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Cable arrangement structure of multi-joint robot

A multi-joint robot and robot technology, applied in the direction of robots, manipulators, mechanical equipment, etc., can solve the problems of large-scale abutment and troublesome

Inactive Publication Date: 2014-05-28
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, when designing a multi-joint robot, it is necessary to consider both the arrangement of the motor drive cable and the arrangement of the suspension mechanism for holding the conduit, which is cumbersome.
[0005] In addition, since the motor drive cables need to be wired so that the rotating body of the robot can rotate within a predetermined angle range (usually ±180 degrees), it is necessary to install guides and protective parts for the cables. Complicated processing, such as Difficulties during assembly or maintenance
Additionally, if Figure 4 As shown, there is a problem of increasing the size of the abutment when the space is provided inside the abutment so that the cables can move within a certain range.

Method used

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  • Cable arrangement structure of multi-joint robot
  • Cable arrangement structure of multi-joint robot
  • Cable arrangement structure of multi-joint robot

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Embodiment Construction

[0034] figure 1 It is a figure which shows the schematic structure of the articulated robot provided with the cable handling structure of 1st Embodiment of this invention. The articulated robot 10 includes: a base 12; a revolving body 14 rotatably connected to the base; a first arm 16 rotatably connected to the revolving body 14; 16 is a second arm 18 connected in a rotatable manner. In addition, in this embodiment, the robot 10 is illustrated as a six-axis multi-joint robot. Specifically, the robot 10 may further include: a first wrist element 20 connected to the second arm 18 in a rotatable manner; The second wrist element 22 rotatably connected to the first wrist element 20 , and the third wrist element 24 rotatably connected to the second wrist element 22 .

[0035] The motors that drive the respective axes of the robot 10 are respectively installed on the components driven by the respective motors or in the vicinity thereof. In the illustrated example, the first to si...

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Abstract

A cable arrangement structure of a multi-joint robot capable of properly arranging a motor-drive cable while preventing a robot from being complicated and increased in size. Among first to sixth motor-drive cables, at least first to third motor-drive cables are introduced to a cable outlet formed on at least one of a rotating body, a first arm and a second arm. The motor-drive cables, introduced to the outlet, are withdrawn outside the robot as a cable bundle or separate cables, and are connected to a robot controller positioned separately from the robot.

Description

technical field [0001] The present invention relates to a motor driving cable processing structure for driving a motor of each axis of an articulated robot. Background technique [0002] When using an articulated robot to perform welding work, painting work, or article handling work, etc., it is necessary to arrange conduits, pipes, etc. for supplying mechanisms and power required for each work to the robot or its surroundings. For example, Japanese Patent Application Laid-Open No. 08-174223 describes a structure in which a support connected to a conduit cable via a belt member is suspended using an elastic member suspended from a substantially horizontal support rod supported on a base. [0003] In addition, JP 2006-015360 A describes a structure in which a torch cable is elastically suspended using a spring suspended from a ceiling. [0004] In the articulated robot as shown in Japanese Patent Application Laid-Open No. 08-174223 and Japanese Patent Laid-Open No. 2006-0153...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/00
CPCB25J19/0025B25J19/0029Y10T74/20311Y10S901/27B25J18/00
Inventor 岩山贵敏
Owner FANUC LTD
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