Patent Application
20200238508
This application is based on Japanese Patent Application No. 2019-010334, the content of which is incorporated herein by reference.
The present disclosure relates to a linear-object management structure for a robot and an additional linear-object fixing member.
There is a known linear-object management structure in which a pipe material is provided between a base and a revolving drum of a robot, along a rotation axis of the revolving drum, and linear objects that have been led out to an upper portion of the revolving drum from inside the base, by being inserted through the interior of the pipe material, are fixed to each of the base, the revolving drum, an upper arm, and a lower arm (for example, Publication of Japanese Patent No. 5591894).
An aspect of the present disclosure is directed to a robot linear-object management structure for managing a post-attached linear object mounted on a robot including a base that is installed on an installation surface; a revolving drum that is supported so as to be rotatable about a vertical first axis with respect to the base; a first arm that is supported so as to be rotatable about a horizontal second axis with respect to the revolving drum; an upper-side movable portion that is supported at a distal end of the first arm; a hollow portion that penetrates upward from the base through the revolving drum along the first axis; and basic cables for driving the revolving drum, the first arm, and the upper-side movable portion, wherein at least some of the basic cables are led out to an upper portion of the revolving drum from inside the base through the hollow portion, are bent so as to be routed to a rear side of the revolving drum and fixed, below the first arm, to the revolving drum by means of a first fixing member, are curved in a direction along the first arm and fixed to a side surface of the first arm by means of a second fixing member such that a certain length margin required for the operation of the first arm is provided between the first fixing member and the second fixing member, and are guided to the upper-side movable portion along the first arm; wherein the linear object is guided via the same path as the basic cable from inside the base and fixed at the position of the first fixing member, is subsequently extended forward beyond the basic cable, through a path closer to the first axis than the basic cable is, is curved in the direction along the first arm, is fixed to the side surface of the first arm, at the position of the second fixing member, such that a certain length margin required for the operation of the first arm is provided between the position of the first fixing member and the position of the second fixing member, and is guided to the upper-side movable portion along the first arm.
A linear-object management structure 1 for a robot 100 and an additional linear-object fixing member according to an embodiment of the present disclosure will be described below with reference to the drawings.
As shown in
The robot 100 includes a first arm 130 that is supported so as to be rotatable about a horizontal second axis B with respect to the revolving drum 120, and an upper-side movable portion 140 that is supported at the distal end of the first arm 130.
The upper-side movable portion 140 includes a second arm 141 that has a longitudinal axis and that is supported, at the distal end of the first arm 130, so as to be rotatable about a third axis C parallel to the second axis B, and a wrist unit 142 that is supported at the distal end of the second arm 141.
The wrist unit 142 includes a first wrist element 143, a second wrist element 144, and a third wrist element 145.
The first wrist element 143 is supported, at the distal end of the second arm 141, so as to be rotatable about a fourth axis D along the longitudinal axis. In addition, the second wrist element 144 is supported so as to be rotatable about a fifth axis E orthogonal to the fourth axis D, with respect to the first wrist element 143. In addition, the third wrist element 145 is supported so as to be rotatable about a sixth axis F orthogonal to the fifth axis E, with respect to the second wrist element 144.
As shown in
A motor 121 for rotationally driving the first arm 130 with respect to the revolving drum 120 is fixed to the revolving drum 120.
A motor 131 for rotationally driving the second arm 141 with respect to the first arm 130 is fixed to the second arm 141.
Three motors (not shown) for driving the wrist unit 142 are built into the second arm 141 and the first wrist element 143.
The robot 100 is provided with a basic cable 150 for transmitting motive power and control signals to the individual motors 111, 121, 131. As shown in
As shown in
In the basic cable 150 that has been led out to the upper portion of the revolving drum 120, a cable for the motor 121 that drives the first arm 130 with respect to the revolving drum 120 is branched from the other basic cable 152 and is connected to the motor 121 fixed to the revolving drum 120. As shown in
As shown in
As shown in
As shown in
The basic cable 150 is fixed to the first fixing member 2 and the second fixing member 3 such that a certain length margin required for the operation of the first arm 130 is provided between the first fixing member 2 and the second fixing member 3. The basic cable 150 between the first fixing member 2 and the second fixing member 3 serves as a movable cable that deforms in accordance with the operation of the first arm 130. This portion of the basic cable 150 has sufficient durability even under repetitive operation of the first arm 130 by being fixed with the abovementioned margin.
As shown in
As shown in
As shown in
The fourth fixing member 5 also includes a plate-shaped fixing portion 51 having a plurality of through-holes 52. The basic cable 150 is fixed to the fourth fixing member 5 by fastening the basic cable 150 and the fixing portion 51 together by using the binding bands 12 penetrating through the through-holes 52, in a state in which the basic cable 150 is disposed along a surface of the fixing portion 51.
The basic cable 150 fixed to the fourth fixing member 5 is branched to be connected to the motor 131 for individually driving the second arm 141 and the three wrist elements 143, 144, 145.
The linear-object management structure 1 according to this embodiment is a structure for managing a post-attached linear object 170 mounted on the abovementioned robot 100. The post-attached linear object 170 is, for example, one or more cables or tubes for supplying motive power, control signals, compressed air or cooling media, etc. to a tool (not shown) attached at the distal end of the wrist unit 142, and is mounted on the robot 100 by a user.
As shown in
In other words, the post-attached linear object 170 is led out to the upper portion of the revolving drum 120 from inside the base 110 via the hollow portion 160 that vertically penetrates through the base 110 and the revolving drum 120 in the vicinity of the first axis A. Then, as shown in
As shown in
The individual fixing members 2, 3, 4, 5 are provided with a plurality of screw holes (fasteners) 23, 33, 43, 53, and the attachment portions 62, 72, 82, 92 of the individual additional fixing members 6, 7, 8, 9 are provided with a plurality of through-holes 63, 73, 83, 93 at a pitch coinciding with the pitch of the screw holes 23, 33, 43, 53. As shown in
With this embodiment, as shown in
In this embodiment, as shown in
Furthermore, as shown in
In addition, as shown in
Then, the post-attached linear object 170 fixed to the third additional fixing member 8 is fixed to the fourth additional fixing member 9 fixed to the second arm 141 such that a certain length margin required for the operation of the second arm 141 with respect to the first arm 130 is provided.
In the figures, reference sign 180 indicates covers that respectively cover the linear object 170 disposed between the first additional fixing member 6 and the second additional fixing member 7 and the linear object 170 disposed between the third additional fixing member 8 and the fourth additional fixing member 9.
As described above, with the linear-object management structure 1 for the robot 100 according to this embodiment, the post-attached linear object 170 that has been inserted into the base 110 is led out to the upper portion of the revolving drum 120 via the hollow portion 160 that is formed by penetrating from the base 110 to the revolving drum 120, and is fixed to the first additional fixing member 6 fixed to the first fixing member 2. As a path to the first additional fixing member 6, the post-attached linear object 170 is guided via the same path as the basic cable 150; thus, a user can perform wiring work for the post-attached linear object 170, without hesitation, by using the already attached basic cable 150 as a reference.
By leading the post-attached linear object 170 through the hollow portion 160 penetrating in the vicinity of the first axis A, it is possible to reduce the load applied to the post-attached linear object 170 in the same manner as the basic cable 150, even when the revolving drum 120 rotates with respect to the base 110. Furthermore, by fixing the first additional fixing member 6 to the first fixing member 2, it is also possible to determine the position at which the post-attached linear object 170 is fixed to the first additional fixing member 6 by using the basic cable 150 as a reference, and a user can fix the post-attached linear object 170 thereto without hesitation.
The post-attached linear object 170 that is fixed at the position of the first fixing member 2 by means of the first additional fixing member 6 is extended forward beyond the basic cable 150, through a path closer to the first axis A than the basic cable 150 is. As a result, it is possible to prevent the post-attached linear object 170, in a region between the first additional fixing member 6 and the second additional fixing member 7, from expanding more outward than the basic cable 150 in the width direction as a result of rotation of the first arm 130 with respect to the revolving drum 120. By doing so, it is possible to prevent, in a more reliable manner, interference with a peripheral object as a result of the linear object 170 expanding by a large amount outward in the width direction during rotation of the first arm 130.
The post-attached linear object 170 disposed between the first additional fixing member 6 and the second additional fixing member 7 is curved in front of the basic cable 150 disposed between the first fixing member 2 and the second fixing member 3. By doing so, it is possible to prevent interference between the post-attached linear object 170 and the basic cable 150, even if the linear object 170 expands outward in the width direction during rotation of the first arm 130.
Because the path of the post-attached linear object 170 from the first additional fixing member 6 to the second additional fixing member 7 is also substantially the same as that of the basic cable 150, a user can perform wiring work therefor without hesitation. Furthermore, it is possible to reduce the load applied to the linear object 170 in the same manner as the basic cable 150, even with the operation of the first arm 130.
Because the fixing portions 71, 81 of the second additional fixing member 7 and the third additional fixing member 8 are arranged in an obliquely forward direction relative to the fixing portions 31, 41 of the second fixing member 3 and the third fixing member 4 in this embodiment, it is possible to prevent the post-attached linear object 170 from overhanging by a large amount in the width direction of the robot 100, thereby preventing interference with a peripheral object in a more reliable manner.
As described above, there is an advantage in that the post-attached linear object 170 can be easily attached even by a user who has no special skill in linear-object management, and in that it is possible to reduce the load acting on the linear object 170 as a result of the operation of the robot 100 and to avoid interference with a peripheral object.
Note that, although a case in which a user performs wiring work for the post-attached linear object 170 by fixing the post-attached linear object 170 to the additional fixing members, sequentially from the first additional fixing member 6 fixed to the first fixing member 2 to the fourth additional fixing member 9 fixed to the fourth fixing member 5, by using the binding bands 12 has been illustrated as an example in this embodiment, the present invention is not limited thereto. In other words, the first additional fixing member 6 to the fourth additional fixing member 9 may be fixed, in advance, at appropriate positions on the post-attached linear object 170 by means of the binding bands 12.
In this case, a user performing the wiring work can lead the post-attached linear object 170 into the same proper path as described above merely by sequentially fixing the first additional fixing member 6 to the fourth additional fixing member 9, which are fixed to the post-attached linear object 170 in advance, at prescribed positions on the first fixing member 2 to the fourth fixing member 5 by means of the bolts 11. In other words, by doing so, there is an advantage in that the user can perform the wiring work in a simpler manner, without measuring the length of the linear object 170 or performing work for fastening with the binding bands 12. Furthermore, it is needless to say that the linear object 170 may be fixed with, for example, a sheet metal component via an elastic body, or any other means may be employed instead of the binding bands 12.
The form of the robot 100 illustrated in this embodiment is merely one example, and the present invention may be applied to the robot 100 in any other forms. In addition, the shapes of the fixing members 2, 3, 4, 5 and the additional fixing members 6, 7, 8, 9 illustrated in this embodiment are merely one example, and any other shapes may be employed within a range that does not depart from the scope of the present invention.
The type and the number of the post-attached linear object 170 may be arbitrarily determined. In a case in which a post-attached linear object 190 is further added after the post-attached linear object 170 is added, as shown in
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-010334 | Jan 2019 | JP | national |
