JP2012020368A - Method of wiring linear object inside industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of wiring the linear object inside an industrial robot by which the linear object is wired inside the industrial robot without exposing the linear object to the outside of the industrial robot, and the linear object is easily replaced in maintenance.SOLUTION: First, one end 21a of a base end side linear member 21 is connected to a base 11, and the other end 21b of the base end side linear member 21 is wired to the first robot arm 13 through a first containing chamber 12 from the base 11. Then, one end 22a of a leading end side linear member 22 is wired to a second robot arm 15 through a second containing chamber 14 from the first robot arm 13, and the one end 22a of the leading end side linear member 22 is connected to a wrist part 16. Then, the other end 21b of the base end side linear member 21 is connected to the other end 22b of the leading end side linear member 22 with a connector 23.

Description

  The present invention relates to a wiring method for a linear body inside an industrial robot, in which a linear body composed of a proximal end side linear member and a distal end side linear member is wired inside the industrial robot. The present invention relates to a method for wiring a linear body inside an industrial robot, which can be wired without being exposed to the outside of the robot and can be easily replaced during maintenance.

  Conventionally, in an industrial articulated robot, a power supply cable for driving the motor of each rotation axis, a cable such as a signal cable, or an air tube is mounted on the outside of the robot body along the side surface of the robot body. is doing. In this case, a cable duct or the like is generally used to protect the cable or the air tube. In general, the cable or air tube extending from the base (base) to the wrist (robot tip) is composed of a single member that cannot be separated on the way.

  Moreover, in the conventional industrial articulated robot, since the cable or the air tube is wired outside the robot main body, the movable range of the robot arm is restricted. Further, the cable or air tube may interfere with the equipment or structural member installed around the robot, thereby damaging the equipment or the structural member or damaging the cable or the air tube. Furthermore, when a robot is used in an environment where chemicals, paints, various oils, etc. are used, there is a possibility that the chemicals, paints, various oils, etc. will adhere to the cables or air tubes, etc., and the cables or air tubes may be deteriorated. .

  On the other hand, when wiring is performed using a single cable or air tube from the base (base) to the wrist (robot tip), it is necessary to remove all cables or air tubes attached to the robot during maintenance. For this reason, even if the cable or air tube is damaged, the entire cable or air tube extending from the base (base) to the wrist (robot tip) must be replaced. It gets worse and costs more.

JP-A-9-141582

  The present invention has been made in consideration of such points, and the wire can be wired inside the industrial robot without exposing the wire to the outside of the industrial robot, and the wire can be easily maintained during maintenance. It is an object of the present invention to provide a wiring method for a linear body inside an industrial robot that can be exchanged.

  The present invention relates to a wiring method of a linear body inside an industrial robot, in which a linear body composed of a proximal-side linear member and a distal-end-side linear member is wired inside the industrial robot. A base fixed on the side, a first storage chamber connected to the base, a first robot arm connected to the first storage chamber, and a first robot arm connected to the first robot arm A wire for wiring of the industrial robot, comprising: a second storage chamber; a second robot arm connected to the second storage chamber; and a wrist connected to the second robot arm. The method includes the steps of preparing the proximal-side linear member, connecting one end of the proximal-side linear member to the base, and connecting the other end of the proximal-side linear member from the base. Wiring the first robot arm to the first robot arm, and the distal-end-side linear portion Preparing one end of the distal end side linear member from the first robot arm through the second storage chamber to the second robot arm, and one end of the distal end side linear member. Connecting the wrist to the wrist, and connecting the other end of the proximal wire member and the other end of the distal wire member with a connector. This is a wiring method of the striatum.

  According to the present invention, the first storage chamber is rotatably connected to the base, and the proximal-side linear member rotates the first storage chamber with respect to the base. It is a wiring method of a line body inside an industrial robot, characterized in that it extends from the base to the first storage chamber along a moving axis.

  In the present invention, the second robot arm is rotatably connected to the second storage chamber, and the distal-end-side linear member connects the second robot arm to the second storage chamber. A method of wiring a linear body inside an industrial robot, wherein the wire extends from the second storage chamber to the second robot arm along a rotation axis to be rotated.

  In the present invention, the first robot arm includes a solid arm member and a hollow arm member, and the other end of the proximal-side linear member and the other end of the distal-side linear member are in the hollow shape. It is the wiring method of the linear body inside an industrial robot characterized by connecting within an arm member.

  The present invention is the wiring method for a linear body inside an industrial robot, wherein the linear body is fixed using a fixing means at at least one location inside the industrial robot.

  In the present invention, the fixing means includes a clamp that covers the linear body, and a cushioning material disposed between the clamp and the linear body. This is a wiring method.

  According to the present invention, after connecting one end of the base end side linear member to the base, the other end of the base end side linear member is wired from the base through the first storage chamber to the first robot arm. To do. On the other hand, one end of the distal end side linear member is wired from the first robot arm through the second storage chamber to the second robot arm, and one end of the distal end side linear member is connected to the wrist. Then, the other end of the proximal end side linear member and the other end of the distal end side linear member are connected by a connector. Thus, the wire can be wired inside the industrial robot without exposing it to the outside of the industrial robot. Further, at the time of maintenance, since the proximal end side linear member and the distal end side linear member can be separated at the connector portion, the linear body can be easily replaced.

The perspective view which shows the industrial robot used by one embodiment of this invention. The side view which shows the industrial robot used by one embodiment of this invention. The perspective view which shows the fixing means used by one embodiment of this invention. The flowchart which shows the wiring method of the linear body inside the industrial robot by one embodiment of this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. Here, FIG. 1 to FIG. 4 are diagrams showing an embodiment of the present invention.

  First, an outline of an industrial robot used in an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

  As shown in FIG. 1, the industrial robot 10 includes a base (base) 11, a first storage chamber 12, and a first robot arm 13 that are provided in order from the base end side to the tip end side. , A second storage chamber 14, a second robot arm 15, a wrist portion 16, and an end effector mounting portion 17.

  Further, the industrial robot 10 is wired so that the linear body 20 composed of the proximal-side linear member 21 and the distal-side linear member 22 is not exposed to the outside. The proximal-side linear member 21 and the distal-side linear member 22 are connected to each other via a pair of connectors 23 and 23 inside the first robot arm 13. In addition, as the linear body 20, as for the cable for supplying electric power with respect to the drive source required in order to control each motor, the cable for supplying the electric current for signals, and the air for supplying compressed air Tubes etc. can be mentioned.

In the following description, the harness 20 (striate body) including the proximal end side harness 21 (base end side linear member) and the distal end side harness 22 (leading end side linear member) will be described as an example of the linear body 20. In this case, the proximal-side harness 21 and the distal-side harness 22 each have a configuration in which a plurality of cables are bundled, and these cables are motors 41 to 41 that rotate the rotation axes J _{1 to} J ₆ , respectively. It serves to supply current to 46 (described later).

  That is, in FIGS. 1 and 2, reference numerals 61 to 66 denote cables connected to the motors 41 to 46 (described later) in the harness 20. Specifically, the proximal end side harness 21 includes a cable 61 for the first motor, a cable 62 for the second motor, a cable 63 for the third motor, a cable 64 for the fourth motor, and a cable for the fifth motor. 65, and a cable 66 for the sixth motor. On the other hand, the distal end side harness 22 includes a cable 63 for the third motor, a cable 64 for the fourth motor, a cable 65 for the fifth motor, and a cable 66 for the sixth motor.

  Next, each member which comprises such an industrial robot 10 is further demonstrated.

  The base 11 is fixed to the floor G on the base end side of the industrial robot 10. On the rear surface (rear surface) of the base 11, a terminal portion 30 to which one end 21 a of the proximal end side harness 21 is connected is provided. In addition, a hollow portion is provided inside the base 11, and the proximal end side harness 21 is wired in the hollow portion.

The first storage chamber 12 is connected to the base 11 so as to be rotatable about the _first rotation axis J1. First pivot axis J ₁ extends in a vertical direction to the floor surface G. A first motor 41 is provided in the base 11, and the first storage chamber 12 is rotated about the _first rotation axis J ₁ by the first motor 41.

On the other hand, between the base 11 and the first housing chamber 12, the first passage opening 31 having a base end side harness 21 passes is provided, the first pivot axis J ₁ is first passed It passes through the mouth 31. The proximal-side harness 21 extends from the base 11 to the first passage port 31 along the first rotation axis J ₁ (the rotation axis that rotates the first storage chamber 12 with respect to the base 11). It extends through the first storage chamber 12.

The first robot arm 13 is connected to the first storage chamber 12 so as to be rotatable about the _second rotation axis J2. Second turning axis J ₂ extends in a plane perpendicular to the first pivot axis J _1. In addition, a second motor 42 is provided in the first storage chamber 12, and the first robot arm 13 is rotated about the _second rotation axis J ₂ by the second motor 42. .

  The first robot arm 13 has a double arm shape, and is composed of a solid arm member 32 and a hollow arm member 33. The proximal-side harness 21 extends from the first storage chamber 12 into the hollow arm member 33 of the first robot arm 13. The other end 21 b of the proximal end side harness 21 is connected to the other end 22 b of the distal end side harness 22 via a pair of detachable connectors 23, 23 in the hollow arm member 33.

The second storage chamber 14 is connected to the first robot arm 13 so as to be rotatable about the _third rotation axis J3. The third rotation shaft _{J 3} extends parallel to the second rotation axis _{J 2.} A third motor 43 is provided in the second storage chamber 14, and the second storage chamber 14 is rotated about the _third rotation axis J ₃ by the third motor 43. .

The second robot arm 15 is connected to the second storage chamber 14 so as to be rotatable about the _fourth rotation axis J4. The fourth rotation shaft J ₄ extends into a plane perpendicular to the third rotation shaft J _3. A fourth motor 44 is provided in the second storage chamber 14, and the second robot arm 15 is rotated about the _fourth rotation axis J ₄ by the fourth motor 44. .

On the other hand, a second containing chamber 14 is provided between the second robot arm 15, and second passage holes 34 is provided distal side harness 22 passes, the fourth rotation shaft J ₄ is first 2 passes through the passage 34. That is, the distal end side harness 22 passes from the hollow arm member 33 of the first robot arm 13 through the second storage chamber 14 and further to the fourth rotation axis J ₄ (the second robot arm 15 is stored in the second storage space). The second storage arm 14 extends toward the inside of the second robot arm 15 along a rotation axis that rotates with respect to the chamber 14.

The wrist portion 16 is connected to the second robot arm 15 so as to be rotatable about the _fifth rotation axis J5. Fifth rotation axis J ₅ extends in a plane perpendicular to the fourth rotation axis J _4. A fifth motor 45 is provided in the second robot arm 15, and the wrist portion 16 is rotated about the _fifth rotation axis J ₅ by the fifth motor 45.

  The wrist portion 16 is rotatably provided between a pair of support portions 35 and 35 provided at the tip of the second robot arm 15. One end 22 a of the distal end side harness 22 is connected to a sixth motor 46 provided on the wrist portion 16.

The end effector mounting portion 17 is connected to the wrist portion 16 so as to be rotatable about the _sixth rotation axis J6. The sixth rotation axis J ₆ extends in a plane perpendicular to the fifth rotation axis J _5, the end effector mounting portion 17, about a sixth rotation axis J ₆ by the sixth motor 46 As a rotation.

  A circular tool attachment surface 36 on which various tools can be attached is formed at the tip of the end effector attachment portion 17.

  In FIG. 2, reference numerals 25 a to 25 h indicate fixing means for fixing the harness 20 (the proximal end side harness 21 or the distal end side harness 22) inside the industrial robot 10. In FIG. 1, the display of the fixing means 25a to 25h is omitted for convenience.

  Among these, the fixing means 25 a is provided below the first passage opening 31 in the base 11, and the fixing means 25 b is provided above the first passage opening 31 in the first storage chamber 12. The fixing means 25 c is provided at the lower part of the hollow arm member 33 of the first robot arm 13, and the fixing means 25 d is provided at the upper part of the hollow arm member 33 of the first robot arm 13. The fixing means 25e is provided on the first robot arm 13 side in the second storage chamber 14, and the fixing means 25f is provided on the second passage port 34 side in the second storage chamber 14. . Furthermore, the fixing means 25g is provided on the second passage port 34 side in the second robot arm 15, and the fixing means 25h is provided on the wrist portion 16 side in the second robot arm 15.

  As shown in FIG. 3, each of the fixing means 25 a to 25 h is disposed between a metal clamp 26 that covers the harness 20 (the proximal end side harness 21 or the distal end side harness 22), and the clamp 26 and the harness 20. For example, it has the buffer material 27 which consists of a resin sheet. In this case, the cushioning material 27 is disposed around the harness 20, the cushioning material 27 is covered with the clamp 26, and the clamp 26 is attached to the metal fitting 29 using the screw 28, thereby fixing the harness 20 inside the industrial robot 10. can do.

  With such a configuration of the fixing means 25a to 25h, when the harness 20 is twisted and bent, wear of the harness 20 and the clamp 26 can be reduced, and the twisting and bending action can be restricted to a specific location. it can. For this reason, even if the harness 20 is twisted and bent to a certain extent within a specified range, the harness 20 is prevented from being disconnected or damaged.

  In FIGS. 1 and 2, the base 11, the first storage chamber 12, the first robot arm 13, the second storage chamber 14, and the second robot arm 15 each have a removable lid. 51-55 are provided, and the wiring work of the harness 20 etc. can be performed now by removing each cover 51-55.

  Next, the operation of the present embodiment having such a configuration will be described.

  First, the base 11, the first storage chamber 12, the first robot arm 13, the second storage chamber 14, and the second robot are arranged in advance so that the wiring work of the harness 20 can be easily performed inside the industrial robot 10. The lids 51 to 55 are removed from the arm 15 in advance.

  Next, the proximal end side harness 21 is prepared, and one end 21a of the proximal end side harness 21 is connected to the terminal portion 30 of the base 11 (steps S1 and S2 in FIG. 4).

  Subsequently, the other end 21 b of the base end side harness 21 is connected from the base 11 through the first passage port 31 into the first storage chamber 12.

  Next, the proximal end harness 21 is fixed in the first storage chamber 12 using the fixing means 25b (FIG. 2). Thus, by fixing the proximal end side harness 21 using the fixing means 25b, it is possible to prevent the proximal end side harness 21 from falling due to gravity. Subsequently, the proximal end side harness 21 is fixed in the base 11 using the fixing means 25a (FIG. 2).

  Next, in the proximal end side harness 21, the first motor cable 61 is connected to the first motor 41, and the second motor cable 62 is connected to the second motor 42.

  Next, the other end 21 b of the proximal end side harness 21 is passed from the first storage chamber 12 into the first robot arm 13. Next, the proximal end harness 21 is fixed in the first robot arm 13 using the fixing means 25c (FIG. 2).

  In this way, the other end 21b of the base end side harness 21 is wired from the base 11 through the first storage chamber 12 to the first robot arm 13 (step S3 in FIG. 4).

  Next, the distal end side harness 22 is prepared (step S4 in FIG. 4).

  Subsequently, while the other end 22b of the distal end side harness 22 remains in the first robot arm 13, the one end 22a of the distal end side harness 22 is connected from the first robot arm 13 into the second storage chamber 14. To do. Next, the distal end side harness 22 is fixed in the second storage chamber 14 using the fixing means 25e (FIG. 2).

  Next, one end 22 a of the distal end side harness 22 is passed through the second robot arm 15 from the second storage chamber 14 through the second passage port 34. Next, the front end side harness 22 is fixed in the second storage chamber 14 using the fixing means 25f, and the front end side harness 22 is fixed in the second robot arm 15 using the fixing means 25g (FIG. 2).

  Next, in the distal end side harness 22, the fifth motor cable 65 is connected to the fifth motor 45.

  Subsequently, the distal end side harness 22 is fixed in the second robot arm 15 using the fixing means 25h (FIG. 2).

  In this way, one end 22a of the distal end side harness 22 is wired from the first robot arm 13 through the second storage chamber 14 to the second robot arm 15 (step S5 in FIG. 4).

  Next, one end 22a of the distal end side harness 22 is connected to the wrist portion 16 (step S6 in FIG. 4). That is, the cable 66 for the sixth motor in the distal end side harness 22 is connected to the sixth motor 46 provided on the wrist portion 16.

  Subsequently, in the distal end side harness 22, the third motor cable 63 is connected to the third motor 43, and the fourth motor cable 64 is connected to the fourth motor 44.

  Next, the distal end side harness 22 is fixed in the first robot arm 13 using the fixing means 25d (FIG. 2).

  Thereafter, the other end 21b of the proximal end side harness 21 and the other end 22b of the distal end side harness 22 are connected by a pair of connectors 23, 23, thereby completing wiring of the harness 20 inside the industrial robot 10 (see FIG. 4 step S7).

  Finally, the lids 51 to 55 are attached to the base 11, the first storage chamber 12, the first robot arm 13, the second storage chamber 14, and the second robot arm 15, respectively.

  As described above, according to the present embodiment, after connecting the one end 21 a of the base end side harness 21 to the base 11, the other end 21 b of the base end side harness 21 is connected from the base 11 to the first storage chamber 12. Then, the wiring is made up to the first robot arm 13. On the other hand, one end 22 a of the distal end side harness 22 is wired from the first robot arm 13 through the second storage chamber 14 to the second robot arm 15, and the one end 22 a of the distal end side harness 22 is connected to the wrist portion 16. To do. Thereafter, the other end 21 b of the proximal end side harness 21 and the other end 22 b of the distal end side harness 22 are connected by a pair of connectors 23. Thus, the harness 20 can be wired inside the industrial robot 10 without exposing it to the outside of the industrial robot 10. Therefore, the harness 20 is prevented from interfering with equipment or structural members installed around the industrial robot 10 to damage the equipment or damage the harness 20, and chemicals, paints, various oils, etc. Even when the robot is used in the environment in which it is used, the harness 20 can be protected. Moreover, since the base end side harness 21 and the front end side harness 22 can be isolate | separated in the part of the connector 23 at the time of a maintenance, the harness 20 can be replaced | exchanged easily.

Further, according to the present embodiment, the proximal-side harness 21 is mounted on the base along the first rotation axis J ₁ (the rotation axis that rotates the first storage chamber 12 with respect to the base 11). 11 extends to the first storage chamber 12. Thus, when the first storage chamber 12 rotates with respect to the base 11 around the _first rotation axis J1, it is possible to prevent the proximal end side harness 21 from being twisted. It is possible to prevent the end side harness 21 from being damaged.

Further, according to the present embodiment, the distal end side harness 22 is along the fourth rotation axis J ₄ (the rotation axis that rotates the second robot arm 15 with respect to the second storage chamber 14). It extends from the second storage chamber 14 to the second robot arm 15. As a result, when the second robot arm 15 rotates relative to the second storage chamber 14 around the _fourth rotation axis J4, it is possible to prevent the distal end side harness 22 from being twisted. It is possible to prevent the distal end side harness 22 from being damaged.

  Further, according to the present embodiment, the first robot arm 13 includes the solid arm member 32 and the hollow arm member 33, and the other end 21 b of the proximal end side harness 21 and the other end of the distal end side harness 22. Since 22b is connected inside the hollow arm member 33 by the connector 23, the proximal end side harness 21 and the distal end side harness 22 can be protected. Further, at the time of maintenance, the connector 23 can be easily attached and detached by removing the lid 53 of the hollow arm member 33.

  Moreover, according to this Embodiment, since the harness 20 is being fixed using the fixing means 25a-25h in each location inside the industrial robot 10, the twisting operation can be restricted to a specific location, Even if the harness 20 is bent or twisted within a predetermined range, the harness 20 is prevented from being disconnected or damaged by interfering with the operation of the first robot arm 13 or the second robot arm 15. The

  Furthermore, according to the present embodiment, the fixing means 25a to 25h include the clamp 26 that covers the harness 20, and the buffer material 27 that is disposed between the clamp 26 and the harness 20, so that the harness 20 is twisted. In this case, the wear between the harness 20 and the clamp 26 can be reduced, and the bending or twisting force on the harness 20 can be reduced.

  In the present embodiment, after the proximal-side harness 21 is wired (steps S1 to S3 in FIG. 4), the distal-side harness 22 is wired (steps S4 to S6 in FIG. 4). Although the end side harness 21 and the front end side harness 22 are connected (step S7 of FIG. 4), it is not restricted to this. For example, the distal end side harness 22 is first wired (steps S4 to S6 in FIG. 4), then the proximal end side harness 21 is wired (steps S1 to S3 in FIG. 4), and then the proximal end side harness is connected by the connector 23. 21 and the tip side harness 22 may be connected (step S7 in FIG. 4).

  In the present embodiment, a 6-axis vertical articulated robot has been described as an example of the industrial robot 10. However, the present invention is not limited to this, and a 4-axis or 5-axis vertical articulated robot may be used.

10 Industrial robots 11 Base (base)
DESCRIPTION OF SYMBOLS 12 1st storage chamber 13 1st robot arm 14 2nd storage chamber 15 2nd robot arm 16 Wrist part 17 End effector attachment part 20 Harness (striate body)
21 Proximal end harness (proximal end line member)
22 Tip-side harness (tip-side wire member)
23 Connector 25a-25h Fixing means 26 Clamp 27 Buffer material 32 Solid arm member 33 Hollow arm member 41-46 Motor

Claims (6)

In the wiring method of the linear body inside the industrial robot, wiring the linear body composed of the proximal side linear member and the distal end side linear member into the industrial robot,
The industrial robot includes a base fixed on a base end side, a first storage chamber connected to the base, a first robot arm connected to the first storage chamber, the first robot A second storage chamber connected to one robot arm, a second robot arm connected to the second storage chamber, and a wrist connected to the second robot arm,
The industrial robot wiring method is as follows:
A step of preparing the proximal end side linear member;
Connecting one end of the base-side line member to the base;
Wiring the other end of the base-side line member from the base through the first storage chamber to the first robot arm;
A step of preparing the distal-end-side linear member;
Wiring one end of the distal-end line member from the first robot arm to the second robot arm through the second storage chamber;
Connecting one end of the distal-end-side linear member to the wrist;
A method of wiring a linear body inside an industrial robot, comprising a step of connecting the other end of the proximal end side linear member and the other end of the distal end side linear member with a connector.   The first storage chamber is rotatably connected to the base, and the proximal end linear member is along a rotation shaft that rotates the first storage chamber with respect to the base. The method for wiring a filament in an industrial robot according to claim 1, wherein the wire extends from the base to the first storage chamber.   The second robot arm is rotatably connected to the second storage chamber, and the distal-end-side linear member rotates the second robot arm with respect to the second storage chamber. 3. The wiring method of a linear body inside an industrial robot according to claim 1, wherein the second robot arm extends from the second storage chamber along the rotation axis to the second robot arm.   The first robot arm includes a solid arm member and a hollow arm member, and the other end of the proximal end side linear member and the other end of the distal end side linear member are inside the hollow arm member. The method for wiring a filament in an industrial robot according to any one of claims 1 to 3, wherein the wire is connected.   5. The linear body inside an industrial robot according to any one of claims 1 to 4, wherein the linear body is fixed using a fixing means in at least one place inside the industrial robot. Wiring method.   The said fixing means has the clamp which covers the said linear body, and the shock absorbing material arrange | positioned between the said clamp and the said linear body, The filament inside an industrial robot of Claim 5 characterized by the above-mentioned. Body wiring method.

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