CN107932556A - A kind of industrial robot cable arranging structure - Google Patents
A kind of industrial robot cable arranging structure Download PDFInfo
- Publication number
- CN107932556A CN107932556A CN201711262336.5A CN201711262336A CN107932556A CN 107932556 A CN107932556 A CN 107932556A CN 201711262336 A CN201711262336 A CN 201711262336A CN 107932556 A CN107932556 A CN 107932556A
- Authority
- CN
- China
- Prior art keywords
- cable
- robot
- robot cable
- forearm
- industrial robot
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 28
- 210000000245 forearm Anatomy 0.000 claims abstract description 27
- 239000012636 effector Substances 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of industrial robot cable arranging structure, including forearm, wrist body, end effector, further include and sequentially pass through and be clamped in forearm, the robot cable on end effector is followed by wrist body, the length of cable on the robot cable between the clamping of forearm and wrist body is fixed.The present invention on forearm by increasing left U-shaped crossed beam trunking, right U-shaped crossed beam trunking, and design the structure that hollow wrist crosses line, and then avoid cabling mode outside traditional robot, robot cable is set to fully achieve from robot interior cabling, greatly meet different application occasion, robot cable is clamped at the 5th axial brake device and the 6th axial brake device, ensure that robot cable moves influence from robot wrist at this, avoid robot cable and robotic contact friction, the cable service life of robot is improved, reduces maintenance period and cost.
Description
Technical field
The present invention relates to industrial robot cable placement technique field, specifically a kind of industrial robot cable arrangement
Structure.
Background technology
Industrial robot body cable plays a crucial role the performance of robot, and the maintenance cost of robot cable is very
Expensive, and robot cable failure can cause shutdown and the security incident of robot.Traditional industrial robot
Cable is arranged, can largely cause the friction of cable and body, and this rub not only reduces the service life of cable, together
When also result in robot body surface paint and scratched, influence beauty, the production cycle is delayed and maintenance cost improves.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of industrial robot cable arranging structure, to reduce industry
The maintenance cost of robot cable, improves industrial robot service life.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of industrial robot cable arranging structure, including forearm, wrist body, end effector, further include and sequentially pass through
And be clamped in forearm, be followed by the robot cable on end effector in wrist body, it is located at forearm on the robot cable
And the length of cable between the clamping of wrist body is fixed.
The I/O teaching connectors being connected with robot cable are provided with the forearm.
Further, there is the left U-shaped crossed beam trunking passed through for robot cable, right U-shaped crossed beam trunking on the forearm.
Further, the 5th axis is connected with by interference fit on the inner wall of the U-shaped crossed beam trunking in the left side, right U-shaped crossed beam trunking
Cable clip is fixed.
Further, the material of the 5th axis cable lock sleeve is plastics.
Further, the 5th axis cable clip is fixed is internally provided with trapezoidal clamp clip, and the trapezoidal clamp clip can
The robot cable passed through is clamped.
Further, the middle part of the wrist body is equipped with the hollow line set excessively passed through for robot cable.The wrist body
Including the 5th axial brake device, the 6th axial brake device installed in the 5th axial brake device front end, the 6th axial brake device
For hollow structure, ensure reliable, the safe use of robot cable.
The end effector is fixed by screws in the 6th axial brake device front end.
Further, the hollow line cover material of crossing is metal, and the hollow line set front end of crossing is connected through a screw thread
Mode to be connected with the 6th axle clamp connected with end effector fixed.
Further, the robot cable is located at the fixed line with the 6th axis cable clip between fixed of the 5th axis cable clip
Cable length is fixed.
The beneficial effects of the invention are as follows：Compared with prior art, by increasing left U-shaped crossed beam trunking, right U-shaped on forearm
Crossed beam trunking, and design hollow wrist and cross the structure of line, and then cabling mode outside traditional robot is avoided, enable robot cable
Enough fully achieve from robot interior cabling, greatly meet different application occasion, robot cable is driven in the 5th axis
Clamped at device and the 6th axial brake device, ensure that robot cable moves influence from robot wrist at this, avoids robot
Cable and robotic contact friction, improve the cable service life of robot, reduce maintenance period and cost.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall dimensional structure diagram of the present invention；
Fig. 2 is dimensional structure diagram of the forearm with wrist body of the present invention；
Fig. 3 is the fixed dimensional structure diagram of the 5th axis cable clip of the present invention；
Fig. 4 is dimensional structure diagram when robot cable of the invention crosses line；
Fig. 5 is the hollow dimensional structure diagram for crossing line set of the present invention；
Fig. 6 is the dimensional structure diagram of cabling working method on the left of the robot cable of the present invention；
Fig. 7 is the dimensional structure diagram of cabling working method on the right side of the robot cable of the present invention；
Fig. 8 is the dimensional structure diagram of the 5th axial brake device working status of robot of the present invention.
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 8, a kind of industrial robot cable arranging structure, including forearm 11, wrist body 21, end are held
Row device 26, further includes and sequentially passes through and be clamped in forearm 11, is followed by the robot line on end effector 26 in wrist body 21
Cable 31, the length of cable on the robot cable 31 between the clamping of forearm 11 and wrist body 21 is fixed.
The I/O teachings connector 12 being connected with robot cable 31 is provided with the forearm 11.
The forearm 11 is installed on external industrial robot.Wrist body 21 is installed on the front end of forearm 11, the end
Actuator 26 is held to be installed on wrist body 21.
Further, have the left U-shaped crossed beam trunking 111 passed through for robot cable 31, the right side are U-shaped to cross line on the forearm 11
Groove 112.
Further, it is connected with the inner wall of the U-shaped crossed beam trunking 111 in the left side, right U-shaped crossed beam trunking 112 by interference fit
5th axis cable clip fixed 13.Left U-shaped crossed beam trunking can be reasonably selected, right U-shaped crossed beam trunking crosses line side according to robot workplace
Formula.
Further, the material of the 5th axis cable lock sleeve 13 is plastics.
Further, the 5th axis cable clip fixed 13 is internally provided with trapezoidal clamp clip 131, the trapezoidal clamping
Piece 131 can be clamped the robot cable 31 passed through.In use, using trapezoidal clamp clip 131 to the machine of the position
People's cable 31 is clamped, and ensures that trapezoidal 131 both ends robot cable 31 of clamp clip is independent of each other.
Further, the middle part of the wrist body 21 covers 23 equipped with the hollow line of crossing for supplying robot cable 31 to pass through.It is described
Wrist body 21 includes the 5th axial brake device 22, the 6th axial brake device 24 installed in 22 front end of the 5th axial brake device, described
6th axial brake device 24 is hollow structure, ensures reliable, the safe use of robot cable.
The end effector 26 is fixed by screws in 24 front end of the 6th axial brake device.
Further, hollow line 23 materials of set of crossing are metal, and hollow 23 front ends of line set of crossing pass through screw thread
The mode of 231 connections is connected with the 6th axle clamp fixed 25 connected with end effector 26.It is U-shaped using left U-shaped crossed beam trunking 111, the right side
Crossed beam trunking 112, the 5th axis cable clip be fixed 13, it is hollow cross line and cover the 23, the 6th axis cable clip fixed 25 connected with end effector 26.
In use, the 6th axle clamp fixed 25 clamps the robot cable 31 of the position, ensure robot cable 31 on end effector 26
It is independent of each other with hollow line 23 inner machine people cables 31 of set of crossing.
Further, the robot cable 31 be located at the 5th axis cable clip fixed 13 and the 6th axis cable clip fixed 25 it
Between length of cable be fixed.Friction will not be contacted with robot body in robot motion, causes robot cable 31
Abrasion.
In use, by the 5th axis cable clip fixed 13 in left U-shaped crossed beam trunking 111, right U-shaped crossed beam trunking 112, by
Sky is crossed line set 23 and is installed on wrist body 21, according to robot applications, selects left U-type groove 111 to cross line mode or right U-shaped
Groove crosses 112 mode of line.
Then, 31 one end of robot cable is connected at 11 upper end I/O teachings connector 12 of forearm, robot cable 31 selects
Selecting property is passed through from left U-shaped crossed beam trunking 111 or right U-shaped crossed beam trunking 112, determines that I/O teachings connector 12 U-shaped crosses 111 groove of line with left
Or between right U-shaped crossed beam trunking 112 after length, using the trapezoidal clamp clip 131 on the 5th axis cable clip fixed 13 by robot cable
31 clamp, and the robot cable 31 through the 5th axis cable clip fixed 13 is passed through from hollow 23 inside of line set of crossing again, and to be confirmed the
After reasonable length between 5 axis cable clips fixed 13 and the 6th axis cable clip fixed 25, the 6th axis cable clip fixed 25 is utilized into spiral shell
Rotation pair be fixed on hollow 23 nose threads 231 of crossed beam trunking, robot cable 31 is clamped here, so ensure forearm 11 with
31 length of robot cable between wrist body 21 will not be with robotic contact.
Finally, end effector 26 is installed on the 6th axial brake device 24, the other end of robot cable 31 is installed
On end effector 26, after installation is complete, robot is run, in the robot course of work, when the 5th axial brake device 22 is transported
When dynamic, forearm 11 can be rotated with the robot cable 31 at wrist body 21 with the 5th axial brake device 22, but due to robot line
31 both ends of cable clamp, it is ensured that robot cable 31 will not contact friction with robot body, when 24 work of the 6th axial brake device
When making, since robot cable 31 clamps at the 6th axis cable clip fixed 25, the machine between forearm 11 and wrist body 21
People's cable 31 improves the service life of robot cable 31 from 24 work influence of the 6th axial brake device.
Basic principle, main feature and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Thing defines.
Claims (9)
- A kind of 1. industrial robot cable arranging structure, it is characterised in that：Performed including forearm (11), wrist body (21), end Device (26), further includes to sequentially pass through and be clamped in and is followed by the machine on end effector (26) in forearm (11), wrist body (21) Device people cable (31), the cable on the robot cable (31) between the clamping of forearm (11) and wrist body (21) are grown Degree is fixed.
- A kind of 2. industrial robot cable arranging structure according to claim 1, it is characterised in that：On the forearm (11) It is provided with the I/O teachings connector (12) being connected with robot cable (31).
- A kind of 3. industrial robot cable arranging structure according to claim 1, it is characterised in that：On the forearm (11) With the left U-shaped crossed beam trunking (111) passed through for robot cable (31), right U-shaped crossed beam trunking (112).
- A kind of 4. industrial robot cable arranging structure according to claim 3, it is characterised in that：The left side is U-shaped to cross line Groove (111), right U-shaped crossed beam trunking (112) inner wall on by interference fit to be connected with the 5th axis cable clip fixed (13).
- A kind of 5. industrial robot cable arranging structure according to claim 4, it is characterised in that：5th axis The material of cable lock sleeve (13) is plastics.
- A kind of 6. industrial robot cable arranging structure according to claim 4, it is characterised in that：5th axis Cable clip fixed (13) is internally provided with trapezoidal clamp clip (131), and the trapezoidal clamp clip (131) can be to the robot line that passes through Cable (31) is clamped.
- A kind of 7. industrial robot cable arranging structure according to claim 1, it is characterised in that：The wrist body (21) Middle part be equipped with for robot cable (31) pass through it is hollow cross line set (23).
- A kind of 8. industrial robot cable arranging structure according to claim 7, it is characterised in that：The hollow line excessively It is fixed (25) that set (23) front end is connected with the 6th axle clamp connected with end effector (26) by way of screw thread (231) connection.
- A kind of 9. industrial robot cable arranging structure according to claim 7 or 8, it is characterised in that：Described is hollow It is metal to cross line set (23) material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711262336.5A CN107932556A (en) | 2017-12-04 | 2017-12-04 | A kind of industrial robot cable arranging structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711262336.5A CN107932556A (en) | 2017-12-04 | 2017-12-04 | A kind of industrial robot cable arranging structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107932556A true CN107932556A (en) | 2018-04-20 |
Family
ID=61944654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711262336.5A Pending CN107932556A (en) | 2017-12-04 | 2017-12-04 | A kind of industrial robot cable arranging structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107932556A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818498A (en) * | 2018-06-09 | 2018-11-16 | 埃夫特智能装备股份有限公司 | A kind of six degree of freedom hollow type heavy-load robot |
| CN109397267A (en) * | 2018-12-13 | 2019-03-01 | 南京熊猫电子股份有限公司 | Industrial robot compact pedestal and its cable method for arranging |
| CN110561473A (en) * | 2019-09-19 | 2019-12-13 | 佛山职业技术学院 | Can prevent manipulator of pencil landing |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05318378A (en) * | 1992-05-21 | 1993-12-03 | Fanuc Ltd | Wiring and piping processing device for industrial robot |
| JPH10166292A (en) * | 1997-12-26 | 1998-06-23 | Fanuc Ltd | Wrist structure for vertically articulated robot |
| JP2004017220A (en) * | 2002-06-17 | 2004-01-22 | Nachi Fujikoshi Corp | Wiring processing device of upper arm of industrial robot |
| US20050011295A1 (en) * | 2001-10-29 | 2005-01-20 | Tomoyuki Shiraki | Industrial robot |
| JP2006007355A (en) * | 2004-06-24 | 2006-01-12 | Yaskawa Electric Corp | Wrist device of robot |
| JP2006026748A (en) * | 2004-07-12 | 2006-02-02 | Daihen Corp | Robot wrist mechanism and operation method of end effector fitted thereto |
| CN1781681A (en) * | 2004-12-02 | 2006-06-07 | 发那科株式会社 | Guiding device for an umbilical member of a robot and a robot having the guiding device |
| JP2009125846A (en) * | 2007-11-21 | 2009-06-11 | Kawasaki Heavy Ind Ltd | Robot wrist device |
| JP2009178827A (en) * | 2008-02-01 | 2009-08-13 | Yaskawa Electric Corp | Industrial robot equipped with linear body guide mechanism |
| CN102463571A (en) * | 2010-11-04 | 2012-05-23 | 株式会社安川电机 | Robot wrist structure and robot |
| CN102781632A (en) * | 2010-03-02 | 2012-11-14 | Abb研究有限公司 | A robot wrist |
| JP2012240123A (en) * | 2011-05-13 | 2012-12-10 | Kawasaki Heavy Ind Ltd | Articulated industrial robot |
| CN202825824U (en) * | 2012-09-20 | 2013-03-27 | 沈阳新松机器人自动化股份有限公司 | Cable installation device for industrial robot |
| CN103298588A (en) * | 2011-12-28 | 2013-09-11 | Abb技术有限公司 | Process turning disc with a cable guide |
| US20140013893A1 (en) * | 2012-07-12 | 2014-01-16 | Canon Kabushiki Kaisha | Robot |
| US20140020498A1 (en) * | 2012-07-20 | 2014-01-23 | Fanuc Corporation | Umbilical member arrangement structure of industrial robot having hollow member |
| US20150027262A1 (en) * | 2013-07-26 | 2015-01-29 | Kabushiki Kaisha Yaskawa Denki | Robot and manufacturing method of the same |
| CN204136064U (en) * | 2014-10-28 | 2015-02-04 | 济南时代试金试验机有限公司 | Industrial machine human wrist |
| CN104626137A (en) * | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Wiring structure of tail end executor of industrial robot |
| US20150246449A1 (en) * | 2014-02-28 | 2015-09-03 | Nachi-Fujikoshi Corp. | Industrial robot |
-
2017
- 2017-12-04 CN CN201711262336.5A patent/CN107932556A/en active Pending
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05318378A (en) * | 1992-05-21 | 1993-12-03 | Fanuc Ltd | Wiring and piping processing device for industrial robot |
| JPH10166292A (en) * | 1997-12-26 | 1998-06-23 | Fanuc Ltd | Wrist structure for vertically articulated robot |
| US20050011295A1 (en) * | 2001-10-29 | 2005-01-20 | Tomoyuki Shiraki | Industrial robot |
| JP2004017220A (en) * | 2002-06-17 | 2004-01-22 | Nachi Fujikoshi Corp | Wiring processing device of upper arm of industrial robot |
| JP2006007355A (en) * | 2004-06-24 | 2006-01-12 | Yaskawa Electric Corp | Wrist device of robot |
| JP2006026748A (en) * | 2004-07-12 | 2006-02-02 | Daihen Corp | Robot wrist mechanism and operation method of end effector fitted thereto |
| CN1781681A (en) * | 2004-12-02 | 2006-06-07 | 发那科株式会社 | Guiding device for an umbilical member of a robot and a robot having the guiding device |
| JP2009125846A (en) * | 2007-11-21 | 2009-06-11 | Kawasaki Heavy Ind Ltd | Robot wrist device |
| JP2009178827A (en) * | 2008-02-01 | 2009-08-13 | Yaskawa Electric Corp | Industrial robot equipped with linear body guide mechanism |
| CN102781632A (en) * | 2010-03-02 | 2012-11-14 | Abb研究有限公司 | A robot wrist |
| CN102463571A (en) * | 2010-11-04 | 2012-05-23 | 株式会社安川电机 | Robot wrist structure and robot |
| JP2012240123A (en) * | 2011-05-13 | 2012-12-10 | Kawasaki Heavy Ind Ltd | Articulated industrial robot |
| CN103298588A (en) * | 2011-12-28 | 2013-09-11 | Abb技术有限公司 | Process turning disc with a cable guide |
| US20140013893A1 (en) * | 2012-07-12 | 2014-01-16 | Canon Kabushiki Kaisha | Robot |
| US20140020498A1 (en) * | 2012-07-20 | 2014-01-23 | Fanuc Corporation | Umbilical member arrangement structure of industrial robot having hollow member |
| CN202825824U (en) * | 2012-09-20 | 2013-03-27 | 沈阳新松机器人自动化股份有限公司 | Cable installation device for industrial robot |
| US20150027262A1 (en) * | 2013-07-26 | 2015-01-29 | Kabushiki Kaisha Yaskawa Denki | Robot and manufacturing method of the same |
| CN104626137A (en) * | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Wiring structure of tail end executor of industrial robot |
| US20150246449A1 (en) * | 2014-02-28 | 2015-09-03 | Nachi-Fujikoshi Corp. | Industrial robot |
| CN204136064U (en) * | 2014-10-28 | 2015-02-04 | 济南时代试金试验机有限公司 | Industrial machine human wrist |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818498A (en) * | 2018-06-09 | 2018-11-16 | 埃夫特智能装备股份有限公司 | A kind of six degree of freedom hollow type heavy-load robot |
| CN109397267A (en) * | 2018-12-13 | 2019-03-01 | 南京熊猫电子股份有限公司 | Industrial robot compact pedestal and its cable method for arranging |
| CN110561473A (en) * | 2019-09-19 | 2019-12-13 | 佛山职业技术学院 | Can prevent manipulator of pencil landing |
| CN110561473B (en) * | 2019-09-19 | 2024-04-23 | 佛山职业技术学院 | Manipulator capable of preventing wire bundles from sliding off |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107932556A (en) | A kind of industrial robot cable arranging structure | |
| CN108555959B (en) | Two-degree-of-freedom linkage joint section and flexible mechanical arm | |
| CN203956924U (en) | There is the industrial robot for the electrical interface of supply pipe wire harness | |
| CN104275707A (en) | Attachment structure for drive cables of robot and robot apparatus provided therewith | |
| CN107471223A (en) | A kind of drawing clamping device of robot | |
| CN204144564U (en) | A kind of multifunction clips line mechanism of cylindrical connector | |
| CN203611261U (en) | Industrial robot pipeline structure and robot arm including pipeline structure | |
| CN208684110U (en) | A kind of power construction traction device easy to use | |
| CN104647364B (en) | A kind of reconfigurable drag articulation type four axle robots | |
| CN207696562U (en) | A kind of industrial robot cable arranging structure | |
| CN204144837U (en) | Ready-package spool fixture | |
| CN204308395U (en) | Welding wire straightener | |
| CN207818271U (en) | A kind of strand capacitance clip replacement device | |
| CN204076280U (en) | A kind of inside Wiring structure of seven axle robots | |
| CN205521149U (en) | A installation mechanism for installing interior sleeve pipe among tubular heat exchanger | |
| CN202684444U (en) | Pipe locating device and welding machine applying same | |
| CN104701789B (en) | One kind turns to terminal box | |
| CN204819567U (en) | Automatic robot manipulator connecting wire protection pipe box | |
| CN204464900U (en) | One turns to terminal box | |
| CN208767702U (en) | A kind of architectural engineering cable drawing-in tool | |
| CN207813353U (en) | Vehicle and its gland | |
| CN207938953U (en) | Connecting line plug-pull tool | |
| CN103050860A (en) | Assistant cutting sleeve for cable clamping head | |
| CN108899809B (en) | Line ware is worn to mould plastics pipe bending point | |
| CN204534167U (en) | The light fixture of a kind of changeable shape and irradiating angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |