JPH11277478A5

JPH11277478A5 -

Info

Publication number: JPH11277478A5
Application number: JP1998079534A
Authority: JP
Filing date: 1998-03-26
Publication date: 2005-08-11
Anticipated expiration: 2018-03-26

Description

【０００９】
【課題を解決するための手段】
上記課題を解決するため、本発明は以下のような特徴を有する。上記請求項１記載の発明は、アーム先端に回動自在に支持された複数の円筒軸が同軸に配され、前記各円筒軸の回動により前記各円筒軸の駆動力が伝達されて向きが変更されるように作業用治具が装着された工業用ロボットにおいて、前記作業用治具と前記アーム先端との間に前記複数の円筒軸の最内周に位置する状態で配される中空部材と、前記作業用治具の動作に伴う前記中空部材と前記アーム先端との相対回転を防止する相対回転防止機構と、を備え、前記中空部材の内側に前記作業用治具に接続される索条体を挿通させたことを特徴とするものである。 [0009]
[Means for solving the problem]
In order to solve the above problems, the present invention has the following features: The invention described in claim 1 is an industrial robot having a plurality of cylindrical shafts rotatably supported coaxially at the tip of an arm, and a working jig attached thereto so that rotation of each cylindrical shaft transmits the driving force of each cylindrical shaft to change its orientation, the industrial robot comprising: a hollow member disposed between the working jig and the tip of the arm so as to be located on the innermost periphery of the plurality of cylindrical shafts ; and a relative rotation prevention mechanism that prevents relative rotation between the hollow member and the tip of the arm due to operation of the working jig , and a cable connected to the working jig is inserted inside the hollow member.

また、上記請求項２記載の発明は、前記中空部材と前記作業用治具とを連結し、軸方向に摺動可能な連結部材を備えたことを特徴とするものである。従って、請求項２記載の発明によれば、中空部材と作業用治具とを連結する連結部材を軸方向に移動可能に設けたため、作業用治具をワンタッチで取り付けることができ、作業用治具の交換作業が容易に行える。 The invention described in claim 2 is characterized in that a connecting member that connects the hollow member and the working jig and is slidable in the axial direction is provided . Therefore, according to the invention described in claim 2, since the connecting member that connects the hollow member and the working jig is provided to be movable in the axial direction, the working jig can be attached with a single touch, and the work jig can be easily replaced.

図５は図３中Ｘ−Ｘ線に沿う縦断面図である。また、図６は図３中Ｙ−Ｙ線に沿う縦断面図である。中空部材８３の一端には、連結ピン８５（８５ａ〜８５ｄ）が同一半径の周方向上９０°間隔で植設されている。また、各連結ピン８５ａ〜８５ｄの外周には、コイルバネ８６（８６ａ〜８６ｄ）が巻装されている。さらに、各連結ピン８５ａ〜８５ｄは、軸方向に摺動可能に嵌合された円盤状の摺動体（連結部材）８７が嵌合している。 Figure 5 is a longitudinal cross-sectional view taken along line X-X in Figure 3. Figure 6 is a longitudinal cross-sectional view taken along line Y-Y in Figure 3. Connecting pins 85 (85a to 85d) are implanted at one end of the hollow member 83 at 90° intervals on the same radius in the circumferential direction. Coil springs 86 (86a to 86d) are wound around the outer periphery of each connecting pin 85a to 85d. Furthermore, a disk-shaped sliding body (connecting member) 87 is fitted to each connecting pin 85a to 85d so as to be slidable in the axial direction.

Claims

An industrial robot having a plurality of cylindrical shafts rotatably supported at the tip of an arm and arranged coaxially , and a work jig attached thereto so that the rotation of each cylindrical shaft transmits the driving force of each cylindrical shaft and changes the direction of the work jig,
a hollow member disposed between the working jig and the arm tip and positioned at the innermost periphery of the plurality of cylindrical shafts ;
a relative rotation prevention mechanism that prevents relative rotation between the hollow member and the arm tip that accompanies operation of the working jig ,
An industrial robot characterized in that a cable connected to the working jig is inserted inside the hollow member.

2. The industrial robot according to claim 1 , further comprising a connecting member that connects the hollow member and the working jig and is slidable in the axial direction .