WO2020188659A1 - Robot industriel - Google Patents

Robot industriel Download PDF

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Publication number
WO2020188659A1
WO2020188659A1 PCT/JP2019/010974 JP2019010974W WO2020188659A1 WO 2020188659 A1 WO2020188659 A1 WO 2020188659A1 JP 2019010974 W JP2019010974 W JP 2019010974W WO 2020188659 A1 WO2020188659 A1 WO 2020188659A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
flight
bush
industrial robot
robot
Prior art date
Application number
PCT/JP2019/010974
Other languages
English (en)
Japanese (ja)
Inventor
剛志 津田
遊野 塚本
圭祐 松村
Original Assignee
三菱電機株式会社
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 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2019/010974 priority Critical patent/WO2020188659A1/fr
Priority to CN201980093855.4A priority patent/CN113557109A/zh
Priority to JP2020564967A priority patent/JP6843317B2/ja
Publication of WO2020188659A1 publication Critical patent/WO2020188659A1/fr

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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

Definitions

  • 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.
  • industrial robots with a waterproof and dustproof structure that can operate even in an oil mist environment where cutting oil is scattered are used.
  • 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.
  • 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.
  • 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.
  • 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.
  • Cross-sectional view of the robot according to the first embodiment Enlarged view of the robot protection box according to the first embodiment
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cable bush 112 of the robot 100 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.
  • 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.
  • the cable bush 112 of the robot 100 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.
  • the cable bush 112 of the robot 100 according to the fifth embodiment 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.
  • 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.
  • 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.

Landscapes

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

Abstract

La présente invention concerne un robot industriel comprenant une partie de base pourvue d'une boîte de protection (11) logeant une carte de commande (7) ; un bras pliable et extensible comprenant une articulation, s'étendant à partir de la partie de base et comportant une partie de poignet équipée d'un effecteur terminal sur une extrémité du bras ; une pluralité de moteurs installés à l'intérieur du bras qui entraînent l'articulation et effectuent une flexion et une extension du bras ainsi qu'un changement de l'orientation de la partie de poignet ; un câble interne (5), qui s'étend hors de l'intérieur de la boîte de protection (11), est acheminé à l'intérieur du bras et est relié aux moteurs ; et une douille de câble (112) encliquetée dans un trou de câble interne (111) à travers lequel s'étend le câble interne (5) hors du boîtier de protection (11), la douille de câble (112) étant formée à partir d'un matériau élastique et est formée avec un trou de câble (113) dans lequel est disposé le câble interne (5) et le trou de câble (113) est inférieur à un diamètre externe du câble interne (5) dans un état où le câble interne (5) n'est pas disposé.
PCT/JP2019/010974 2019-03-15 2019-03-15 Robot industriel WO2020188659A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2019/010974 WO2020188659A1 (fr) 2019-03-15 2019-03-15 Robot industriel
CN201980093855.4A CN113557109A (zh) 2019-03-15 2019-03-15 工业用机器人
JP2020564967A JP6843317B2 (ja) 2019-03-15 2019-03-15 産業用ロボット

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/010974 WO2020188659A1 (fr) 2019-03-15 2019-03-15 Robot industriel

Publications (1)

Publication Number Publication Date
WO2020188659A1 true WO2020188659A1 (fr) 2020-09-24

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ID=72520632

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Application Number Title Priority Date Filing Date
PCT/JP2019/010974 WO2020188659A1 (fr) 2019-03-15 2019-03-15 Robot industriel

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JP (1) JP6843317B2 (fr)
CN (1) CN113557109A (fr)
WO (1) WO2020188659A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113997323A (zh) * 2021-12-08 2022-02-01 珠海格力电器股份有限公司 线缆组件和水平多关节工业机器人

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61182793A (ja) * 1985-02-09 1986-08-15 フアナツク株式会社 ロボツトのケ−ブル引込み装置
JPH09317951A (ja) * 1996-05-27 1997-12-12 Rinnai Corp シール構造、ケーブル保持部材、及び、シール構造を用いた機器
JP2002247743A (ja) * 2001-02-19 2002-08-30 Mitsubishi Cable Ind Ltd ケーブルの支持方法及びケーブル支持用ブッシング
JP2005014159A (ja) * 2003-06-26 2005-01-20 Fanuc Ltd ロボット
JP2007044767A (ja) * 2005-08-05 2007-02-22 Yaskawa Electric Corp 産業用ロボット
JP2014097573A (ja) * 2014-02-28 2014-05-29 Daihen Corp 多関節形ロボット
JP2016068207A (ja) * 2014-09-30 2016-05-09 セイコーエプソン株式会社 ロボット、制御装置およびロボットシステム
JP2016142309A (ja) * 2015-01-30 2016-08-08 ファナック株式会社 電子機器の筐体からケーブルを引き出すための器具、および電子機器
JP2018051708A (ja) * 2016-09-30 2018-04-05 セイコーエプソン株式会社 水平多関節型ロボット
JP2019005820A (ja) * 2017-06-21 2019-01-17 セイコーエプソン株式会社 ロボット、及びロボットシステム

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200810265A (en) * 2006-05-31 2008-02-16 Roxtec Ab A plug unit for a cable entry
CN104889974B (zh) * 2015-05-14 2017-12-08 湖北骐通智能科技股份有限公司 机器人的线缆构造以及使用其的机器人
CN108582163A (zh) * 2018-06-26 2018-09-28 埃夫特智能装备股份有限公司 一种基于防尘防湿密封的机器人转座结构

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61182793A (ja) * 1985-02-09 1986-08-15 フアナツク株式会社 ロボツトのケ−ブル引込み装置
JPH09317951A (ja) * 1996-05-27 1997-12-12 Rinnai Corp シール構造、ケーブル保持部材、及び、シール構造を用いた機器
JP2002247743A (ja) * 2001-02-19 2002-08-30 Mitsubishi Cable Ind Ltd ケーブルの支持方法及びケーブル支持用ブッシング
JP2005014159A (ja) * 2003-06-26 2005-01-20 Fanuc Ltd ロボット
JP2007044767A (ja) * 2005-08-05 2007-02-22 Yaskawa Electric Corp 産業用ロボット
JP2014097573A (ja) * 2014-02-28 2014-05-29 Daihen Corp 多関節形ロボット
JP2016068207A (ja) * 2014-09-30 2016-05-09 セイコーエプソン株式会社 ロボット、制御装置およびロボットシステム
JP2016142309A (ja) * 2015-01-30 2016-08-08 ファナック株式会社 電子機器の筐体からケーブルを引き出すための器具、および電子機器
JP2018051708A (ja) * 2016-09-30 2018-04-05 セイコーエプソン株式会社 水平多関節型ロボット
JP2019005820A (ja) * 2017-06-21 2019-01-17 セイコーエプソン株式会社 ロボット、及びロボットシステム

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Publication number Publication date
CN113557109A (zh) 2021-10-26
JP6843317B2 (ja) 2021-03-17
JPWO2020188659A1 (ja) 2021-04-08

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