the connector in the protection box 11 It is possible to improve the workability of maintenance such as the property and replacement of the cable bush 112.

Embodiment 3.
The structure of the robot 100 according to the third embodiment of the present invention is the same as that of the robot 100 according to the first embodiment, but the structure of the cable bush 112 is different. FIG. 6 is a diagram showing a configuration of a cable bush of the robot according to the third embodiment of the present invention. The cable bush 112 of the robot 100 according to the third embodiment has a rectangular plate shape with rounded corners and chamfers, and cable holes 113 are arranged in series along the long sides.

When the cable bush 112 of the robot 100 according to the third embodiment is fitted to the main body 12 of the protective box 11, each part along the longitudinal direction is compressed and deformed in the lateral direction as a whole, so that the cable is deformed. A gap is unlikely to occur between the bush 112 and the main body 12 of the protective box 11, and waterproof and dustproof properties can be improved.

Embodiment 4.
The structure of the robot 100 according to the fourth embodiment of the present invention is the same as that of the robot 100 according to the first embodiment, but the structure of the cable bush 112 is different. FIG. 7 is a diagram showing a configuration of a cable bush of the robot according to the fourth embodiment of the present invention. The cable bush 112 of the robot 100 according to the fourth embodiment has a rectangular plate shape with rounded corners and chamfers, and cable holes 113 are arranged in series along the long sides. The cable bush 112 of the robot 100 according to the fourth embodiment is formed with slits 114 connected to each cable hole 113 from the edge portion.

Since the cable bush 112 of the robot 100 according to the fourth embodiment can arrange the in-flight cable 5 in the cable hole 113 after connecting the end of the in-flight cable 5 to the connector, the work of connecting the connector in the protection box 11 It is possible to improve the workability of maintenance such as the property and replacement of the cable bush 112.

Embodiment 5.
The structure of the robot 100 according to the fifth embodiment of the present invention is the same as that of the robot 100 according to the first embodiment, but the structure of the cable bush 112 is different. FIG. 8 is a diagram showing a configuration of a cable bush of the robot according to the fifth embodiment of the present invention. The cable bush 112 of the robot 100 according to the fifth embodiment has a rectangular plate shape with rounded four corners and chamfered, and cable holes 113 are arranged in series along a long side. The cable bush 112 of the robot 100 according to the fifth embodiment is formed with a slit 114 for connecting the cable holes 113 to each other.

When the cable bush 112 of the robot 100 according to the fifth embodiment is fitted to the main body 12 of the protective box 11, the cable bush 112 is deformed so as to close the slit 114, so that the waterproof and dustproof property can be improved. .. Further, since the cable bush 112 can be made into a state in which a large-diameter opening is formed by widening a plurality of cable holes 113 connected by the slit 114, the connector is attached to the end of the in-flight cable 5. Even if there is, the in-flight cable 5 can be arranged in the cable hole 113.

Embodiment 6.
The structure of the robot 100 according to the sixth embodiment of the present invention is the same as that of the robot 100 according to the first embodiment, but the structure of the cable bush 112 is different. FIG. 9 is a diagram showing a configuration of a cable bush of the robot according to the sixth embodiment of the present invention. The cable bush 112 of the robot 100 according to the sixth embodiment has a tapered surface on a side surface, and is narrower toward the insertion side of the protective box 11 into the main body 12. That is, the cable bush 112 of the robot 100 according to the sixth embodiment has a tapered shape in which the area on the tip side in the insertion direction into the in-machine cable hole 111 is small.

The cable hole 113 may be a straight hole or a tapered hole having the same inclination as the side surface of the cable bush 112.

The cable bush 112 of the robot 100 according to the sixth embodiment can easily set the crushing allowance of the elastomer when it is inserted into the main body 12 of the protective box 11. Further, the work of inserting the cable bush 112 into the in-machine cable hole 111 is easy.

Embodiment 7.
The structure of the robot 100 according to the seventh embodiment of the present invention is the same as that of the robot 100 according to the first embodiment, but the structure of the cable bush 112 is different. FIG. 10 is a diagram showing a configuration of a cable bush of a robot according to a seventh embodiment of the present invention. In the cable bush 112 of the robot 100 according to the seventh embodiment, the cable hole 113 has an elliptical shape. The major axis direction of the cable hole 113 is the lateral direction of the cable bush 112, and the minor axis direction of the cable hole 113 is the longitudinal direction of the cable bush 112.

When the cable bush 112 of the robot 100 according to the seventh embodiment is inserted into the in-flight cable hole 111 and deformed, the cable hole 113 becomes circular, so that a gap is less likely to occur between the cable bush 112 and the in-flight cable 5. Therefore, the robot 100 according to the seventh embodiment can improve the waterproof and dustproof property of the protective box 11.

The configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

1 base part, 2 arms, 3 wrist parts, 5 in-flight cables, 6 inter-device cables, 7 control boards, 8 relay connectors, 9 robot controllers, 11 protection boxes, 12 main bodies, 13 lids, 14, 133 packings, 19 motor accommodations Parts, 21 joints, 41, 42, 43 motors, 51, 61 signal lines, 52, 62 power lines, 75 internal connection connectors, 76 external connection connectors, 100 robots, 111 in-flight cable holes, 112 cable bushes, 113 cable holes, 114 slits, 121 openings, 131 inter-device cable holes, 132 connection unions.

Claims

A base with a protective box to house the control board,
A bendable arm that has joints, extends from the base portion, and has a wrist portion at the tip to which an end effector is attached.
A plurality of motors installed inside the arm to drive the joint to bend and stretch the arm and change the posture of the wrist portion.
An in-flight cable pulled out from the protective box and routed inside the arm to be connected to the motor.
A cable bush that is press-fitted into the in-flight cable hole from which the in-flight cable is pulled out of the protective box
The cable bush is made of an elastic material and has a cable hole in which the in-flight cable is arranged.
An industrial robot characterized in that the cable hole is smaller than the outer diameter of the in-flight cable when the in-flight cable is not arranged.
The cable bush has a plurality of the cable holes.
The in-flight cable is a multi-cable including a power line and a signal line.
The industrial robot according to claim 1, wherein the power line and the signal line are respectively arranged in the plurality of cable holes.
The industrial robot according to claim 2, wherein the control board is mounted with an in-flight cable connector to which a signal line of the in-flight cable is connected.
The industry according to claim 3, wherein the control board is mounted with an inter-device cable connector to which a signal line of an inter-device cable drawn out from the protection box and connected to another device is connected. Robot for.
A connection union in which a tubular packing is arranged is installed in a portion of the protective box from which the inter-device cable is pulled out.
The industrial robot according to claim 4, wherein the inner diameter of the tubular packing is equal to or less than the outer diameter of the inter-device cable.
The device-to-device cable is a multi-cable including a power line and a signal line.
The industrial robot according to claim 4 or 5, wherein a relay connector for connecting the power line of the inter-device cable and the power line of the in-flight cable is housed inside the protection box. ..
The industrial robot according to any one of claims 2 to 6, wherein the cable bush is formed with a plurality of slits connected to each of the cable holes from an outer edge portion.
The industrial robot according to any one of claims 2 to 6, wherein the cable bush is formed with a slit for connecting adjacent cable holes.
The cable bush has a rectangular plate shape with rounded four corners and chamfered, and a plurality of the cable holes are arranged in a direction along a long side, according to any one of claims 2 to 8. Described industrial robot.
The cable hole is oval and
The major axis direction of the cable hole is the lateral direction of the cable bush.
The industrial robot according to claim 9, wherein the short axis direction of the cable hole is the longitudinal direction of the cable bush.
The industrial robot according to any one of claims 1 to 10, wherein the cable bush has a tapered shape having a small area on the tip side in the insertion direction into the in-flight cable hole.