[go: up one dir, main page]

WO1998041367A1 - Structure de palier a fils de plomb pour joint rotatif de robot industriel - Google Patents

Structure de palier a fils de plomb pour joint rotatif de robot industriel Download PDF

Info

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
Application number
PCT/JP1998/001079
Other languages
English (en)
Japanese (ja)
Inventor
Manabu Okahisa
Masahiro Ogawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Priority to AU63112/98A priority Critical patent/AU6311298A/en
Publication of WO1998041367A1 publication Critical patent/WO1998041367A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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

Des fils de plomb (6, 7) sont disposés de manière à former des boucles (11, 13) entre, d'une part des éléments (12, 14) de fixation latéraux placés du côté fixe, et d'autre part un élément (9) de fixation placé du côté rotatif. Etant donné que la déformation des fils de plomb (6, 7) peut être compensée par les boucles (11, 13), il est possible de réduire la largeur du bras (1).
PCT/JP1998/001079 1997-03-14 1998-03-12 Structure de palier a fils de plomb pour joint rotatif de robot industriel Ceased WO1998041367A1 (fr)

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 (ja) 1997-03-14 1997-03-14 産業用ロボットの回転関節部のリード線固定構造
JP9/82134 1997-03-14

Publications (1)

Publication Number Publication Date
WO1998041367A1 true WO1998041367A1 (fr) 1998-09-24

Family

ID=13765953

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1998/001079 Ceased WO1998041367A1 (fr) 1997-03-14 1998-03-12 Structure de palier a fils de plomb pour joint rotatif de robot industriel

Country Status (3)

Country Link
JP (1) JPH10249784A (fr)
AU (1) AU6311298A (fr)
WO (1) WO1998041367A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3746244B2 (ja) 2002-04-10 2006-02-15 ファナック株式会社 ロボットの手首における線条体の敷設構造
JP2007030145A (ja) * 2005-07-29 2007-02-08 Toyota Motor Corp 関節装置
ES2621490T3 (es) * 2012-07-13 2017-07-04 Abb Schweiz Ag Estructura utilizada para un robot
JP6730352B2 (ja) 2018-03-20 2020-07-29 ファナック株式会社 ケーブルクランプおよびロボット
JP7135815B2 (ja) * 2018-12-10 2022-09-13 日本電産株式会社 ロボット、及びロボットの製造方法
JP7136067B2 (ja) 2019-11-27 2022-09-13 株式会社安川電機 ロボットシステム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05169390A (ja) * 1991-12-24 1993-07-09 Matsushita Electric Ind Co Ltd 産業用ロボット
JPH06179192A (ja) * 1992-12-15 1994-06-28 Matsushita Electric Ind Co Ltd ロボットアーム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05169390A (ja) * 1991-12-24 1993-07-09 Matsushita Electric Ind Co Ltd 産業用ロボット
JPH06179192A (ja) * 1992-12-15 1994-06-28 Matsushita Electric Ind Co Ltd ロボットアーム

Also Published As

Publication number Publication date
AU6311298A (en) 1998-10-12
JPH10249784A (ja) 1998-09-22

Similar Documents

Publication Publication Date Title
US5538275A (en) Ball joint seal with heat shield
JP2003136462A5 (fr)
WO1998041367A1 (fr) Structure de palier a fils de plomb pour joint rotatif de robot industriel
JPH10249784A6 (ja) 産業用ロボットの回転関節部のリード線固定構造
JP2690829B2 (ja) 関節運動型ロボット
JPH11216698A (ja) 産業用ロボットの配線及び配管支持装置
JP2002239968A (ja) ロボットの関節部構造
JPH0739575Y2 (ja) 回転部分のケーブル保持装置
JPH0123232B2 (fr)
JPS59110591A (ja) 産業用ロボツト
JPS59182091A (ja) 回転関節機構
JPH047917Y2 (fr)
CN223402149U (zh) 机器人腿部走线结构及机器人
JP2006159297A (ja) ロボット
JP4123677B2 (ja) モータのコネクタ保持装置
JP3127602B2 (ja) ロボットの手首機構
JPH056076Y2 (fr)
JPH0648789Y2 (ja) 回転体―固定体間の伝送装置
JPH0756286Y2 (ja) ケーブルリール
JPH0260477B2 (fr)
JPH01166086U (fr)
JPS6119179Y2 (fr)
JPS6190073U (fr)
JPH0239107Y2 (fr)
JPH04261793A (ja) ロボット用ケーブルユニット

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AU CN KR US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase