robot

Abstract

The present invention provides a robot (R) which can be equipped with a waterproof structure and a dustproof structure according to user needs. The robot comprises: a base (1); a first movable part (10); and a second movable part supported by the first movable part (10). An opening (6) is provided on the base, and the opening is used to allow one end of an internal cable (CA1) arranged in the robot to pass through. The robot comprises a plurality of wiring boxes (80, 90), and the plurality of wiring boxes are detachably mounted on the opening of the base or near the opening. Each wiring box comprises a robot side wall (85, 95) and a relay wall (81, 91). The robot side wall is penetrated by one end of the internal cable so that one end of the internal cable is arranged in the wiring box. The relay wall is provided with a connector (81a, 81b, 91a, 91b) connected to an external cable (CA2) from a control device for the robot.

Description

Technical Field

[0001] The present invention relates to robots. Background Art

[0002] Conventionally, there is known a robot that includes a wiring box having a waterproof function and that is fixed to the back of the robot. Such a structure is described in Patent Document 1, for example.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 4848700 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] When a robot is specially designed for a specific purpose, a special space can be designed to have a high degree of waterproof and dustproof functions. However, if a general-purpose robot is given a high degree of waterproof and dustproof functions, it will exceed the specifications, thereby increasing costs. Therefore, many general-purpose robots are not intended to have a high degree of waterproof and dustproof functions.

[0008] In view of the above situation, a robot is desired to be able to add a waterproof structure and a dustproof structure according to the needs of the user.

[0009] Solutions for solving problems

[0010] One embodiment of the present invention is a multi-joint robot comprising: a base; a first movable part, which is supported in a manner capable of rotating around a vertical axis relative to the base; and a second movable part, which is supported on the first movable part in a manner capable of rotating around a predetermined axis, an opening being provided on the base, the robot comprising a plurality of wiring boxes, the plurality of wiring boxes being detachably mounted on the opening or near the opening of the base, each wiring box comprising a robot side wall and a relay wall, the robot side wall being penetrated by one end of an internal cable so as to configure one end of the internal cable arranged in the robot in the wiring box, the relay wall being provided with a connector, the connector being connected to a cable from a control device for the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a perspective view of a main part of a robot according to an embodiment of the present invention.

[0012] Figure 2 It is a perspective view of the main parts of the robot according to this embodiment.

[0013] Figure 3 It is a cross-sectional view of a base and a wiring box of the robot according to this embodiment.

[0014] Figure 4 It is a perspective view of the robot according to this embodiment.

[0015] Figure 5 It is a cross-sectional view of a wiring box of the robot according to the present embodiment.

[0016] Description of reference numerals:

[0017] R: Robot

[0018] J1~J6: Axis

[0019] 1: Base

[0020] 2: Bottom

[0021] 3: Side wall

[0022] 4: Central hole

[0023] 5: Upper end

[0024] 5a: Slot

[0025] 6: Opening

[0026] 6a: Periphery

[0027] 10: Movable part (first movable part)

[0028] 20: Movable part (second movable part)

[0029] 11: Through hole

[0030] 70: Wiring housing

[0031] 70a: Inner Space

[0032] 71: Robot side wall

[0033] 72: Sidewall

[0034] 73: Install the wall

[0035] 73a: Opening

[0036] 73b: threaded hole

[0037] 74: Upper wall

[0038] 80: Wiring box

[0039] 80a: flange

[0040] 81: Relay Wall

[0041] 81a, 81b: Connectors

[0042] 82: Sidewall

[0043] 83: Up the wall

[0044] 84: Bottom wall

[0045] 85: Robot side wall

[0046] 86: Connecting parts

[0047] 87: Memory device

[0048] 90: Wiring box

[0049] 90a: flange

[0050] 91: Relay Wall

[0051] 91a, 91b: Connectors

[0052] 92: Sidewall

[0053] 93: Up the wall

[0054] 94: Bottom wall

[0055] 95: Robot side wall

[0056] 96: Connecting parts

[0057] 101: Encapsulated Parts

[0058] 200: Robot control device

[0059] S: Internal space

[0060] A: Cavity

[0061] CA1: Internal cable

[0062] B: Bolt

[0063] BA: Battery DETAILED DESCRIPTION

[0064] Hereinafter, a robot R according to an embodiment of the present invention will be described with reference to the drawings.

[0065] The robot R of this embodiment is, for example, a six-axis multi-joint robot. Figure 4 As shown, the robot R has: a base 1, which is set on the ground; a movable part (first movable part) 10, which is a rotating body that rotates around an axis J1 extending vertically relative to the base 1; and a movable part (second movable part) 20, which is an arm part that rotates around an axis J2 extending, for example, in a horizontal direction relative to the movable part 10.

[0066] In addition, the robot R has a movable part 30 that rotates relative to the movable part 20 about an axis J3 extending in the horizontal direction, for example, and a movable part 40 that rotates relative to the movable part 30 about an axis J4 extending in the longitudinal direction of the movable part 30, for example. In addition, the robot R also has a movable part 50 that rotates relative to the movable part 40 about an axis J5 that is orthogonal to the axis J4, for example, and a movable part 60 that rotates relative to the movable part 50 about an axis J6 that is orthogonal to the axis J5, for example. The robot R has a plurality of motors (not shown) for driving the plurality of movable parts 10 to 60, respectively.

[0067] like Figure 1 to Figure 3 As shown, the base 1 includes: a bottom surface 2 for placing the robot R on the ground; a side wall portion 3 that rises vertically from the bottom surface 2; and an upper end portion 5 that includes a central hole 4 at a position including an axis J1 extending in the vertical direction. An opening 6 is provided on a portion of the side wall portion 3, for example, on a wall of the side wall portion 3 that is arranged in a direction that becomes the back side of the robot R, and the opening 6 connects the internal space S of the base 1 with the outside.

[0068] The movable part 10 is also provided with a through hole 11 penetrating in the up-down direction at a position corresponding to the central hole 4 of the upper end 5 of the base 1. Figure 3 As shown, a cavity A connecting the internal space S of the base 1 and the internal space of the movable part 10 is formed in a region including the axis J1 by the central hole 4 of the base 1 and the through hole 11 of the movable part 10 .

[0069] The internal cable CA1 extending between the internal space S of the base 1 and the outside through the opening 6 extends in the vertical direction in the cavity A. Since the cavity A is formed in a region including the axis J1 serving as the rotation center of the movable portion 10, even if the movable portion 10 rotates relative to the base 1, a large load does not act on the internal cable CA1 extending in the vertical direction in the cavity A.

[0070] like Figure 3 As shown, a groove 5 a connecting the opening 6 and the central hole 4 is provided on the lower surface of the upper end portion 5 of the base 1 .

[0071] In the present embodiment, the base 1 has a wiring housing 70. In one example, the wiring housing 70 is fixed to the peripheral edge 6a of the opening 6 by a plurality of bolts or the like. The wiring housing 70 has a robot side wall 71 in contact with the peripheral edge 6a of the opening 6. In the present embodiment, the horizontal direction in which the robot side wall 71 and the upper wall 74 described later have a long side is sometimes referred to as a width direction.

[0072] The wiring housing 70 has a pair of side walls 72 extending from both ends of the robot side wall 71 in the width direction. The pair of side walls 72 extend in a direction away from the base 1. In addition, the wiring housing 70 has a pair of mounting walls (mounting portions) 73 ( Figure 2 ), the pair of mounting walls 73 extend inward in the width direction from one end of the pair of side walls 72 that is opposite to the robot side wall 71. In addition, the wiring housing 70 has an upper wall 74 extending obliquely upward from the upper end of the robot side wall 71, and the upper wall 74 extends in a direction away from the base 1.

[0073] The pair of mounting walls 73 are arranged at a distance from each other. Therefore, an opening 73a is formed between the pair of mounting walls 73, and the opening 73a connects the internal space 70a of the wiring housing 70 with the outside. In addition, each mounting wall 73 is formed with a plurality of screw holes 73b.

[0074] like Figure 1 as well as Figure 3 As shown in the figure, a plurality of wiring boxes 80, 90 are detachably mounted on a pair of mounting walls 73. Specifically, each wiring box 80, 90 is mounted on the mounting wall 73 by screwing a bolt B inserted through the flange portion 80a, 90a of each wiring box 80, 90 into the threaded hole 73b. At this time, the robot side wall 85, 95 of each wiring box 80, 90 is arranged near the opening portion 6 of the base 1. That is, each wiring box 80, 90 is detachably mounted near the opening portion 6 of the base 1. In other words, each wiring box 80, 90 is detachably mounted in the opening portion 73a of the wiring housing 70 as a part of the base 1 or in the vicinity thereof.

[0075] The wiring box 80 includes a relay wall 81 whose both ends in the width direction function as flanges 80a, a pair of side walls 82 extending from both end sides of the relay wall 81, an upper wall 83 extending from the upper end side or the middle part in the up-down direction of the relay wall 81, and a bottom wall 84 extending from the lower end side of the relay wall 81. The pair of side walls 82, the upper wall 83, and the bottom wall 84 extend in a direction away from the relay wall 81. A robot side wall 85 is fixed to one end of the pair of side walls 82, the upper wall 83, and the bottom wall 84 on the opposite side to the relay wall 81. In addition, in the present embodiment, the robot side wall 85 and the relay wall 81 are plates extending in the width direction.

[0076] The wiring box 90 includes a relay wall 91 whose both ends in the width direction function as flanges 90a, a pair of side walls 92 extending from both end sides of the relay wall 91, an upper wall 93 extending from the upper end side of the relay wall 91, and a bottom wall 94 extending from the lower end side of the relay wall 91. The pair of side walls 92, the upper wall 93, and the bottom wall 94 extend in a direction away from the relay wall 91. A robot side wall 95 is fixed to one end of the pair of side walls 92, the upper wall 93, and the bottom wall 94 on the opposite side to the relay wall 91. In addition, in the present embodiment, the robot side wall 95 and the relay wall 91 are plates extending in the width direction.

[0077] In addition, preferably, the relay walls 81, 91, upper walls 83, 93, etc. of the wiring boxes 80, 90 are detachable or have a structure for opening these walls. This makes it easy to perform wiring work in the wiring boxes 80, 90.

[0078] In the present embodiment, a plurality of internal cables CA1 are arranged in the robot R. For example, a portion of the plurality of internal cables CA1 arranged in the robot R contains power lines, communication lines, etc. for supplying power to the movable parts 10, 20, 30, 40, 50, 60. The power lines, communication lines, etc. are covered with a covering member 101 such as a rubber tube or a conduit.

[0079] Another part of the plurality of internal cables CA1 contains power lines, communication lines, etc. for supplying power to tools, etc., not shown, mounted on the front end of the robot R. The power lines, communication lines, etc. are covered with a covering member 101 such as a rubber tube or a conduit. The tools may be various tools mounted on the front end of the robot R, such as hands, machining tools, laser machining tools, painting tools, cleaning tools, and deburring tools.

[0080] One end of the internal cable CA1 for supplying power to each movable part 10 to 60 is inserted through the robot side wall 85, whereby one end of the internal cable CA1 is arranged in the wiring box 80. In the wiring box 80, the power line, communication line, etc. are exposed from the covering member 101 at one end of the internal cable CA1, and the power line, communication line, etc. are connected to the connectors 81a and 81b of the relay wall 81, respectively ( Figure 3 , Figure 5 ). The connectors 81a and 81b are fixed to the relay wall 81 and exposed inside the wiring box 80 and also exposed outside the wiring box 80. The connectors 81a and 81b are sealed with the relay wall 81 using a known sealing member, sealing material, etc. The portion of the connectors 81a and 81b arranged outside the wiring box 80 is connected to an external cable CA2, which is used to connect the robot control device (control device) 20 for controlling the robot R and the wiring box 80.

[0081] One end of the internal cable CA1 for supplying power to the tool etc. is inserted through the robot side wall 95, whereby one end of the internal cable CA1 is arranged in the wiring box 90. In the wiring box 90, the power line and the communication line etc. are exposed from the covering member 101 at one end of the internal cable CA1, and the power line and the communication line etc. are connected to the connectors 91a and 91b of the relay wall 91, respectively. The connectors 91a and 91b are fixed to the relay wall 91, and are exposed inside the wiring box 90, and are also exposed outside the wiring box 90. The connectors 91a and 91b are sealed with the relay wall 91 by using a known sealing member, sealing material, etc. The portion of the connectors 91a and 91b arranged outside the wiring box 90 is connected to the external cable CA2, which is used to connect the control device for controlling the tool or the robot control device 200 and the wiring box 80.

[0082] One end of the internal cable CA1 for supplying power and the like to each movable part 10 to 60 passes through the connection part 86 installed on the robot side wall 85. The connection part 86 is sometimes called a connection pipe joint. The connection part 86 has an outer part 86a and an inner part 86b threadedly connected to the outer part 86a. By screwing the inner part 86b into the outer part 86a, the inner peripheral surface of the connection part 86 hugs the outer peripheral surface of the internal cable CA1. As a result, the connection part 86 and the internal cable CA1 are sealed. The connection part 86 and the robot side wall 85 are also sealed using a known sealing member, sealing material, etc.

[0083] One end of the internal cable CA1 for supplying power to the tool etc. passes through the connection part 96 installed in the robot side wall 95. The connection part 96 is sometimes called a connection pipe joint. The connection part 96 has an outer part 96a and an inner part 96b threadedly connected to the outer part 96a. By screwing the inner part 96b into the outer part 96a, the inner peripheral surface of the connection part 96 hugs the outer peripheral surface of the internal cable CA1. Thus, the connection part 96 and the internal cable CA1 are sealed. The connection part 96 and the robot side wall 95 are also sealed by using a known sealing member, sealing material, etc.

[0084] In an example, Figure 5 As shown, one end side of a plurality of internal cables CA1 for supplying power to the movable parts 10 to 60 is inserted through the robot side wall 85. In addition, one end side of a plurality of internal cables CA1 for supplying power to tools etc. is inserted through the robot side wall 95. The power lines, communication lines etc. exposed from the covering member 101 at one end of the internal cables CA1 are connected to the connectors 81a, 81b, 91a, 91b, respectively.

[0085] Furthermore, in addition to the power lines and the communication lines, pipes for air supply, pipes for raw material supply, and the like may be inserted through the wiring boxes 80 and 90 .

[0086] In the present embodiment, as described above, the power line, communication line, etc. exposed from the coating member 101 at one end of the internal cable CA1 are connected to the connectors 81a, 81b, 91a, 91b in each wiring box 80, 90. Therefore, the portion exposed from the coating member 101 of the internal cable CA1 is waterproofed and dustproofed by each wiring box 80, 90. Therefore, even when the robot R is frequently cleaned at the installation location, the power line, signal line, etc. in the internal cable CA1 and each wiring box 80, 90 can be protected from water and detergent.

[0087] Most general-purpose robots R do not have highly waterproof and dustproof functions. Adding these functions to all general-purpose robots R will cause the specifications to exceed, which will only lead to increased costs. In this embodiment, even if the robot R does not have a structure for highly waterproof and dustproof, it is easy to add highly waterproof and dustproof functions to the cables of the robot R.

[0088] In addition, in the present embodiment, the plurality of internal cables CA1 are connected to the plurality of wiring boxes 80, 90, respectively. In this way, since the plurality of wiring boxes 80, 90 are detachably mounted on the base 1, part or all of the plurality of wiring boxes 80, 90 can be made into a waterproof or dustproof structure according to the installation environment of the robot R. In one example, part or all of the wiring boxes 80, 90 can also be made into a structure in which the upper wall 83, 93, the side wall 82, 92, etc. are omitted. In this way, the wiring boxes 80, 90 with a high degree of waterproof and dustproof structure can be appropriately selected according to the required specifications of the robot R, which is extremely advantageous for responding to a wide range of user needs.

[0089] In the present embodiment, one end of the internal cable CA1 for driving the plurality of movable parts 10 to 60 of the robot R is arranged in the wiring box 80 which is a part of the plurality of wiring boxes 80 and 90. In addition, one end of the internal cable CA1 for a tool mounted on the robot R is arranged in the wiring box 90 which is another part. If the wiring box 80 for the basic internal cable CA1 for operating the robot R and the wiring box 90 for the internal cable CA1 for the tool are separated in this way, the degree of freedom when wiring the internal cable CA1 in the robot R or when maintaining the robot R is increased.

[0090] For example, after assembling the basic internal cable CA1 and the wiring box 80 for operating the robot R, the internal cable CA1 and the wiring box 80 are installed in the robot R. In addition, after assembling the internal cable CA1 for tools and the wiring box 90, the internal cable CA1 and the wiring box 90 are installed in the robot R. The specifications of the wiring box 80 and the wiring box 90 can be selected as described above. In addition, when only maintenance of the wiring box 80 is required, it is not necessary to disassemble or disassemble the wiring box 90.

[0091] In addition, if Figure 5 As shown, a battery BA for storing data of the robot R may also be arranged in the wiring box 80 or the wiring box 90. Figure 1 As shown, a battery BA is arranged in the wiring box 80. The battery BA is connected to a memory device 87 provided in the wiring box 80, and a communication line from an internal cable CA1 is connected to the memory device 87. The communication line is connected to an operating position detection device such as an encoder of each motor of the movable parts 10 to 60. In this case, the battery BA is also waterproofed and dustproofed by the wiring boxes 80 and 90.

[0092] On the other hand, the battery BA and the memory device 87 may be installed on the base 1 ( Figure 1 ). In this case, the battery BA with a relatively large volume is not arranged in the wiring boxes 80 and 90. Based on the structure of the present embodiment in which the plurality of wiring boxes 80 and 90 are detachably mounted on the base 1, the battery BA is also mounted on the base 1, which can facilitate the assembly operation of the internal cable CA1 to the robot R and further improve the degree of freedom of wiring or maintenance of the internal cable CA1.

[0093] Furthermore, the wiring boxes 80 and 90 may be configured so that the inside thereof is sealed when mounted on the base 1. In this case, for example, the wiring box 80 does not have the upper wall 83, and the wiring box 80 itself does not seal the inside of the wiring box 80. When the wiring box 80 is mounted on the wiring housing 70 of the base 1, the inside of the wiring box 80 is sealed by the relay wall 81, the pair of side walls 82, the bottom wall 84, the robot side wall 85, and the upper wall of the wiring housing 70. In this case, it can also be said that the wiring box 80 has a sealed structure.

[0094] In addition, other wiring boxes may be provided in addition to the wiring boxes 80 and 90. In addition, the wiring boxes 80 and 90 may be detachably mounted to the opening 6 of the base 1. In this case, the same effects as above can be achieved.

Claims

1. A robot, the robot being a multi-jointed robot, comprising: Pedestal; a first movable portion supported so as to be rotatable about a vertical axis relative to the base; as well as a second movable portion supported on the first movable portion in a manner rotatable around a predetermined axis, A wiring housing is fixed near the base opening of the base. The wiring housing is provided with an opening. The robot includes a plurality of wiring boxes, the plurality of wiring boxes being detachably mounted on the opening of the wiring case or in the vicinity of the opening. Each of the wiring boxes includes a robot side wall and a relay wall, wherein one end of the internal cable is inserted through the robot side wall so that one end of the internal cable disposed in the robot is disposed in the wiring box, and a connector is provided on the relay wall, and the connector is connected to a cable from a control device for the robot. The robot side wall is disposed inside the wiring case through the opening, and the relay wall is detachably disposed near the opening.

2. The robot according to claim 1, characterized in that: One end of the internal cable for driving the multiple movable parts of the robot is arranged in a part of the multiple wiring boxes, and one end of the internal cable for the tool installed on the robot is arranged in another part of the multiple wiring boxes.

3. The robot according to claim 1 or 2, characterized in that: A battery for storing data of the robot is arranged on the base.

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