JPH0796488A - Industrial robot cable handling equipment - Google Patents
Industrial robot cable handling equipmentInfo
- Publication number
- JPH0796488A JPH0796488A JP26164393A JP26164393A JPH0796488A JP H0796488 A JPH0796488 A JP H0796488A JP 26164393 A JP26164393 A JP 26164393A JP 26164393 A JP26164393 A JP 26164393A JP H0796488 A JPH0796488 A JP H0796488A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- cable
- fixed
- protective cover
- outer circumference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】
【構成】 円筒状の第１アーム１と、第１アーム１に対
して垂直な回転軸２１の回りに回転する第２アーム２
と、第２アーム２の回転軸２１に固定してケーブル３を
巻回し得るケーブルドラム４と、ケーブルドラム４に一
方端を固定し、他方端を第１アーム１のケーブルドラム
４に対してほぼ反対側に固定し、途中を第１アーム１の
外周に沿って湾曲させて所定の長さのＵ字状の弛み部３
３を形成し、第１アーム１と第２アーム２の間に配線さ
れたケーブル３と、第１アーム１の外周に沿ってケーブ
ル３の太さより大きい間隔を第１アームとの間に維持す
るように円筒状に形成し、ケーブル３が移動する範囲を
覆う保護カバー５とを備えたものである。
【効果】 アームを移動した時の外部の物体との干渉す
る範囲が少なくなり、安全な産業用ロボットのケーブル
処理装置を提供できる。
(57) [Summary] [Structure] A cylindrical first arm 1 and a second arm 2 that rotates around a rotation axis 21 that is perpendicular to the first arm 1.
A cable drum 4 which can be wound around the cable 3 by being fixed to the rotating shaft 21 of the second arm 2, and one end of which is fixed to the cable drum 4, and the other end of which is substantially the same as the cable drum 4 of the first arm 1. The U-shaped slack portion 3 having a predetermined length is fixed on the opposite side and is curved along the outer circumference of the first arm 1 in the middle.
3 to form a cable 3 between the first arm 1 and the second arm 2, and to maintain a space along the outer circumference of the first arm 1 between the first arm 1 and a thickness larger than the thickness of the cable 3. Thus, the protective cover 5 is formed in a cylindrical shape and covers the range in which the cable 3 moves. [Effect] The range of interference with an external object when the arm is moved is reduced, and a safe industrial robot cable processing device can be provided.
Description
【０００１】[0001]
【産業上の利用分野】本発明は、産業用多関節ロボット
のアーム間のケーブル処理装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cable processing device between arms of an industrial articulated robot.
【０００２】[0002]
【従来の技術】従来、多関節ロボットの一方のアームか
らそのアームに対して回転する他方のアームにケーブル
を配線する場合、アームの外側に配線するとケーブルが
アームの移動と共に振り回されて危険を伴うため、アー
ムに沿って設けた保護カバーの中に収納することが行わ
れている。その時、ケーブルの余裕分が干渉しないよう
にするため、余裕分をケーブルドラムに巻き込むように
したものが開示されている。例えば図４に示すように、
円筒状の第１アーム１に対して垂直な回転軸の回りに回
転する第２アーム２の回転軸２１にケーブル３を巻回し
得るケーブルドラム４を固定し、ケーブルドラム４には
ケーブル３の第２アーム２側の端部３１を固定してあ
る。ケーブル３の他方の端部３２は第１アーム１に固定
し、ケーブル３の途中がケーブルドラム４の回転面に沿
う面内において、所定の長さのＵ字状の弛み部３３を形
成し、ケーブル３が移動する範囲を保護カバー５によっ
て保護するようにしてある（例えば、特開平２−１６０
４９８号）。2. Description of the Related Art Conventionally, when a cable is routed from one arm of an articulated robot to the other arm that rotates with respect to the arm, if the cable is routed outside the arm, the cable will be swung along with the movement of the arm, which is dangerous. Therefore, it is stored in a protective cover provided along the arm. At that time, in order to prevent the cable margin from interfering with the cable, there is disclosed one in which the cable margin is wound around the cable drum. For example, as shown in FIG.
A cable drum 4 capable of winding a cable 3 is fixed to a rotary shaft 21 of a second arm 2 that rotates around a rotary shaft perpendicular to the cylindrical first arm 1, and a cable drum 4 is provided with a cable drum 4 which can be wound around the rotary shaft 21. The end 31 on the side of the two arms 2 is fixed. The other end 32 of the cable 3 is fixed to the first arm 1, and a midway portion of the cable 3 forms a U-shaped slack portion 33 having a predetermined length in a plane along the rotation surface of the cable drum 4. The range in which the cable 3 moves is protected by the protective cover 5 (for example, JP-A-2-160).
498).
【０００３】[0003]
【発明が解決しようとする課題】ところが、従来技術で
は、ケーブル３の余裕分がケーブルドラムの回転面に沿
う面内において、所定の長さのＵ字状の弛み部３３を形
成するようにしてあるので、第１アーム１の断面が円形
の場合でも、図５に示すように、ケーブル３の保護カバ
ー５は平板状となる。したがって、外部の物体に接触し
た時に保護カバーの角部が引っかかったり、第１アーム
１の中心から保護カバー５の両辺までの長さである干渉
半径Ｒが大きくなり、実質的にアームの断面積が大きく
なった時と同じことになって、アームが移動した時に外
部の物体と干渉する範囲が広くなるという欠点があっ
た。本発明は、保護カバーを円筒状のアームの外壁に沿
った形状にして外部の物体との干渉を少なくすることの
できるケーブル処理装置を提供することを目的とするも
のである。However, in the prior art, the U-shaped slack portion 33 having a predetermined length is formed in the plane along the rotation surface of the cable drum in the margin of the cable 3. Therefore, even if the cross section of the first arm 1 is circular, the protective cover 5 of the cable 3 is flat as shown in FIG. Therefore, the corner of the protective cover is caught when it contacts an external object, or the interference radius R, which is the length from the center of the first arm 1 to both sides of the protective cover 5, increases, and the cross-sectional area of the arm is substantially increased. The problem is that when the arm moves, the range in which it interferes with an external object becomes wider when the arm moves. SUMMARY OF THE INVENTION It is an object of the present invention to provide a cable processing device in which a protective cover is shaped along the outer wall of a cylindrical arm to reduce interference with external objects.
【０００４】[0004]
【課題を解決するための手段】上記問題を解決するた
め、本発明は、円筒状の第１アームと、前記第１アーム
に対して垂直な回転軸の回りに回転する第２アームと、
前記第１アームと第２アームの間に配線されたケーブル
と、前記第２アームの回転軸に固定して前記ケーブルを
巻回し得るケーブルドラムと、前記ケーブルを覆う保護
カバーとを備えた産業用ロボットのケーブル処理装置に
おいて、前記ケーブルドラムに一方端を固定し、他方端
を前記第１アームの前記ケーブルドラムに対してほぼ反
対側に固定し、途中を前記第１アームの外周に沿って湾
曲させて所定の長さのＵ字状の弛み部を形成した前記ケ
ーブルと、前記第１アームの外周に沿って前記ケーブル
の太さより大きい間隔を前記第１アームとの間に維持す
るように円筒状に形成し、前記ケーブルが移動する範囲
を覆う保護カバーとを備えたものである。In order to solve the above problems, the present invention provides a cylindrical first arm and a second arm which rotates about a rotation axis perpendicular to the first arm.
Industrial use provided with a cable wired between the first arm and the second arm, a cable drum that can be wound around the cable by being fixed to a rotation shaft of the second arm, and a protective cover that covers the cable. In a cable processing device for a robot, one end is fixed to the cable drum, the other end is fixed to a side substantially opposite to the cable drum of the first arm, and the middle is curved along the outer circumference of the first arm. A cylinder so as to maintain a gap larger than the thickness of the cable along the outer circumference of the first arm and the cable in which a U-shaped slack portion having a predetermined length is formed. And a protective cover that covers the range in which the cable moves.
【０００５】[0005]
【作用】上記手段により、ケーブルの弛み部を第１アー
ムの外周に沿って配置し、ケーブルの保護カバーは、第
１アームの外周の半径にケーブルの太さと保護カバーの
厚さを加えた長さに幾分の余裕を加えた長さの半径をも
った円筒形に形成してあるので、外部の物体に接触する
ようなことがあっても、外部の物体を引っかけて動かす
ようなことがなく、また干渉半径Ｒが平板状の保護カバ
ーの場合よりも小さくなるので、アームが移動した時に
外部の物体と干渉する範囲を小さくすることができる。With the above means, the slack portion of the cable is arranged along the outer circumference of the first arm, and the protective cover of the cable has a length obtained by adding the thickness of the cable and the thickness of the protective cover to the radius of the outer circumference of the first arm. Since it is formed in a cylindrical shape with a radius of a length with some margin added to it, even if it comes in contact with an external object, it is possible to move by hooking an external object In addition, since the interference radius R is smaller than that in the case of the flat plate-shaped protective cover, it is possible to reduce the range in which the arm interferes with an external object when the arm moves.
【０００６】[0006]
【実施例】以下、本発明を図に示す実施例について説明
する。図１は本発明の実施例を示す側断面図、図２はそ
の平断面図、図３は図２に示すＡ−Ａ線に沿う断面図で
ある。図において、円筒状の第１アーム１に対して垂直
な回転軸の回りに回転する第２アーム２の回転軸２１に
ケーブル３を巻回し得るケーブルドラム４を固定し、ケ
ーブルドラム４にはケーブル３の第２アーム２側の端部
３１を固定してある。ケーブル３の他方の端部３２は第
１アーム１のケーブルドラム４のほぼ反対側に固定し、
ケーブル３の途中を第１アームの外周に沿って湾曲させ
て所定の長さのＵ字状の弛み部３３を形成してある。保
護カバー５は、第１アーム１の外周に沿ってケーブル３
の太さより大きい間隔を第１アーム１との間に維持する
ように円筒状に形成し、ケーブル３が移動する範囲を保
護するようにしてある。第２アーム２が回転すると、ケ
ーブルドラム４も同時に回転し、図１および図２に一点
鎖線で示すようにケーブル３の弛み部３３が第１アーム
１の外周に沿って移動する。このように、ケーブルの弛
み部をアームの外周に沿って配置し、ケーブルの保護カ
バーは、第１アームの外周の半径に、ケーブルの太さと
保護カバーの厚さを加えた長さに幾分の余裕を加えた長
さの半径をもった円筒形に形成してあるので、外部の物
体に接触するようなことがあっても、外部の物体を引っ
かけて動かすようなことがなく、また干渉半径Ｒが平板
状の保護カバーの場合よりも小さくなるので、アームが
移動した時に外部の物体と干渉する範囲を小さくするこ
とができる。Embodiments of the present invention will be described below with reference to the drawings. 1 is a side sectional view showing an embodiment of the present invention, FIG. 2 is a plan sectional view thereof, and FIG. 3 is a sectional view taken along the line AA shown in FIG. In the figure, a cable drum 4 capable of winding a cable 3 is fixed to a rotary shaft 21 of a second arm 2 which rotates around a rotary shaft perpendicular to a cylindrical first arm 1, and a cable drum 4 is fixed to the cable drum 4. The end 31 of the third arm 3 on the second arm 2 side is fixed. The other end 32 of the cable 3 is fixed to the first arm 1 substantially opposite to the cable drum 4,
The middle of the cable 3 is curved along the outer circumference of the first arm to form a U-shaped slack portion 33 having a predetermined length. The protective cover 5 is provided along the outer circumference of the first arm 1 so that the cable 3
Is formed in a cylindrical shape so as to maintain a space larger than the thickness of the first arm 1 to protect the moving range of the cable 3. When the second arm 2 rotates, the cable drum 4 also rotates at the same time, and the slack portion 33 of the cable 3 moves along the outer circumference of the first arm 1 as shown by the alternate long and short dash line in FIGS. 1 and 2. In this way, the slack portion of the cable is arranged along the outer circumference of the arm, and the protective cover of the cable has a length that is the radius of the outer circumference of the first arm plus the thickness of the cable and the thickness of the protective cover. Since it is formed in a cylindrical shape with a radius of a length with a margin of, even if it comes in contact with an external object, it does not move by catching the external object, and there is no interference. Since the radius R is smaller than that in the case of the flat plate-shaped protective cover, it is possible to reduce the range in which the arm interferes with an external object when the arm moves.
【０００７】[0007]
【発明の効果】以上述べたように、本発明によれば、産
業用ロボットのアームに設けたケーブル保護カバーを円
筒状に形成してあるので、アームを移動した時の外部の
物体との干渉する範囲が少なくなり、安全な産業用ロボ
ットのケーブル処理装置を提供できる効果がある。As described above, according to the present invention, since the cable protection cover provided on the arm of the industrial robot is formed in a cylindrical shape, it interferes with an external object when the arm is moved. There is an effect that it is possible to provide a safe cable processing device for an industrial robot by reducing the range to be used.
【図１】本発明の実施例を示す側断面図である。FIG. 1 is a side sectional view showing an embodiment of the present invention.
【図２】図１の平断面図である。FIG. 2 is a plan sectional view of FIG.
【図３】図２に示すＡ−Ａ線に沿う断面図である。3 is a cross-sectional view taken along the line AA shown in FIG.
【図４】従来例を示す側断面図である。FIG. 4 is a side sectional view showing a conventional example.
【図５】図４に示すＢ−Ｂ線に沿う断面図である。5 is a cross-sectional view taken along the line BB shown in FIG.
１ 第１アーム、２ 第２アーム、２１ 回転軸、３
ケーブル、３１、３２端部、３３ 弛み部、４ ケーブ
ルドラム、５ 保護カバー1 1st arm, 2nd arm, 21 rotating shaft, 3
Cable, 31, 32 end, 33 slack, 4 cable drum, 5 protective cover
Claims (1)
に対して垂直な回転軸の回りに回転する第２アームと、
前記第１アームと第２アームの間に配線されたケーブル
と、前記第２アームの回転軸に固定して前記ケーブルを
巻回し得るケーブルドラムと、前記ケーブルを覆う保護
カバーとを備えた産業用ロボットのケーブル処理装置に
おいて、前記ケーブルドラムに一方端を固定し、他方端
を前記第１アームの前記ケーブルドラムに対してほぼ反
対側に固定し、途中を前記第１アームの外周に沿って湾
曲させて所定の長さのＵ字状の弛み部を形成した前記ケ
ーブルと、前記第１アームの外周に沿って前記ケーブル
の太さより大きい間隔を前記第１アームとの間に維持す
るように円筒状に形成し、前記ケーブルが移動する範囲
を覆う保護カバーとを備えたことを特徴とする産業用ロ
ボットのケーブル処理装置。1. A cylindrical first arm, and a second arm that rotates about a rotation axis perpendicular to the first arm,
Industrial use provided with a cable wired between the first arm and the second arm, a cable drum that can be wound around the cable by being fixed to a rotation shaft of the second arm, and a protective cover that covers the cable. In a cable processing device for a robot, one end is fixed to the cable drum, the other end is fixed to a side substantially opposite to the cable drum of the first arm, and the middle is curved along the outer circumference of the first arm. A cylinder so as to maintain a gap larger than the thickness of the cable along the outer circumference of the first arm and the cable in which a U-shaped slack portion having a predetermined length is formed. A cable processing device for an industrial robot, which has a protective cover that is formed into a shape and covers a range in which the cable moves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26164393A JP3287507B2 (en) | 1993-09-24 | 1993-09-24 | Cable handling equipment for industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26164393A JP3287507B2 (en) | 1993-09-24 | 1993-09-24 | Cable handling equipment for industrial robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0796488A true JPH0796488A (en) | 1995-04-11 |
| JP3287507B2 JP3287507B2 (en) | 2002-06-04 |
Family
ID=17364754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26164393A Expired - Fee Related JP3287507B2 (en) | 1993-09-24 | 1993-09-24 | Cable handling equipment for industrial robots |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3287507B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018195969A1 (en) * | 2017-04-28 | 2018-11-01 | Abb Schweiz Ag | A cable harness management module and a robot |
-
1993
- 1993-09-24 JP JP26164393A patent/JP3287507B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018195969A1 (en) * | 2017-04-28 | 2018-11-01 | Abb Schweiz Ag | A cable harness management module and a robot |
| CN110267777A (en) * | 2017-04-28 | 2019-09-20 | Abb瑞士股份有限公司 | Cable Harness Management Modules and Robots |
| US11413771B2 (en) | 2017-04-28 | 2022-08-16 | Abb Schweiz Ag | Cable harness management module and a robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3287507B2 (en) | 2002-06-04 |
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