Insulating covers, brackets, robots, welding equipment, and robot systems

Abstract

An electrically insulating cover (10) is used for the hollow structure bracket. The bracket is mounted on the tool mounting surface (2a) of the hollow arm component and has a hollow hole (41a) through which the line body (A) passes through the hollow portion (2d) inside the arm component into the interior of the bracket via an opening on the tool mounting surface (2a). The insulating cover (10) is disposed inside the bracket and covers both the bracket clamps (5, 6) that fix the bracket to the tool mounting surface (2a) and the hollow hole (41a).

Description

Technical Field

[0001] This invention relates to insulating covers, brackets, robots, welding apparatus, and robot systems. Background Technology

[0002] In industrial robots used for welding and other applications, an insulating structure is provided to prevent current from flowing from the tool into the robot body (see, for example, Patent Documents 1-3). In Patent Document 1, an insulating component is provided between the robot body and the tool. In Patent Documents 2 and 3, a disc-shaped insulating component is provided between the reducer and the wrist flange at the front end of the robot body, and an insulating washer and an insulating collar are provided between the wrist flange and the bolts that fix the wrist flange to the robot body.

[0003] On the other hand, when mounting a tool on the tool mounting surface of a hollow arm component, a hollow bracket is sometimes used (for example, see Patent Documents 4 and 5). The tool mounting surface of the hollow arm component has an opening for leading out the wiring from the inside of the arm component. When a non-hollow tool is directly mounted on the tool mounting surface, the opening is closed by the tool, preventing the wiring from being led out. By using a hollow bracket, a non-hollow tool can be mounted on the tool mounting surface. That is, the non-hollow tool is mounted on the tool mounting surface via the bracket, and the wiring is routed from the opening through the bracket to the tool.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 62-142083

[0007] Patent Document 2: Japanese Patent Application Publication No. 2013-202697

[0008] Patent Document 3: Japanese Patent Application Publication No. 11-114873

[0009] Patent Document 4: Japanese Patent No. 5344315

[0010] Patent Document 5: Japanese Patent Application Publication No. 08-047886 Summary of the Invention

[0011] The problem the invention aims to solve

[0012] The bracket has a hollow hole that communicates with the hollow portion of the arm component and allows the linear body to pass through the interior of the bracket. The hollow portion of the arm component is exposed to the interior space of the bracket through the hollow hole. In addition, metal parts, such as bolts, are sometimes placed on the inside of the bracket to fix the bracket to the robot body.

[0013] The internal space of the bracket is open to the outside of the bracket so that the lines can be drawn out from the inside of the bracket to the outside. Therefore, foreign objects with lower electrical insulation than air, such as splatter, may penetrate from the outside of the bracket to the inside and adhere to the hollow parts of the parts and arm components inside the bracket, causing a decrease in the electrical insulation between the bracket and the robot body.

[0014] Solution for solving the problem

[0015] One aspect of the invention is an insulating cover for the electrical insulation of a hollow structure bracket, the bracket being mounted on a tool mounting surface of a hollow arm component and having a hollow hole, the hollow hole allowing a linear element to pass through an opening on the tool mounting surface from a hollow portion within the arm component into the interior of the bracket, the insulating cover being disposed inside the bracket and covering both a bracket clamp that secures the bracket to the tool mounting surface and the hollow hole of the bracket. Attached Figure Description

[0016] Figure 1 This is an overall structural diagram of a robot implemented in one way.

[0017] Figure 2 This is a side view of the bracket mounted on the tool mounting surface of the robot body.

[0018] Figure 3 yes Figure 2 A cross-sectional view of the bracket along line I-I.

[0019] Figure 4 yes Figure 3 A partial longitudinal sectional view of the bracket along line II-II.

[0020] Figure 5 This is a front view of the insulating cover from the front side.

[0021] Figure 6 This is a partial longitudinal sectional view of a modified example of the bracket.

[0022] Figure 7 This is a partial longitudinal sectional view of another variation of the bracket.

[0023] Figure 8 It is set in Figure 7 Front view of the clamping component of the bracket.

[0024] Figure 9 This is a perspective view of another variation of the bracket mounted on the tool mounting surface of the robot body.

[0025] Figure 10 It is set in Figure 9 A three-dimensional view of the pressure plate of the bracket. Detailed Implementation

[0026] Hereinafter, an insulating cover, bracket, robot, welding apparatus, and robot system according to one embodiment will be described with reference to the accompanying drawings.

[0027] like Figure 1 As shown, robot 20 is an industrial robot having a robot body 2 and a bracket 1 with a hollow structure that can be mounted on the tool mounting surface 2a of the robot body 2.

[0028] The robot body 2 has at least one arm component. The front end face of the foremost arm component 2b of the robot body 2 is a tool mounting surface 2a for mounting the tool 3 or the bracket 1. Multiple bolt holes 2c (see reference) are provided on the tool mounting surface 2a for fixing bolts to secure the tool 3 or the bracket 1 to the tool mounting surface 2a. Figure 4 。).

[0029] The foremost arm component 2b is hollow, and the hollow portion 2d inside arm component 2b (see reference) Figure 4 The opening is located on the tool mounting surface 2a. For example, in the case of a six-axis vertical multi-joint robot body 2, the arm component 2b is a cylindrical component that rotates around the sixth axis. A wire A, which supplies power and signals to the tool 3, is laid inside the hollow part 2d. The wire A extends from the opening on the tool mounting surface 2a to the outside of the arm component 2b.

[0030] When a non-hollow tool 3 is directly mounted on the tool mounting surface 2a, the opening of the hollow portion 2d is closed by the tool 3, preventing the line body A from being drawn out from the hollow portion 2d. Therefore, a non-hollow tool 3 cannot be directly mounted on the tool mounting surface 2a. The bracket 1 is used to enable the non-hollow tool 3 to be mounted on the tool mounting surface 2a. The bracket 1 can also be provided as part of a robot system comprising the robot 20 and the tool 3.

[0031] like Figures 2 to 4 As shown, the bracket 1 includes: a hollow bracket body 4 having a robot mounting surface 4a and a tool mounting surface 4b; bracket clamps 5 and 6 that fix the bracket body 4 from the inside of the bracket body 4 to the tool mounting surface 2a; and insulating components 7 and 8 that electrically insulate the bracket 1 from the robot body 2. The insulating components 7 and 8 may also be integrated.

[0032] An electrically insulating plate 9 is disposed between the tool mounting surface 2a and the bracket body 4. The insulating plate 9 has a hollow hole 9a extending through the insulating plate 9 along its thickness direction at a position opposite to the opening of the hollow portion 2d. The insulating plate 9 may also be provided as part of the robot body 2 or as part of the bracket 1. The insulating plate 9 may also be integral with the insulating component 7.

[0033] The bracket body 4 is a box-shaped component, having opposing flat base walls 41 and flat front walls 42, and a cylindrical side wall 43 connecting the base walls 41 and the front walls 42. The robot mounting surface 4a is the outer surface of the base wall 41 disposed on the side of the tool mounting surface 2a, and the tool mounting surface 4b is the outer surface of the front wall 42 disposed on the side opposite to the tool mounting surface 2a.

[0034] The base end wall 41 has a hollow hole 41a that penetrates the base end wall 41 along the thickness direction at a position opposite to the opening of the hollow part 2d. The hollow part 2d of the arm component 2b is connected to the internal space of the bracket 1 through the hollow holes 41a and 9a. The line body A is routed from the opening of the hollow part 2d through the hollow holes 9a and 41a into the interior of the bracket 1.

[0035] The base end wall 41 has a plurality of through holes 41b extending through the base end wall 41 along its thickness direction around the hollow hole 41a. Each through hole 41b is positioned corresponding to a bolt hole 2c. The bracket body 4 is fixed to the tool mounting surface 2a by fastening the fixing bolt 5 from the inside of the base end wall 41 through the through hole 41b to the bolt hole 2c. If necessary, a metal washer 6 is placed between the fixing bolt 5 and the base end wall 41.

[0036] The front wall 42 may also have a window 42a that extends through the front wall 42 along the thickness direction and allows line A to pass through (see reference). Figure 9 When tool 3 has a hollow structure, line body A is connected to tool 3, which is mounted on tool mounting surface 4b, via window 42a.

[0037] The sidewall 43 has at least one window 43a that extends through the sidewall 43 along the thickness direction and allows the line body A to pass through. When the tool 3 is not a hollow structure, the line body A extends out through the window 43a to the outside of the bracket 1 and connects to the tool 3.

[0038] As described above, the bracket clamp includes multiple fixing bolts 5. Metal washers 6 may also be used with each fixing bolt 5 if necessary. Both the fixing bolts 5 and the metal washers 6 are made of a high-strength material, such as steel.

[0039] The insulating components are a cylindrical insulating sleeve 7 and a circular plate-shaped insulating washer 8, both made of electrically insulating materials such as resin. The insulating sleeve 7 is positioned between the inner surface of the through hole 41b and the outer surface of the fixing bolt 5, and the insulating washer 8 is positioned between the inner surface of the base wall 41 and the metal washer 6. By electrically insulating the fixing bolt 5 and the metal washer 6 from the bracket body 4 using the insulating sleeve 7 and the insulating washer 8, current can be prevented from flowing from the bracket body 4 into the robot body 2 through the fixing bolt 5 and the metal washer 6.

[0040] Since the internal space of the bracket body 4 is exposed to the outside of the bracket 1 through the window 43a, foreign objects with lower electrical insulation than air, such as splashes, can easily enter the interior of the bracket body 4 from the outside and adhere to the inside of the bracket body 4. With the hollow hole 41a of the base wall 41 and the bracket clamps 5 and 6 exposed, the electrical insulation between the bracket clamps 5 and 6 and the bracket body 4, and between the bracket body 4 and the arm component 2b, may be reduced due to the adhesion of foreign objects. To prevent such accidental reduction in electrical insulation, the bracket 1 also has an insulating cover 10 with electrical insulation installed inside the bracket body 4.

[0041] Preferably, the insulating cover 10 is elastically deformable, for example, it is a sponge. Figures 3 to 5 As shown, the insulating cover 10 has: a ring-shaped flat portion 10a disposed on the inner side of the base end wall 41 (opposite to the tool mounting surface 2a); and a cylindrical portion 10b extending vertically from the base end face of the flat portion 10a and disposed in the hollow hole 41a, through which the line body A passes, extending from the base end face of the cylindrical portion 10b to the front end face of the flat portion 10a. This insulating cover 10 covers both the clamps 5 and 6 and the hollow hole 41a.

[0042] Specifically, such as Figure 3 As shown, the flat portion 10a has an area covering most of the inner surface of the base end wall 41, and covers all the fixing bolts 5 and all the metal washers 6. The flat portion 10a may also cover the entire inner surface of the base end wall 41. The cylindrical portion 10b covers the inner circumferential surface of the hollow hole 41a over the entire circumferential direction, and preferably covers the inner circumferential surface of the hollow hole 41a over its entire length in the depth direction.

[0043] In addition, Figure 4 In this configuration, the inner diameter of the hollow hole 41a is greater than or equal to the inner diameter of the hollow portion 2d and the inner diameter of the hollow hole 9a, and the peripheral portion of the hollow hole 9a protrudes into the hollow hole 41a. The inner peripheral surface of the cylindrical portion 10b (the inner peripheral surface of the hollow hole 10c) is positioned radially inward than the inner peripheral surfaces of the hollow portion 2d and the hollow hole 9a, and the cylindrical portion 10b covers the peripheral portion of the hollow hole 9a that protrudes into the hollow hole 41a.

[0044] Preferably, the cylindrical portion 10b closes the cylindrical gap between the inner circumferential surface of the hollow hole 41a and the outer circumferential surface of the line body A. For example, the cylindrical portion 10b has an inner diameter smaller than the outer diameter of the line body A and an outer diameter larger than the inner diameter of the hollow hole 41a, and is capable of elastically contracting radially. In this case, the gap is closed by the outer circumferential surface of the cylindrical portion 10b contacting the inner circumferential surface of the hollow hole 41a and the inner circumferential surface of the cylindrical portion 10b contacting the outer circumferential surface of the line body A.

[0045] The bracket 1 may also include a pressure plate 11 for fixing the insulating cover 10 to the bracket body 4 and a plurality of fixing bolts (pressure plate clamps) 12.

[0046] The pressure plate 11 is a rigid flat plate, which may be made of metal. The pressure plate 11 has a hollow hole 11a that penetrates the pressure plate 11 along the thickness direction at a position corresponding to the opening of the hollow part 2d.

[0047] The base end wall 41 is provided with a plurality of bolt holes 41c for fastening the fixing bolts 12. The insulating cover 10 and the pressure plate 11 are respectively provided with through holes 10d and 11b at positions corresponding to the bolt holes 41c for the fixing bolts 12 to pass through. By fastening the fixing bolts 12 to the bolt holes 41c through the through holes 10d and 11b, the insulating cover 10 is fixed to the base end wall 41. When the insulating cover 10 can be elastically compressed along the thickness direction, the bracket 1 may also include a cylindrical spacer 13 disposed in the through hole 10d for the fixing bolts 12 to be inserted.

[0048] If the pressure plate 11 is too large to pass through the window 43a, the pressure plate 11 can be divided into multiple parts. For example, the pressure plate 11 can be composed of two semi-circular arc-shaped parts. With this structure, the rigid pressure plate 11 can be easily inserted into the bracket body 4 through the window 43a.

[0049] The functions of the insulating cover 10, the bracket 1, and the robot 20 will be explained below.

[0050] Tool 3 is mounted on tool mounting surface 4b of bracket body 4, which is fixed to tool mounting surface 2a. When tool 3 has a hollow structure, the linear element A is introduced into the interior of bracket body 4 through the opening 2d of the hollow portion 2d of the front arm component 2b, and connects to tool 3 via window 42a of the front wall 42. When tool 3 is not a hollow structure, the linear element A is pulled out from the interior of bracket body 4 through window 43a of side wall 43 to the exterior of bracket body 4 and connects to tool 3.

[0051] When tool 3 is used for welding, for example, current output from tool 3 may flow into the bracket body 4. According to this embodiment, the bracket body 4 and the robot body 2 are electrically insulated using insulating components 7 and 8 and an insulating plate 9. Therefore, it is possible to prevent current from flowing from the bracket body 4 into the robot body 2.

[0052] Furthermore, in a structure where the hollow bracket body 4 is fixed to the tool mounting surface 2a from the inside using clamps 5 and 6, and the line body A is introduced into the bracket body 4 through the hollow hole 41a from the opening of the hollow part 2d on the tool mounting surface 2a, in Figure 4In regions B and C, the electrical insulation may be reduced due to the adhesion of foreign matter such as splashes. In region B, the head of the fixing bolt 5 and the metal washer 6 protrude from the base end wall 41 and are positioned near the surface of the base end wall 41. In region C, the inner circumferential surface of the hollow hole 41a is positioned near the inner circumferential surface of the exposed hollow portion 2d.

[0053] According to this embodiment, the flat portion 10a of the insulating cover 10 covering the clamps 5 and 6 prevents foreign matter from adhering to the clamps 5 and 6. This prevents electrical connection between the clamps 5 and 6 and the base wall 41 in region B.

[0054] Furthermore, by utilizing the cylindrical portion 10b of the insulating cover 10 covering the hollow hole 41a, foreign matter is prevented from adhering to the inner peripheral surface of the hollow hole 41a and the inner peripheral surface of the hollow portion 2d. This prevents electrical connection between the inner peripheral surface of the hollow hole 41a and the inner peripheral surface of the hollow portion 2d in region C.

[0055] In addition, with the insulating cover 10 capable of elastic deformation, it can more reliably prevent foreign objects such as splashes from entering areas B and C, and can more reliably prevent the electrical insulation between the bracket body 4 and the robot body 2 from decreasing.

[0056] That is, when the inner surface of the bracket body 4 has unevenness, for example, when the inner surface is a cast skin, the flat portion 10a deforms along the uneven shape of the inner surface of the base end wall 41, thereby preventing gaps from forming between the flat portion 10a and the inner surface of the base end wall 41. Furthermore, when the flat portion 10a has an outer diameter larger than the diameter of the circumscribed circle of the plurality of bracket clamps 5, 6, gaps from forming between the outer peripheral surface of the flat portion 10a and the bracket clamps 5, 6 can be prevented. Additionally, when the cylindrical portion 10b has an inner diameter smaller than the outer diameter of the linear body A and an outer diameter larger than the inner diameter of the hollow hole 41a, gaps from forming between the outer peripheral surface of the cylindrical portion 10b and the inner peripheral surface of the hollow hole 41a, and between the inner peripheral surface of the cylindrical portion 10b and the outer peripheral surface of the linear body A, can be prevented. Thus, the insulating cover 10 can reliably seal the entrances that may become foreign object intrusion areas B, C.

[0057] Furthermore, according to this embodiment, the bracket body 4 is electrically insulated from the robot body 2, thus eliminating the need for electrical insulation between the bracket body 4 and the tool 3. Therefore, operators do not need to perform additional work to ensure electrical insulation between the tool 3 and the robot body 2, and can load and unload the tool 3 onto the tool mounting surface 4b.

[0058] It is also possible to prevent current from flowing from the tool 3 into the robot body 2 by installing an insulating component between the bracket body 4 and the tool 3. However, in this case, when loading and unloading the tool 3 onto the tool mounting surface 4b, it is also necessary to load and unload the insulating component, which increases the number of operating components and the workload.

[0059] Furthermore, according to this embodiment, the bracket 1 itself is provided with an insulating structure that insulates the bracket 1 from the robot body 2, and the bracket 1 is fixed to the tool mounting surface 2a only through a thin insulating plate 9. As a result, the offset from the tool mounting surface 2a to the tool mounting surface 4b, the total weight of the components mounted on the tool mounting surface 2a, and the cost can be suppressed.

[0060] By placing an insulating component between the tool mounting surface 2a and the bracket, and fixing the bracket to the insulating component instead of the tool mounting surface, it is also possible to electrically insulate the bracket from the robot body 2. However, in this case, a thicker insulating component is required, and the offset, total weight, and cost increase.

[0061] In the above embodiment, the insulating cover 10 is provided to have a cylindrical portion 10b that covers the inner peripheral surface of the hollow hole 41a. However, if the hollow hole 41a can be covered by the flat portion 10a alone, the insulating cover 10 may not necessarily have a cylindrical portion 10b.

[0062] That is, when the inner peripheral surface of the flat portion 10a is in contact with the outer peripheral surface of the line body A, and the gap between the inner peripheral surface of the hollow hole 41a and the outer peripheral surface of the line body A is closed by the flat portion 10a, foreign objects can be prevented from entering the hollow hole 41a using only the flat portion 10a. Therefore, in this case, the cylindrical portion 10b may not be provided.

[0063] In the above embodiment, the flat portion 10a of the insulating cover 10 may not contact the bracket clamps 5 and 6. That is, as Figure 6 As shown, a hole 10f with an inner diameter larger than the outer diameter of the bracket clamp 5 or 6 can also be made in the flat portion 10a at a position corresponding to the bracket clamp 5 or 6. In this way, even in a structure where the flat portion 10a covers the lateral side of the bracket clamp 5 or 6, foreign objects can be prevented from adhering to the bracket clamp 5 or 6 because the insulating cover 10, the pressure plate 11, and the base end wall 41 cover the bracket clamp 5 or 6.

[0064] In the above embodiments, the insulating cover 10 does not necessarily have to be elastically deformable. For example, the insulating cover 10 may also be formed of a rigid material.

[0065] When the insulating cover 10 is a component that can elastically deform like a sponge, it can be easily inserted into the bracket body 4 through the window 43a. On the other hand, if the insulating cover 10 cannot elastically deform, it may become difficult to pass the insulating cover 10 through the window 43a. Therefore, the insulating cover 10 can also be divided into multiple components of a size that can pass through the window 43a.

[0066] In the above embodiments, such as Figure 7As shown, the bracket 1 may also have an annular clamping member 14 disposed in the hollow hole 41a and fixing the line body A relative to the tool mounting surface 2a.

[0067] like Figure 8 As shown, the clamping member 14 has two semi-circular parts 14a and 14b that radially clamp the line body A. An elastic body 15 is wound around the outer peripheral surface of the line body A and disposed between the line body A and the clamping member 14. The two parts 14a and 14b are tightly attached to and fixed to the outer peripheral surface of the line body A through the elastic body 15. For example, the parts 14a and 14b are fixed by screwing a bolt 14c into the bolt hole 14d of the parts 14a and 14b. The clamping member 14 is fixed to the tool mounting surface 2a by bolts (not shown).

[0068] exist Figure 7 as well as Figure 8 In this case, since the inner circumferential surface of the hollow hole 41a is closed between the clamping member 14 and the outer circumferential surface of the line body A, the insulating cover 10 may not have a cylindrical portion 10b. The flat portion 10a extends radially inward beyond the inner circumferential surface of the clamping member 14 and covers the entire inner side of the clamping member 14.

[0069] According to this structure, by fixing the line body A in the hollow hole 41a of the base end wall 41, it is possible to suppress the movement of the line body A within the bracket body 4.

[0070] In the above embodiment, a fixing mechanism is provided to fix the insulating cover 10 to the base wall 41 of the bracket body 4, using a pressure plate 11, fixing bolts 12, and spacers 13. However, the fixing mechanism can be appropriately changed depending on the material of the insulating cover 10. The insulating cover 10 can also be fixed to the base wall 41 using multiple fixing mechanisms.

[0071] In one example, if the insulating cover 10 is a high-rigidity rubber or resin part, the insulating cover 10 may be fixed to the base wall 41 using only fixing bolts (cover clamps) 12, without the pressure plate 11 and spacer 13. Washers may also be provided between the fixing bolts 12 and the insulating cover 10 if necessary.

[0072] In another example, such as Figure 4 as well as Figure 7 As shown, the base wall 41 side of the insulating cover 10 also has a recess 10e for the head of the fixing bolt 5 to fit into. By fitting the head of the fixing bolt 5 into the recess 10e, the insulating cover 10 is fixed to the base wall 41.

[0073] In another example, the insulating cover 10 can also be bonded to the inner surface of the base wall 41 using adhesives or the like.

[0074] In the above embodiments, such as Figure 9 as well as Figure 10 As shown, the pressure plate 11 may also have a line body fixing part 11c for fixing the line body A to the pressure plate 11.

[0075] The line body fixing part 11c is, for example, a flat plate-shaped component, disposed on the outside of the bracket body 4. The line body A is fixed to the line body fixing part 11c, for example, using a strap. Figure 10 The pressure plate 11 has two semicircular portions 11d disposed within the bracket body 4, and a linear fixing portion 11c connected to one of the semicircular portions 11d. The illustration of the other semicircular portion is omitted.

[0076] When line body A moves freely relative to bracket body 4 as robot body 2 moves, line body A may come into contact with the cast skin of bracket body 4, damaging the insulating sheath covering the outer side of line body A. By fixing line body A to pressure plate 11 using line body fixing part 11c, the movement of line body A can be restricted, preventing damage to line body A.

[0077] In the above embodiment, the bracket 1 is provided for mounting a hollow or solid tool 3 on the hollow arm component 2b. However, the bracket 1 can also be used to mount a hollow welding tool 3 on a non-hollow arm component 2b. In this case, the bracket 1 can also be provided as part of the welding apparatus. That is, the welding apparatus has the bracket 1 and the hollow welding tool 3.

[0078] The hollow welding tool 3 is mounted on the robot mounting surface 4a, which has a hollow hole 41a, using bracket clamps 5 and 6. The welding tool 3 and the bracket body 4 are electrically insulated from each other using insulating components 7 and 8. At least one wire is routed through the hollow hole 41a between the hollow portion of the welding tool 3 and the interior of the bracket body 4. The bracket 1 is mounted on the tool mounting surface 2a of the non-hollow arm component 2b within the tool mounting surface 4b. In this case, the front end wall 42 may not have a window 42a.

[0079] In the above embodiments, the bracket 1 can also be provided as part of a welding robot system. That is, the robot system includes: a robot 20 having the bracket 1 and a robot body 2; and a welding device having a welding tool 3, similar to a welding torch. The welding device is fixed to the front end of the robot body 2 via the bracket 1.

[0080] Explanation of reference numerals in the attached figures:

[0081] 1: Bracket

[0082] 2: Robot body

[0083] 2a: Tool mounting surface

[0084] 2b: Front arm component

[0085] 2d: Hollow part

[0086] 3: Tools, welding tools

[0087] 4: Bracket body

[0088] 41a: Hollow hole

[0089] 5: Bracket clamps and fixing bolts

[0090] 6: Bracket clamps, metal washers

[0091] 7: Insulating components and insulating sleeves

[0092] 8: Insulating components and insulating washers

[0093] 10: Insulating cover

[0094] 10a: Flat area

[0095] 10b: Cylinder section

[0096] 10e: Concave

[0097] 11: Pressure plate

[0098] 11c: Linear fixing part

[0099] 12: Pressure plate clamp, cover clamp, fixing bolts

[0100] 14: Clamping components

[0101] 20: Robot

[0102] A: Linear font

Claims

1. An insulation cover that is an electrically insulating insulation cover for a cradle of a hollow structure, characterized by: the cradle being mounted to a tool mounting surface of a hollow arm member and having a hollow hole through which a wire passes from a hollow portion inside the arm member to an inside of the cradle via an opening on the tool mounting surface, the insulation cover being disposed inside the cradle, and the insulation cover covering both a cradle clamp that fixes the cradle to the tool mounting surface and the hollow hole of the cradle.

2. The insulation cover according to claim 1, characterized in that: the insulation cover has a flat portion that is plate-shaped and is disposed on an inner surface on the tool mounting surface side of the cradle, and the insulation cover is elastically deformable. provided with: a cradle main body that is a hollow structure cradle main body mounted to a tool mounting surface of a hollow arm member and has a hollow hole through which a wire passes from a hollow portion inside the arm member to an inside of the cradle main body via an opening on the tool mounting surface; a cradle clamp that fixes the cradle main body from an inner side of the cradle main body to the tool mounting surface; an insulation member that is disposed between the cradle clamp and the cradle main body and electrically insulates between the cradle clamp and the cradle main body; and the insulation cover according to claim 1 or 2 being disposed inside the cradle main body.

4. The cradle according to claim 3, characterized in that: the cradle is provided with a ring-shaped clamping member that is disposed inside the hollow hole and fixes the wire with respect to the tool mounting surface.

5. The cradle according to claim 3 or 4, characterized in that: the cradle is provided with: a pressure plate that is disposed on a side opposite the tool mounting surface of the insulation cover; and a pressure plate clamp that fixes the pressure plate to the cradle main body.

6. The cradle according to any one of claims 3 to 5, characterized in that: the cradle is provided with a cover clamp that fixes the insulation cover to the cradle main body.

7. The cradle according to any one of claims 3 to 6, characterized in that: the insulation cover has a recess into which a head portion of the cradle clamp is fitted, and is fixed to the cradle main body by fitting of the head portion and the recess.

3. A carrier, characterized in that 8. The cradle according to any one of claims 3 to 7, characterized in that: the insulation cover is bonded to the cradle main body.

9. The cradle according to claim 5, characterized in that: the pressure plate has a wire fixing portion that fixes the wire to the pressure plate. provided with: a robot main body that has at least one arm member and a front end arm member that is hollow; and the cradle according to any one of claims 3 to 9. provided with: the cradle according to any one of claims 3 to 9; and a hollow welding tool, the welding tool being mounted to an outer surface of the cradle main body on which the hollow hole is formed, and at least one wire being routed between a hollow portion of the welding tool and an inside of the cradle via the hollow hole. provided with: the robot according to claim 10; and a tool that is fixed to a front end of the robot main body via the cradle. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 10. A robot, characterized in that ​ ​ ​ 11. A welding device characterized by, ​ ​ ​ ​ 12. A robot system, characterized by ​ ​ ​

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