Umbilical member of an industrial robot

Abstract

An umbilical member handling structure for an industrial robot includes a first wrist element arranged rotatably at a forward end of a forearm, a second wrist element arranged rotatably at a forward end of the first wrist element, a working tool arranged at a forward end of the second wrist element, an umbilical member connected to the working tool and arranged along the first wrist element and the second wrist element, a flexible tabular guide member having a first end fixed on the second wrist element and a second end constituting a free end extended in a curve along the first wrist element and the second wrist element in the direction from the second element toward the first wrist element to guide the umbilical member between the first end and the second end, a displacement limiting member mounted at the second end of the flexible tabular guide member to limit the range of displacement of the second end, mainly in a thickness direction of the flexible tabular guide member, and an insertion member arranged near the second end of the flexible tabular guide member on the forearm to have inserted thereinto the umbilical member guided by the flexible tabular guide member.

Description

technical field [0001] The present invention relates to a pipeline handling structure of an industrial robot that is arranged along a robot arm to interconnect a working tool provided on the front end side of a robot arm. Background technique [0002] Conventionally, in the pipeline handling structure of an industrial robot that is a cable bundle that is connected to a working tool that can change its position or posture along the upper side of the robot arm, when the wrist unit of the robot arm moves largely, the cable bundle The behavior of the cable is unstable, and the cable bundle interferes with the surroundings or the cable bundle is pulled by force, causing damage such as disconnection. For example, in the actual operation using an arc welding robot, there are occasions where the welding torch as a working tool enters the narrow space between the workpiece or fixture or external equipment to perform welding operations. In this case, the upper part of the robot arm P...

AI Technical Summary

Problems solved by technology

[0007] However, in the above conventional example, since the linear guide 51 protrudes upward and / or rearward on the base side of the forearm 52, there is a concern that the linear guide 51 interferes with the surroundings.

Moreover, since the linear guide 51 is different from the torch cable 56 in rigidity, there is a concern that the surrounding external equipment may be damaged by interference, or the linear guide 51 itself may be damaged.

[0008] Also, the linear guide 51 has a linear motor or a servo motor, so there is a problem that the forearm becomes heavy and the movement of the forearm deteriorates.

In addition, the center of gravity of the robot becomes higher, so there are problems such as a decrease in stability and vibration resistance

Images