JPH0739574Y2 - Industrial robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to an industrial articulated robot.

<Prior Art> In a vertical articulated robot, as a wiring method to a drive source of a wrist part, a wire is relayed once in a rotator part and a wire from the rotator part to a second arm is provided outside the first arm such as Niporex. An external wiring system that penetrates the robot and crawls outside the body of the robot, and an internal wiring system that introduces the rotator from the rotator to the first arm via a guide such as a spring and then re-enters the guide such as a spring to the second arm. There is.

<Problems to be Solved by the Invention> In the case of the external wiring method, the wiring that crawls outside the robot body hangs greatly depending on the posture of the robot or bends sideways to contact peripheral devices, causing disconnection or peripheral devices. To damage. Therefore, the operating range cannot be used effectively,
The appearance does not look good.

In the case of the internal wiring method, since the guides such as springs are penetrated, it is not possible to attach the connector to the wiring in advance, so it is not possible to shorten the assembly time, and at the time of checking or replacement when troubles such as disconnection, The connector must be removed, which is also time consuming and prolongs the dow time. If the spring guide is made large enough to pass the connector, the size of the shoulder portion of the rotator becomes very large, which makes it difficult to make the robot compact.

<Means for Solving the Problems> The present invention has been made in order to solve the above-mentioned problems, and a first rotatably rotatably supported rotator is supported around an axis orthogonal to the rotator rotation axis. A robot comprising an arm, a second arm pivotably supported on the first arm about an axis parallel to the pivot axis of the first arm, and a wrist at the tip of the second arm, wherein the first arm An opening is provided on the rotator side and the second arm side through which wiring with the connector attached can be inserted, and a sleeve is fixed to the first arm concentrically with the rotation center of the first arm,
A wall surface portion is formed at a position distant from the sleeve in the radial direction, a mounting hole penetrating from the outside toward the sleeve is formed in the wall surface portion, and wiring inside the rotator is provided in the space between the sleeve and the wall surface portion and in the first arm. The wiring is fixed in such a manner that the opening is inserted and a part of the wiring is inserted into the mounting hole and fixed to the outer surface of the wall surface so as to be sandwiched between the wiring and the sleeve.

<Operation> With the above configuration, the wiring that comes out of the rotator with the connectors attached to the rotator side and the second arm side,
Along the sleeve of the pivot portion of the first arm, insert it through the mounting hole provided in the wall surface portion of the first arm, and fix it by inserting it into the sleeve with a wire fixing metal fitting that is fixed to the wall portion with a bolt. The wiring runs vertically through the space of the arm.

<Embodiment> An embodiment of the present invention will be described below with reference to the drawings. In FIGS. 1 and 2, reference numeral 1 is a base, and 2 is a rotator provided on the base 1 so as to be rotatable in a horizontal plane. Reference numeral 3 denotes a drive motor for the rotator 2.

A first arm 4 is pivotally supported on the rotator 2 so as to be pivotable about an axis orthogonal to the pivot axis of the rotator 2. S1 is the rotation center of the first arm 4.

A second arm 5 is pivotally supported on the upper end of the first arm 4 so as to be pivotable about an axis parallel to the pivot axis of the first arm 4. S2 is the rotation center of the second arm 2. This second
The arm 5 has a wrist portion 6 at the tip thereof. 8a is a drive motor for the wrist 6, and 8b is an encoder.

As shown in FIG. 3, in the vicinity of the pivot portion of the first arm 4 of the rotator 2, as shown in FIG. 3, the first arm drive motor 9 and the second arm drive motor are arranged in the axial direction orthogonal to the turning axis of the first arm 4.
The axis 10a and 10a are fixed in parallel. A speed reducer (not shown) is directly connected to the first arm drive motor 9 and the second arm drive motor 10a, and a small bevel gear (not shown) is attached to the output shaft of the speed reducer. A large bevel gear 13, which is concentric with the pivot point and meshes with the small bevel gear, is fixed to the. Further, a rotary shaft 16 is supported on the pivot axis of the first arm 4. One end of the rotary shaft 16 is rotatably supported by the large bevel gear 13 via a bearing, and the large bevel gear 17 is formed at the other end.
It is supported by the arm 4 and the rotator 2 via bearings. The large bevel gear 17 is meshed with the small bevel gear on the output shaft of the speed reducer on the second arm drive motor 10a side. 10b is an encoder.

A lever 20 extending in a direction orthogonal to the axis of the rotary shaft 16 is attached to the rotary shaft 16, and the tip of the lever 20 and the second
A link 21 is connected to a position of the arm 5 which is eccentric to the rear of the rotation center S2 so as to form a parallelogram with the first arm 4. 40 is a spiral tube of the wiring taken into the rotator 2 from the outside.

The present invention is a robot as described above, in which the inside is hollow.
Openings 4a and 4b are provided at the upper and lower ends of the first arm 4, which is 4e. The openings 4a and 4b are the wiring 41 with the connectors 42a and 42b attached to the rotator 2 side and the second arm 5 side.
Has an opening area through which can be inserted.

Further, as shown in FIG. 2 and FIG.
The sleeve 30 is inserted into the first arm 4 such that the sleeve 30 can rotate relative to the first arm 4, and the sleeve 30 is fixed to the first arm 4 so as to be concentric with the rotation center S1 of the first arm 4. Also, the first
The arm 4 is formed with a wall surface portion 4d having an arcuate cross section at a position separated from the sleeve 30 in the radial direction, and the wall surface portion 4d is provided with a mounting hole 4f penetrating from the outside toward the sleeve 30. In the sleeve 30, the spiral tube
Connected to the wiring coming out of 40 with the connector 42a, the wiring 41 coming out of the rotator 2 is routed along with the U-shaped slack portion 41a within the range in which the first arm 4 can swivel.
The wiring 41 along the 0 is inserted from the outside through the mounting hole 4f provided in the wall surface portion 4d of the first arm 4, and is pressed and fixed to the sleeve 30 by the wiring fixing metal fitting 43 fixed to the wall surface portion 4d with a bolt. The first arm 4 is vertically penetrated. As shown in FIG. 3, the wiring fixing bracket 43 has a rectangular frame 43a that can be inserted into the mounting hole 4f, and the frame 43a.
It is composed of a flange 43b which is provided on the outer side of the frame 43b and is fixed to the wall surface portion 4d via a bolt, and an elastic body 43c such as a sponge attached inside the frame body 43a. Therefore, the wiring 41 is sleeved by the elastic body 43c.
It is fixed by pressing.

Reference numeral 44 is a wiring fixing metal fitting that fixes the wiring end of the slack portion 41a on the connector 42a side to the rotator 2, and 45 is the wiring 41 that has exited the opening 4a at the upper end of the first arm 4 and is at the upper end of the first arm 4. It is a wiring fixture fixed to. The wiring fixing fittings 44 and 45 are provided with an elastic material such as sponge on the pressing fixing surface of the wiring 41, like the wiring fixing fitting 43. Further, resin guides 31 are provided on both sides of the sleeve 30, and the wiring 41 is protected by the elastic material and the guides 31. Reference numeral 4c is a cast hole that is open to the side of the first arm 4 and is used for maintenance and inspection of the wiring 41 in the first arm 4.

Since the present invention has the structure as described above, the first arm 4 and the second arm 5 are integrally rotated by the horizontal rotation of the rotator 2. Further, the rotation of the first arm drive motor 9 is reduced by the speed reducer 11, and further reduced by the small bevel gear 15 and the large bevel gear 13 and transmitted to the first arm 4, and the rotation center thereof.
Turn forward and backward around S1 as a fulcrum.

The second arm 5 reduces the rotation of the second arm drive motor 10 with the speed reducer 12, and further with the small bevel gear 19 and the large bevel gear 17 to reduce the rotation of the rotary shaft 16 integrated with the large bevel gear 17. The rotation is converted into a vertical movement by the lever 20, and the link 21 pivots the second arm 5 in the vertical direction about the rotation center S2 as a fulcrum.

Also, the drive motor 8a for the second arm 5 and the encoder 8b
The wiring 41 connected to the
With the 2b attached, it is inserted into the cavity 4e of the first arm 4 and is connected to the wiring coming out of the spiral tube 40, and is inserted from the outside through the mounting hole 4f of the wall portion 4d of the first arm 4 and bolted to the wall surface. The sleeve 30 is pressed and fixed to the sleeve 30 by the wiring fixing metal fitting 43 fixed to the portion 4d, and the sleeve 30 rotates in synchronization with the first arm 4 on the rotating shaft 16 by the turning of the first arm 4 in the front-rear direction. The wire 41, which is pressed and fixed by the wire fixing bracket 43 along the line 30, is expanded and contracted by the U-shaped slack portion 41 formed between the wire fixing bracket 43 and the wire fixing bracket 44 on the rotator 2 side. The swing of the first arm 4 is absorbed so that excessive force is not applied to the wiring 41.

<Effect of the Invention> As described above, according to the present invention, an opening is formed in the upper and lower ends of the first arm of the internal cavity to allow the wiring with the connector attached, and the wiring protruding from the rotator is the first. Along the sleeve that rotates synchronously with the first arm at the pivot axis of the arm, the wiring along this sleeve is inserted through the mounting hole of the wall surface portion formed on the pivot axis portion of the first arm, and The wiring is fixed to the sleeve by a wire fixing metal fitting that is fixed by bolts and vertically penetrates the inside of the first arm. Therefore, the wiring to the drive motor of the second arm is attached to both ends in advance in the first arm. The wire fixing metal fitting that allows the wire to be inserted into the sleeve and fixes the wire to the sleeve of the pivot axis of the first arm can be fixed from the outside of the mounting hole of the wall surface portion of the first arm, thereby facilitating the wiring work. Further, since the wiring is housed in the first arm, contact with the peripheral device is eliminated, disconnection or damage to the peripheral device can be prevented, and the operating range of the robot can be effectively used.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, FIG. 1 is a sectional side view of a main part, FIG. 2 is a sectional view taken along line II-II of FIG. 1, and FIG. 3 is FIG.
It is a III-III sectional view taken on the line. 2 ... Rotator, 4 ... 1st arm, 4a, 4b ... Opening, 5
... second arm, 9 ... first arm drive motor, 10a ... second
Arm drive motor, 13 ... Large bevel gear, 16 ... Rotating shaft, 17 ... Large bevel gear, 20 ... Lever, 21 ... Link, 30 ... Sleeve, 41 ...
Wiring, 41a ... U-shaped slack, 43 ... Wiring fixing bracket.

Claims (1)

[Scope of utility model registration request] 1. A first arm pivotally supported by a swivel rotator so as to swivel about an axis orthogonal to the swivel axis of the rotator, and swivel on the first arm around an axis parallel to the swivel axis of the first arm. The second arm pivoted to
In a robot having a wrist at the tip of an arm, an opening is provided on the rotator side and the second arm side of the first arm, through which wires with connectors attached can be inserted,
A sleeve is fixed to the first arm concentrically with the center of rotation of the first arm, a wall portion is formed at a position of the first arm that is spaced apart from the sleeve in the radial direction, and the wall portion penetrates from the outside toward the sleeve. A mounting hole is provided so that the wiring inside the rotator is inserted through the space between the sleeve and the wall surface and the opening of the first arm, and a part is inserted through the mounting hole and fixed to the outer surface of the wall surface by the wire fixing metal fitting. An industrial robot characterized in that the wiring is fixed in such a manner that it is sandwiched between and.