WO2006046277A1 - ロボットのケーブル処置装置 - Google Patents
ロボットのケーブル処置装置 Download PDFInfo
- Publication number
- WO2006046277A1 WO2006046277A1 PCT/JP2004/015798 JP2004015798W WO2006046277A1 WO 2006046277 A1 WO2006046277 A1 WO 2006046277A1 JP 2004015798 W JP2004015798 W JP 2004015798W WO 2006046277 A1 WO2006046277 A1 WO 2006046277A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cable
- groove
- housing
- connecting member
- robot
- Prior art date
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 an industrial robot, and more particularly to a structure for arranging a cable for supplying signals and electric power.
- Such a cable treatment apparatus for a robot is an industrial robot provided with a connecting member for introducing a cable from a cylindrical support housing into a swivel housing that is rotatably supported by the support housing.
- the connecting member has a hollow portion through which the cable is inserted, and an annular plate connected to the swivel housing, a disc connected to a drive unit that drives the swivel housing, and these A circular column and a circular plate are connected to each other in a U-shape when viewed from the side, and a linear column portion that forms an opening corresponding to a rotation angle is provided, and a cable is introduced from the opening to
- the pivot axis is a cable passage.
- a column portion having a U-shape as viewed from the side surface is provided between the revolving housing and the drive unit that drives the revolving operation.
- a cable is introduced from the direction of the opening of the part, and the hollow part serving as the pivot axis of the upper annular plate is guided into the swivel housing as a passage.
- Patent Document 1 Japanese Patent Publication No. 3-17635
- the present invention has been made to solve the above-described problems, and the pivotable range of the support casing and the pivotable casing can be rotated without being affected by the column portion of the connecting member. It is to provide a cable processing device for a bot that can expand the range.
- a cable processing apparatus for a robot includes a support casing, a swing casing that is pivotally supported by the support casing and pivoted, and the swing casing to the swing casing.
- the connecting member includes an outer body and the outer body.
- the annular plate and the disc A spiral pillar portion that communicates with the groove, And leads from the outside of the outer body to the hollow portion along said side surface of the outer member are made form consecutively helically It is characterized in.
- the spiral shape of the groove includes a combination of a steep slope and a gentle slope that are formed only by the grooves provided with a uniform slope.
- a cable processing apparatus for a robot according to a second invention is characterized in that the rotation angle between the support housing and the turning housing is 360 ° or more from one end of the groove to the other end of the groove.
- a cable processing apparatus for a robot according to a third invention is characterized in that the wall surface of the groove is coated with grease.
- a cable processing device for a robot is a cable screwing member including a screw formed in a hole of the annular plate, screwed into the screw, and having a hollow portion through which the cable is inserted. And a fixing means for fixing the cable to the screwing member.
- the connecting member when the turning casing turns, the connecting member also turns, and the cable moves from one end of the spiral groove toward the other end.
- the cable moves to the other end of the spiral groove. That is, the spiral groove in which the cable is continuously formed by the turning of the turning housing is moved. Therefore, it is possible to easily extend the rotation angle without the range in which the support housing and the turning housing can be rotated being affected by the column portion of the connecting member.
- the turning angle of the turning casing is not affected by the column portion of the connecting member.
- the cable and the resin coating come into contact with each other, thereby reducing the wear of the outer sheath of the cable. it can.
- the cable screwing member screwed to the screw of the connecting member linearly moves in the direction of the rotation axis as the turning housing turns. For this reason, the cable also moves linearly via the cable screwing member as the turning housing turns. Therefore, the cable is pressed against the wall surface of the groove of the connecting member. For this reason, the size of the groove of the connecting member can be reduced, and the wear of the outer sheath of the cable can be further reduced.
- FIG. 1 is a front sectional view of a cable processing apparatus for a robot according to an embodiment of the present invention.
- FIG. 2 is a perspective view of a connecting member used in the cable processing apparatus shown in FIG. 1.
- FIG. 3 is a development view of the connecting member shown in FIG. 2.
- FIG. 4 is a cross-sectional view of a cable processing apparatus according to another embodiment of the present invention.
- FIG. 5 is a cross-sectional view (a) and (b) of a conventional connecting member.
- FIG. 1 is a front sectional view of a cable processing apparatus according to an embodiment of the present invention
- FIG. 2 is a perspective view of a connecting member through which a cable according to an embodiment of the present invention is inserted.
- a motor receiving portion 2 a is provided inside the support housing 2, and the motor 4 is fixed via a flange 5.
- the flange is provided with a speed reduction mechanism 8 serving as a drive unit for the swivel housing 6, and is configured to rotationally drive the swivel housing 6 via a connecting member 12 attached above the speed reduction mechanism 8. Yes. It is formed so as to be pivotally supported via a bearing 31 at the upper opening of the support housing 2 so as to operate the swivel housing 6 and the connecting member 12.
- the lower part of the connecting member 12 is formed so that the connecting member 12 and the drive part can be rotated with respect to the support housing 2 via a bearing 33.
- a cable 10 for transmitting signals and power is inserted from the groove 19 of the connecting member 12 and passes through the axial center line of the swivel housing 6, and is arranged inside the swivel housing 6 through the hole 14 e of the annular plate 14 of the connecting member 12. And is fixed inside the swivel housing 6.
- the connecting member 12 is made of metal and has an outer body 13 and a groove 19 provided in the outer body 13.
- the outer body 13 is connected to the swivel housing 6 and the cable 10 is A hollow portion which is inserted and communicated with the annular plate 14 having a hole 14e whose center coincides with the axis of the swivel housing 6 and the groove 19 and the hole 14e of the annular plate 14 and which serves as a passage for the cable 10.
- a disk 16 connected to a drive unit that drives the swing housing 6 to rotate, and an annular plate 14 and a spiral column 18 that communicates the disk 16.
- the annular plate 14 is provided with a plurality of holes 14a, and is fixed to the lower end portion of the swivel housing 6 through the holes 14a using a ring-shaped lid 41.
- the disc 16 is also provided with a plurality of holes, and is fixed to the speed reduction mechanism 8 through the holes.
- the groove 19 communicates with the hollow portion 15 from the outside of the outer body 13, and the cable 10 is introduced and continuously formed in a spiral along the side surface of the outer body 13.
- the force at one end is also formed at 360 ° by the rotation angle between the swivel housing 6 and the support housing 2 up to the other end of the groove 19.
- a groove corresponding to the thickness of the cable 10 is formed at one end of the groove 19 outside the reference line.
- the other end of 19 In the portion, a groove corresponding to the thickness of the cable 10 is formed inside the reference line.
- the circumference of the connecting member 12 should be made at least once, and the thickness of the cable 10 should be doubled. It is necessary to form a groove 19 having a width as follows.
- the size of the groove 19 is larger than the diameter of the cable 10 so that the cable 10 can be inserted, and the cable 10 moves to the wall of the groove 19 by the movement of the cable 10 as the connecting member 19 rotates. Is also formed slightly larger.
- the shape of the groove 19 is preferably a spiral shape in that the cable 10 can smoothly move in the groove 19 continuously by turning the swivel housing, and the cable 10 does not come into contact with the column portion 18. Further, the length of the column portion 18 formed between the upper groove and the lower groove on the axis of the groove 19 and the adjacent groove 19 is determined by the strength of the connecting member 12 and the like.
- the wall surface of the groove 19 is provided with a 0.5 mm resin coating layer 21. This is to prevent the cable 10 from being damaged. Nylon is preferable as the resin.
- the speed reduction mechanism 8 rotates the rotating housing 6 clockwise via the connecting member 12. While the cable 10 arranged in the hollow portion 15 of the connecting member 12 is maintained on the pivot axis, the cable 10 gradually responds to this rotation by the one end force of the spiral groove 19 in the connecting member 12. Then move down and move smoothly. When the rotation angle eventually reaches 360 °, it moves to the other end of the spiral groove 19.
- the swivel housing 6 rotates counterclockwise.
- the cable 10 gradually rises and moves from the other end of the spiral groove 19 in the connecting member 12.
- the rotation angle eventually reaches 360 °, it moves smoothly to one end of the spiral groove 19.
- the connecting member 12 is rotated by the drive of the motor 4, whereby the swivel housing 6 is swung to move the spiral groove 19 in which the cable 10 is continuously formed. Move. That is, the pivotable range of the swivel housing 6 is determined by the length of the groove 19 formed around the outer body 13 of the connecting member 12. Rotating casing 6 can be rotated by column 18 of connecting member 12 The range is not determined.
- the connecting member 12 is rotated by the turning of the swivel casing 6, and the cable 10 can smoothly move in the spiral groove 19.
- the pivotable angle of the swivel housing 6 is not easily limited by the column portion 18 of the connecting member 12.
- the groove 19 of the connecting member 12 is formed in a spiral shape, the cable 10 can smoothly move in the groove 19.
- the wall surface of the groove 19 of the connecting member 12 is provided with the resin coating 21, so that the spiral groove 19 in which the cable 10 is continuously formed is provided. Even if it moves, the cable 10 is not easily worn.
- the rotation angle between the support housing 2 and the swivel housing 6 is 360 ° and a conversion value obtained by converting twice the thickness of the cable 10 into a rotation angle is added. Is greater than or equal to Therefore, the turning angle of the swivel housing 6 can be 360 ° or more.
- the spiral groove 19 of the connecting member 12 includes one in which the inclination in the developed view shown in FIG.
- connecting member 12 may be configured such that each of the force parts formed by the outer shell including the annular plate 14, the column portion 18, and the disc 16 are formed as separate members.
- FIG. 5 is a cross-sectional view of the cable processing apparatus shown in FIG. 4 according to another embodiment of the present invention. 4, the same reference numerals as those in FIG. 1 denote the same or corresponding parts, and the description thereof will be omitted.
- a ring-shaped lid 141 is provided with a screw hole inside the hollow.
- a screw 103m to be screwed into the screw hole is provided, a cable screwing member 103 having a hollow portion 103e through which the cable 10 is passed, and a fixing means for fixing the cable 10 to the cable screwing member 103. ing.
- a ring-shaped elastic member 153 is fixed to a groove provided in a joint portion between the ring-shaped lid 141 and the cable screwing member 103, and the cable 10 is fixed by the elastic member 153.
- the swivel housing 6 rotates counterclockwise.
- the cable screwing member 103 moves upward in a linear motion.
- the cable 10 gradually rises and moves from the other end of the spiral groove 19 in the connecting member 12 in response to this rotation.
- the rotation angle eventually reaches 360 °, it moves smoothly to one end of the spiral groove 19.
- the length of the connecting member 12 in the vertical direction can be shortened compared to the first embodiment.
- the hole 14e of the connecting member 12 is provided with a screw. It is also possible to fix it so that it is aligned with the center, provide a screw in the hollow portion of the cylindrical member, and screw the cable screw member 103 into the screw.
- the cable processing apparatus according to the present invention is suitable for robot cable processing.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2004/015798 WO2006046277A1 (ja) | 2004-10-25 | 2004-10-25 | ロボットのケーブル処置装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2004/015798 WO2006046277A1 (ja) | 2004-10-25 | 2004-10-25 | ロボットのケーブル処置装置 |
Publications (1)
Publication Number | Publication Date |
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WO2006046277A1 true WO2006046277A1 (ja) | 2006-05-04 |
Family
ID=36227529
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/015798 WO2006046277A1 (ja) | 2004-10-25 | 2004-10-25 | ロボットのケーブル処置装置 |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2772337A4 (en) * | 2011-10-28 | 2015-11-18 | Kawasaki Heavy Ind Ltd | MULTIPLE ROBOTS |
US9197052B2 (en) | 2012-11-12 | 2015-11-24 | Fanuc Corporation | Umbilical member guide device at front end part of wrist of industrial robot and industrial robot |
DE102015122705A1 (de) * | 2015-12-21 | 2017-06-29 | Hiwin Technologies Corp. | Antriebsübertragungsvorrichtung |
US11969888B2 (en) * | 2014-12-19 | 2024-04-30 | Veolia Nuclear Solutions, Inc. | Systems and methods for chain joint cable routing |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0356018A (ja) * | 1989-07-25 | 1991-03-11 | Shinko Electric Co Ltd | 回転体を経由するケーブル配線方法 |
JPH0956046A (ja) * | 1995-08-10 | 1997-02-25 | Furukawa Electric Co Ltd:The | 往復式電気接続装置 |
-
2004
- 2004-10-25 WO PCT/JP2004/015798 patent/WO2006046277A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0356018A (ja) * | 1989-07-25 | 1991-03-11 | Shinko Electric Co Ltd | 回転体を経由するケーブル配線方法 |
JPH0956046A (ja) * | 1995-08-10 | 1997-02-25 | Furukawa Electric Co Ltd:The | 往復式電気接続装置 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2772337A4 (en) * | 2011-10-28 | 2015-11-18 | Kawasaki Heavy Ind Ltd | MULTIPLE ROBOTS |
US9197052B2 (en) | 2012-11-12 | 2015-11-24 | Fanuc Corporation | Umbilical member guide device at front end part of wrist of industrial robot and industrial robot |
DE102013018535B4 (de) | 2012-11-12 | 2023-03-23 | Fanuc Corporation | Versorgungselement für vorrichtung bei einem frontendenabschnitt eines handgelenks eines industrieroboters und industrieroboter |
US11969888B2 (en) * | 2014-12-19 | 2024-04-30 | Veolia Nuclear Solutions, Inc. | Systems and methods for chain joint cable routing |
DE102015122705A1 (de) * | 2015-12-21 | 2017-06-29 | Hiwin Technologies Corp. | Antriebsübertragungsvorrichtung |
DE102015122705B4 (de) | 2015-12-21 | 2022-06-30 | Hiwin Technologies Corp. | Antriebsübertragungsvorrichtung |
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