WO1998041367A1 - Lead wire bearing structure for rotary joint of industrial robot - Google Patents
Lead wire bearing structure for rotary joint of industrial robot Download PDFInfo
- Publication number
- WO1998041367A1 WO1998041367A1 PCT/JP1998/001079 JP9801079W WO9841367A1 WO 1998041367 A1 WO1998041367 A1 WO 1998041367A1 JP 9801079 W JP9801079 W JP 9801079W WO 9841367 A1 WO9841367 A1 WO 9841367A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- lead wire
- industrial robot
- arm
- rotating
- fixed
- 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.)
- Ceased
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
Definitions
- the present invention relates to a structure for fixing a lead wire extending from a fixed side to a rotating side of a rotating joint of an industrial robot.
- FIG. 2 is a cross-sectional plan view showing a joint between an arm and a wrist of an industrial mouth bot according to the prior art
- FIG. 3 is a view taken along the line AA ′ of FIG. It is a side view.
- 1 is an arm
- 2 is a wrist
- 3 is a cover.
- the wrist 2 includes a body 4 and a shaft 5, and is rotatably supported on the arm 1 by the shaft 5.
- the arm 1, the shaft 5, and the main body 4 are hollow, and the internal space is connected.
- Reference numerals 6 and 7 denote lead wires extending from the arm 1 to the wrist 2 through the shaft 5.
- the lead wires 6 and 7 are bundled and fixed with a band 10 to a securing portion 8 inside the arm 1 and a securing plate 9 attached to the shaft 5.
- 15 shows the deformation of the lead wires 6 and 7 when the wrist 2 rotates with respect to the arm 1.
- an object of the present invention is to provide a lead wire fixing structure that minimizes the width B of the arm 1 in a rotary joint of an industrial robot.
- the present invention forms a lead wire of a rotary joint of an industrial robot in a loop between a fixed-side securing portion and a rotating-side securing portion.
- FIG. 1 is a side view of the connection part between the arm and the wrist of the industrial robot showing the embodiment of the present invention, with the cover removed from the connection part.
- Fig. 2 shows the connection part between the arm and the wrist of the conventional industrial robot.
- FIG. 3 is a plan view, and FIG. 3 is a side view of a conventional industrial robot in which a cover is removed from a connection portion between an arm and a wrist of an industrial robot.
- FIG. 1 is a side view showing a joint between an arm and a wrist of an industrial robot according to an embodiment of the present invention.
- the lead wire 6 is wound once inside the arm 1 to form a loop 11, and is fixed to the securing portion 12 by a band 10 in the middle of the loop 11.
- the lead wire 7 is wound once inside the lead 1 to form a loop 13, and is fixed to the securing portion 14 in the middle of the loop 13 with a band 1 °.
- the leads 6 and 7 are bundled on the right side of the loops 11 and 13 and fixed to the securing plate 9 with the band 10.
- the deformation of the lead wires 6 and 7 due to the bending and torsion that occurs when the wrist 2 rotates with respect to the arm 1 is absorbed by the loops 11 and 13.
- the diameters of the loops 11 and 13 are large, and when the leads 6 and 7 are contracted, the diameters of the loops 11 and 13 are small. Therefore, since the lead wires 6 and 7 do not deform in the width direction of the arm 1, the width B of the arm 1 may be small.
- the present invention has the following effects.
- the present invention is useful for fixing a lead wire extending from a fixed side of a rotating joint of an industrial robot to a rotating side.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
明 細 書 Specification
産業用ロボットの回転関節部のリ一ド線固定構造 Lead wire fixing structure of rotary joint of industrial robot
[技術分野] [Technical field]
本発明は、 産業用ロボッ トの回転関節部の固定側から回転側に延びるリ一ド線 の固定構造に関する。 The present invention relates to a structure for fixing a lead wire extending from a fixed side to a rotating side of a rotating joint of an industrial robot.
[背景技術] [Background technology]
従来、 産業用ロボットの回転関節部の固定側から回転側に延びるリード線の固 定構造は図 2および図 3のようになっている。 図 2は従来技術による、 産業用口 ボッ トのアームと手首の接合部を示す平断面図であり、 図 3は前記アームから力 バーを取り除いて、 図 2の A— A ' 方向から見た側面図である。 Conventionally, the fixed structure of the lead wire extending from the fixed side to the rotating side of the rotating joint of an industrial robot is as shown in Figs. FIG. 2 is a cross-sectional plan view showing a joint between an arm and a wrist of an industrial mouth bot according to the prior art, and FIG. 3 is a view taken along the line AA ′ of FIG. It is a side view.
図において、 1はアームであり、 2は手首であり、 3はカバ一である。 手首 2 は本体 4とシャフ ト 5からなり、 シャフ ト 5でアーム 1に回転自在に軸承されて いる。 アーム 1 とシャフ ト 5と本体 4は中空であり、 内部の空間がつながつてい る。 6と 7はリード線であり、 アーム 1からシャフ ト 5を通って手首 2に延びて 配設されている。 リード線 6、 7は束ねられて、 アーム 1内部の固縛部 8 とシャ フ ト 5に取り付けられた固縛プレート 9に、 バンド 1 0で固定されている。 1 5 は手首 2がアーム 1に対して回転した時のリード線 6、 7の変形を示す。 In the figure, 1 is an arm, 2 is a wrist, and 3 is a cover. The wrist 2 includes a body 4 and a shaft 5, and is rotatably supported on the arm 1 by the shaft 5. The arm 1, the shaft 5, and the main body 4 are hollow, and the internal space is connected. Reference numerals 6 and 7 denote lead wires extending from the arm 1 to the wrist 2 through the shaft 5. The lead wires 6 and 7 are bundled and fixed with a band 10 to a securing portion 8 inside the arm 1 and a securing plate 9 attached to the shaft 5. 15 shows the deformation of the lead wires 6 and 7 when the wrist 2 rotates with respect to the arm 1.
ところが、 従来技術では、 次の様な問題があった。 However, the conventional technology has the following problems.
リード線 6、 7は固縛部 8と固縛プレート 9で固定されているので、 手首 2が アーム 1に対して回転すると、 リード線 6、 7に曲げとねじりが加わる。 そのた めリード線 6、 7が、 変形して図 2の上方に膨れるので、 アーム 1の幅 Bをこの 変形に対応して大きく しなければならないという問題があった。 この問題は産業 用ロボットを小型化する上で大きな障害になっていた。 Since the leads 6 and 7 are fixed by the securing portion 8 and the securing plate 9, when the wrist 2 rotates with respect to the arm 1, the leads 6 and 7 are bent and twisted. As a result, the lead wires 6 and 7 are deformed and bulge upward in FIG. 2, so that there is a problem that the width B of the arm 1 must be increased in accordance with the deformation. This problem was a major obstacle to miniaturizing industrial robots.
[発明の開示] [Disclosure of the Invention]
そこで本発明は、 産業用ロボットの回転関節部において、 アーム 1の幅 Bを最 小にするリ一ド線固定構造を提供することを目的とする。 Therefore, an object of the present invention is to provide a lead wire fixing structure that minimizes the width B of the arm 1 in a rotary joint of an industrial robot.
上記問題を解決するために、 本発明は、 産業用ロボットの回転関節部のリード 線を固定側固縛部と回転側固縛部の間でループ状に形成する。 In order to solve the above problem, the present invention forms a lead wire of a rotary joint of an industrial robot in a loop between a fixed-side securing portion and a rotating-side securing portion.
[図面の簡単な説明] 図 1は本発明の実施例を示す産業用ロボッ トのアームと手首の接続部からカバ 一を除いた側面図であり、 図 2は従来技術における産業用ロボットのアームと手 首の接続部の平断面図であり、 図 3は従来技術における産業用ロボッ トのアーム と手首の接続部からカバーを除いた側面図である。 [Brief description of drawings] Fig. 1 is a side view of the connection part between the arm and the wrist of the industrial robot showing the embodiment of the present invention, with the cover removed from the connection part. Fig. 2 shows the connection part between the arm and the wrist of the conventional industrial robot. FIG. 3 is a plan view, and FIG. 3 is a side view of a conventional industrial robot in which a cover is removed from a connection portion between an arm and a wrist of an industrial robot.
[発明を実施するための最良の形態] [Best Mode for Carrying Out the Invention]
以下、 本発明の実施例を図に基づいて説明する。 基本的な構成は従来技術と同 じなので、 異なる部分についてだけ説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. Since the basic configuration is the same as that of the conventional technology, only the differences will be described.
図 1は、 本発明の実施例を示す産業用ロボットのアームと手首の接合部を示す 側面図である。 FIG. 1 is a side view showing a joint between an arm and a wrist of an industrial robot according to an embodiment of the present invention.
リード線 6は、 アーム 1の内部で 1回巻いてループ 1 1を形成して、 ループ 1 1の途中で固縛部 1 2にバンド 1 0で固定されている。 同様にリード線 7は、 了 —ム 1の内部で 1回巻いてループ 1 3を形成して、 ループ 1 3の途中で固縛部 1 4にバンド 1 ◦で固定されている。 リード線 6， 7はループ 1 1， 1 3の右側で 束ねられて、 固縛プレート 9にバンド 1 0で固定されている。 The lead wire 6 is wound once inside the arm 1 to form a loop 11, and is fixed to the securing portion 12 by a band 10 in the middle of the loop 11. Similarly, the lead wire 7 is wound once inside the lead 1 to form a loop 13, and is fixed to the securing portion 14 in the middle of the loop 13 with a band 1 °. The leads 6 and 7 are bundled on the right side of the loops 11 and 13 and fixed to the securing plate 9 with the band 10.
手首 2がアーム 1に対して回転する時に生じる曲げとねじりによるリード線 6 ， 7の変形は、 ループ 1 1， 1 3で吸収される。 つまり、 リード線 6， 7が伸び る時はループ 1 1， 1 3の径が大きくなり、 リード線 6， 7が縮む時はループ 1 1， 1 3の径が小さくなる。 したがってリード線 6， 7はアーム 1の幅方向に変 形しないので、 アーム 1の幅 Bは小さくてよい。 The deformation of the lead wires 6 and 7 due to the bending and torsion that occurs when the wrist 2 rotates with respect to the arm 1 is absorbed by the loops 11 and 13. In other words, when the leads 6 and 7 are elongated, the diameters of the loops 11 and 13 are large, and when the leads 6 and 7 are contracted, the diameters of the loops 11 and 13 are small. Therefore, since the lead wires 6 and 7 do not deform in the width direction of the arm 1, the width B of the arm 1 may be small.
以上述べたように、 本発明によれば、 次のような効果がある。 As described above, the present invention has the following effects.
( 1 ) アームの幅を小さくできるので、 アームと作業対象物等との干渉が少なく なる。 (1) Since the width of the arm can be reduced, interference between the arm and a work object is reduced.
( 2 ) ロボットの小型、 軽量化に有効である。 (2) It is effective for reducing the size and weight of the robot.
( 3 ) 簡単な構造であり特殊な部品を必要としないので安価である。 (3) It is inexpensive because it has a simple structure and does not require special parts.
[産業上の利用可能性] [Industrial applicability]
本発明は、 産業用ロボッ トの回転関節部の固定側から回転側に延びるリード線 の固定に有用である。 INDUSTRIAL APPLICABILITY The present invention is useful for fixing a lead wire extending from a fixed side of a rotating joint of an industrial robot to a rotating side.
Claims
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU63112/98A AU6311298A (en) | 1997-03-14 | 1998-03-12 | Lead wire bearing structure for rotary joint of industrial robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8213497A JPH10249784A (en) | 1997-03-14 | 1997-03-14 | Lead wire fixing structure for rotating joints of industrial robots |
| JP9/82134 | 1997-03-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO1998041367A1 true WO1998041367A1 (en) | 1998-09-24 |
Family
ID=13765953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP1998/001079 Ceased WO1998041367A1 (en) | 1997-03-14 | 1998-03-12 | Lead wire bearing structure for rotary joint of industrial robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPH10249784A (en) |
| AU (1) | AU6311298A (en) |
| WO (1) | WO1998041367A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3746244B2 (en) | 2002-04-10 | 2006-02-15 | ファナック株式会社 | Laying structure of the striatum on the wrist of the robot |
| JP2007030145A (en) * | 2005-07-29 | 2007-02-08 | Toyota Motor Corp | Joint device |
| ES2621490T3 (en) * | 2012-07-13 | 2017-07-04 | Abb Schweiz Ag | Structure used for a robot |
| JP6730352B2 (en) | 2018-03-20 | 2020-07-29 | ファナック株式会社 | Cable clamps and robots |
| JP7135815B2 (en) * | 2018-12-10 | 2022-09-13 | 日本電産株式会社 | ROBOT AND ROBOT MANUFACTURING METHOD |
| JP7136067B2 (en) | 2019-11-27 | 2022-09-13 | 株式会社安川電機 | robot system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05169390A (en) * | 1991-12-24 | 1993-07-09 | Matsushita Electric Ind Co Ltd | Industrial robot |
| JPH06179192A (en) * | 1992-12-15 | 1994-06-28 | Matsushita Electric Ind Co Ltd | Robot arm |
-
1997
- 1997-03-14 JP JP8213497A patent/JPH10249784A/en active Pending
-
1998
- 1998-03-12 WO PCT/JP1998/001079 patent/WO1998041367A1/en not_active Ceased
- 1998-03-12 AU AU63112/98A patent/AU6311298A/en not_active Abandoned
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05169390A (en) * | 1991-12-24 | 1993-07-09 | Matsushita Electric Ind Co Ltd | Industrial robot |
| JPH06179192A (en) * | 1992-12-15 | 1994-06-28 | Matsushita Electric Ind Co Ltd | Robot arm |
Also Published As
| Publication number | Publication date |
|---|---|
| AU6311298A (en) | 1998-10-12 |
| JPH10249784A (en) | 1998-09-22 |
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