JPH056076Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a wiring structure for an industrial robot.

<Conventional technology> Industrial robots such as welding robots use a semi-direct drive system in which a drive unit consisting of a motor, reducer, etc. is installed at the joint of each arm, in response to the recent strong user need for cost minimization. has been adopted. Also, a commercially available motor is used. As shown in Fig. 3A, this commercially available motor is a connector type motor MA in which the motor lead wire 1 is connected to the motor through a connector 2, and as shown in Fig. 3B, a terminal box 3 is attached to the motor body. There is a terminal box type motor MB in which the motor lead wire 1 is connected to the terminal box 3, and a lead wire type motor MC in which the motor lead wire 1 is directly connected to the motor as shown in FIG. 3C.

In the case of the above-mentioned connector type motor MA, since the connector 2 is exposed to the outside, dust, oil, etc. may adhere to the connector 2, and the protrusion of the connector 2 may cause the wiring of the motor lead wire 1 to be connected to the axis of the motor. Requires l1 space. In addition, in the case of the terminal box type motor MB, it is protected from dust and oil adhesion, but the terminal box 3 is l2 from the motor axis.
Only protruding space is required. In this respect, the lead wire type motor MC is very advantageous because the wiring of the motor lead wire 1 is arranged closer to the motor l3 than the axis of the motor.

<Problems to be solved by the invention> By the way, the wiring structure when the above lead wire type motor MC is adopted is as shown in FIG.
A lead wire 5 for a movable part led from a control device into the arm 4 is connected by a connector 6.

The movable part lead wire 5 has a tough protective coating and is durable against bending and twisting, but the motor lead wire 1 has a relatively weak coating and has no durability against bending and twisting. do not have. Therefore, especially in the robot wrist portion 7 to which tools such as hands are attached, the life of the motor lead wire 1 is shortened because the robot wrist portion 7 undergoes intense rotational movement about the axis in a plurality of directions. Furthermore, when replacing the motor or the like, the motor lead wire 1 and the movable part lead wire 5 must be separated and connected using the connector 6 in the arm 4, which poses a problem of poor workability.

<Means for solving the problems> The present invention provides a wiring structure that improves the above-mentioned conventional problems, and its feature is that the joints of each arm are equipped with a wire for controlling the rotation of the arm. In a robot equipped with a drive unit composed of a motor, a speed reducer, etc., the motor uses a lead wire type motor, and wires penetrate through the inside of the arm and reach near the outer periphery of the motor via the joints of the arm. Then, connect the motor lead wire with a connector, surround this connector, the movable part lead wires near the connector, and the motor lead wire with a heat-resistant and oil-resistant cover member, and use this heat-resistant and oil-resistant cover member as a wiring material. and is tied and fixed to the outer periphery of the motor.

<Function> With the above configuration, a strong lead wire for a movable part can be used for the joint part of the robot arm that moves violently, and it is possible to connect and disconnect the lead wire from the motor lead wire using a connector outside the vicinity of the motor.

<Example> An example of the present invention will be described below based on FIGS. 1 and 2. In Figure 1, 4 is an arm, 7
is the robot wrist part, and MC is the robot wrist part 7.
It is a lead wire type motor that rotates.

In the present invention, the lead wire 5 for the movable part is routed through the arm 4 and the robot wrist 7 and joint at the tip of the arm 4 to the vicinity of the lead wire motor MC.
As shown in FIG. 2, the motor lead wire 1 and the connector 8 are connected. The connector 8, the movable part lead wire 5 and the motor lead wire 1 in the vicinity of the connector are bent into a U-shape and surrounded by a heat-resistant and oil-resistant cover member 9.

The cover member 9 is a bag made of a material such as neoprene, and its opening is tied and sealed with a wire connection material 10 such as a tie wrap. This cover member 9 is tied and fixed in parallel to the side surface of the lead wire type motor MC using the same wire connecting material 11.

Since the present invention has the above-mentioned structure, the inside of the arm 4 and the joints that are subject to severe bending and twisting can be made strong by using the lead wire 5 for the movable parts.
Wired close to the MC to ensure durability.

In addition, the movable part lead wire 5 and the motor lead wire 1 can be connected and separated by the connector 8 near the lead wire type motor MC, making assembly work such as motor replacement quick and easy. connector 8
A cover member 9 is provided around the area to prevent dust and oil from adhering to the area.

<Effects of the invention> As described above, according to the invention, in addition to taking advantage of the advantages of a lead wire type motor, it is also possible to use strong lead wires for moving parts as the lead wires for this motor, thereby eliminating inconveniences such as wire breakage. In addition, since the movable lead wire and the motor lead wire are connected by a connector externally near the motor, the motor can be easily assembled and maintained. Further, since the area around the connector is surrounded and protected by a heat-resistant and oil-resistant cover member, there are effects such as eliminating inconveniences due to adhesion of dust, oil, etc., and improving reliability.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing an embodiment of the present invention, Fig. 2 is a perspective view of the lead wire connection section, Fig. 3 is an explanatory diagram showing various types of commercially available motors, and Fig. 4 uses a lead wire type motor. FIG. 3 is a plan view showing a conventional wiring structure in the case of the above. MC... Lead wire type motor, 1... Motor lead wire, 4... Arm, 5... Lead wire for moving parts,
8...Connector, 9...Cover member.

Claims (1)

[Scope of utility model registration request] In a robot equipped with a drive unit consisting of a motor for rotationally controlling the arm, a speed reducer, etc. at the joint of each arm, the motor uses a lead wire type motor and penetrates through the inside of the arm to drive the arm. Wire the lead wire for the movable part to the vicinity of the outer periphery of the motor through the joint, connect it to the motor lead wire with a connector, and make the connector, the lead wire for the movable part near the connector, and the motor lead wire heat-resistant and oil-resistant. A wiring structure for a robot, characterized in that the motor is surrounded by a cover member, and the heat-resistant and oil-resistant cover member is tied and fixed to the outer periphery of the motor using a wire connecting material.