JPH0416318B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to, for example, a medium-sized vertically articulated arc welding robot. This invention relates to a built-in cable wiring device for industrial robots.

[Conventional technology]

Conventional vertically articulated industrial robots of this type are
It consists of a fixed body installed on a base and containing a servo motor for driving the rotation, and a rotating body equipped with a robot arm that is rotatably mounted on the fixed body and has a hand device, Furthermore, the fixed base connector of the base and the cable clamp of the rotating body are electrically connected to each other by a flexible cable.

[Problem that the invention seeks to solve]

However, the rotation angle of the robot arm of this type of industrial robot is extremely large, and many of them rotate around 180 degrees. Therefore, it is extremely difficult to wire the cable 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.) is extremely difficult. ) If you make a mistake, you may easily bend the cable forcibly or pull it and break the cable during the swinging motion of the swinging body.

[Means for solving problems]

The cable wiring device for an industrial robot according to the present invention has a fixed body housing a swing drive servo motor on the upper surface, further has a base connector on one side, and has a base connector on the fixed body from the lower part to the bottom. a base formed with an inclined inclined part and provided with an opening of a predetermined length on the bottom outer periphery of the fixed body; and a base that is rotatably attached to the fixed body and surrounds the fixed body and the opening. a rotating body, which has a side wall that rotates with the opening, a cable clamp is provided on the side wall above the opening, and a rotating body that rotates a robot arm fixed to the upper center part; A flexible cable is connected to the base connector at the other end and is wired in a hollow state within the base.

[Effect]

In this invention, one end of the flexible cable is clamped to a cable clamp provided at a predetermined position in the upper part of the rotating fuselage, and the other end of the flexible cable is suspended vertically and connected to a base connector at the bottom of the base.
In addition, an opening of a predetermined length is provided on the sloping part formed from the lower part of the fixed fuselage to the bottom and on the outer periphery of the bottom of the fixed fuselage provided on the top surface of the base, so even if the revolving fuselage makes a large turn, the cables will not be easily connected. No problems such as wire breakage caused by bending or pulling.

[Embodiments of the invention]

Figures 1 to 4 all show one embodiment of the present invention, with Figure 1 being a vertical sectional view of the lower half of an industrial robot, and Figure 2 being a sectional view taken along the - line in Figure 1. , FIG. 3 is a sectional view taken along the - line in FIG. 1, and FIG. 4 is an explanatory diagram of the operation of the rotating fuselage. In the figure, reference numeral 1 indicates a servo motor 4 for internal rotation drive.
A base 2 is rotatably supported on the upper part of the fixed body 1A via a bearing 3, and has a fixed body 1A formed on its upper surface and a base connector 7 on one side of the lower part. 1A through an annular cable accommodation chamber 10, and a support 11 equipped with a robot arm (not shown) having a hand device is rotatably attached to the upper surface of the rotating body 2. There is. 5 is servo motor 4
and a reduction gear installed in the connection part between the rotating fuselage 2 and the rotating fuselage 2, 8
is a flexible cable that hangs vertically for a long time with one end clamped to a cable clamp 6 installed at a predetermined position in the upper part of the cable accommodation chamber 10 within the rotating body 2, and the other end of this cable 8 is It is connected to a base connector 7 provided on one side of the lower part of the stand 1. 12 is an opening for inserting the cable 8 in the cable storage chamber 10 into the base 1;
Reference numeral 1B designates an inclined portion formed in the lower half of the fixed body 1A near the cable insertion opening 12, and reference numeral 9 designates a coil spring-shaped cable protector inserted into this in order to protect the cable 8.

The wiring device for an industrial robot according to the present invention is constructed as described above, so that when the rotating body 2 turns in the direction of arrow F from the state shown in FIG. Therefore, the cable 8 whose upper end is clamped by the cable clamp 6 moves in the direction of arrow F as shown in FIG. 4 together with the cable protector 9. Even though the cable 8 is long and wraps around the lower half of the fixed body 1A as the cable 8 moves, the lower half has an inclined part 1B and has a narrower diameter, so the cable 8 can be wrapped around the lower half of the fixed body 1A. 2
As shown in Fig. 4, it is possible to secure a rotation angle of 155°, which is required in practice, without having to interfere with the rotation of the robot.

〔Effect of the invention〕

As described above, according to the present invention, one end of the flexible cable 8 is clamped to the cable clamp 6 provided at a predetermined position in the upper part of the rotating fuselage 2, and the other end of the flexible cable 8 is suspended vertically. Connected to the base connector 7 at the bottom of the base 1, an inclined part 1B is formed from the lower part to the bottom of the fixed body 1A provided on the upper surface of the base, and an opening 12 of a predetermined length is provided on the outer periphery of the bottom of the inclined part 1B. This has an excellent effect in that even if the rotating body 2 makes a large turn, 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, with Figure 1 being a vertical sectional view of the lower half of an industrial robot, and Figure 2 being a sectional view taken along the - line in Figure 1. , FIG. 3 is a sectional view taken along the - line in FIG. 1, and FIG. 4 is an explanatory diagram of the operation of the rotating fuselage. In the figure, 1 is the base, 1A is the fixed body, 1B
is the inclined part, 2 is the rotating body, 4 is the servo motor, 5
1 is a speed reducer, 6 is a cable clamp, 7 is a base connector, 8 is a cable, 9 is a cable protector, 10 is a cable accommodation chamber, and 12 is an opening. Note that the same reference numerals in the figures indicate the same parts.

Claims (1)

[Claims] 1. A fixed body housing a swing drive servo motor on its upper surface, a base connector on one side, and an inclined part that slopes inward from the lower part to the bottom of the fixed body. a base having an opening of a predetermined length on the outer periphery of the bottom of the fixed body; and a side wall rotatably attached to the fixed body and rotating to surround the fixed body and the opening. a rotating body having a cable clamp provided on a side wall above the opening and pivoting a robot arm fixed to an upper central portion; one end thereof being clamped to the cable clamp and hanging down through the opening; A cable wiring device for an industrial robot, comprising a flexible cable whose other end is connected to the base connector and wired in a hollow state within the base. 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.