robot

Abstract

A robot (1) is provided with: a forearm (6); a wrist (7) whose proximal end side is connected to the forearm (6) so as to be rotatable about a first axis (A), and on whose distal end side a work tool (100, 150) is mounted; a flexible conduit (8) disposed along the first axis (A) in a range from the forearm (6) to the distal end of the wrist (7), and provided with openings at both ends; and a lead wire body (4) disposed so as to penetrate the inside of the conduit (8) in the axial direction of the conduit (8), and capable of being drawn out from the opening of at least the forearm (6) side of the conduit (8), both ends of the lead wire body (4) being fixed to positions capable of being operated from the outside of the conduit (8) in a detachable manner.

Description

Technical Field

[0001] This invention relates to robots. Background Technology

[0002] A robot is known to have multiple working tools mounted on the front end of its wrist, the base of which is connected to the forearm in a manner rotatable about a first axis (see, for example, Patent Document 1). In this robot, a flexible first conduit and a flexible second conduit disposed within the first conduit are arranged along the first axis from the forearm to the front end of the wrist. Furthermore, a first linear body for one working tool is routed within the second conduit, and a second linear body for another working tool is routed in the space between the first and second conduits.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2017-185603 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] Not all work tools are installed during robot manufacturing; sometimes they are installed by the user after the robot is delivered. For example, if the first wiring element is wired during robot manufacturing, while the second wiring element is wired at the user's site, the user must perform the difficult task of wiring the second wiring element through the narrow gap between the first and second conduits.

[0008] In some cases, it is necessary to disassemble the work tools, first wiring, and conduits installed during robot manufacturing, and then lay out the second wiring, which involves a large-scale operation. Therefore, it is desirable to be able to easily lay out the wiring after the robot is installed at the user's site without requiring large-scale work.

[0009] Solution for solving the problem

[0010] One aspect of the present invention is a robot comprising: a forearm; a wrist, the base of which is rotatably connected to the forearm and a working tool is mounted on the distal end; a flexible conduit disposed along the first axis from the forearm to the distal end of the wrist and having openings at both ends; and an insertion line disposed axially through the interior of the conduit and capable of being withdrawn from the opening at least on the forearm side of the conduit, the ends of the insertion line being detachably fixed to positions operable from the outside of the conduit. Attached Figure Description

[0011] Figure 1 This is a longitudinal sectional view of the forearm and wrist of a robot according to one embodiment of the present invention.

[0012] Figure 2 It means Figure 1 A longitudinal sectional view of an example of a robot equipped with a rope.

[0013] Figure 3 This indicates connecting the second line to... Figure 2 The longitudinal section view of the rope state is introduced.

[0014] Figure 4 It means Figure 1 A cross-sectional view of the robot's flexible conduit, first linear body, and introduction of ropes.

[0015] Figure 5 This means that in Figure 1 A longitudinal sectional view of the wiring operation of the second line body in the robot.

[0016] Figure 6 It means in Figure 1 A cross-sectional view of the robot in the state where the second line body is introduced into the middle position of the conduit.

[0017] Figure 7 It means in Figure 1 A longitudinal cross-sectional view of the robot in which a second line body with wiring inside a conduit is connected to a sensor.

[0018] Figure 8 It means Figure 1 A longitudinal sectional view of a variant of the robot.

[0019] Figure 9 It means Figure 2 The longitudinal sectional view of the modified example of the rope is introduced.

[0020] Figure 10 It means to utilize Figure 9 A longitudinal sectional view showing the state of the second line body covered by the connecting component of the rope. Detailed Implementation

[0021] Hereinafter, a robot 1 according to one embodiment of the present invention will be described with reference to the accompanying drawings.

[0022] like Figure 1As shown, the robot 1 of this embodiment includes: a robot body 2, and a working tool 100 and a working tool control device 200 installed on the robot body 2. In addition, the robot 1 includes: a first line body (line body) 3, which connects the working tool 100 and the working tool control device 200; and a guide rope (guide line body) 4.

[0023] The robot body 2 includes: a forearm 6, which is supported on the front end of the upper arm 5 in a manner that allows it to rotate about a horizontal axis P; a wrist 7, which is supported on the forearm 6 in a manner that allows it to rotate about a first axis A; and a flexible conduit 8, which is arranged along the first axis A in a range from the rear of the forearm 6 to the front end of the wrist 7.

[0024] The wrist 7 comprises: a first wrist unit 9, which rotates about a first axis A; a second wrist unit 10, which rotates about a second axis B orthogonal to the first axis A; and a third wrist unit 11, which rotates about a third axis C orthogonal to the second axis B. Figure 1 The middle part represents the state where the first axis A and the third axis C are arranged on a straight line.

[0025] On the forearm 6, the first wrist unit 9, the second wrist unit 10, and the third wrist unit 11, a through path 12 is provided near the first axis A along the first axis A. The through path 12 starts from the back of the forearm 6 and extends to the front of the third wrist unit 11.

[0026] The flexible conduit 8 is, for example, a metal coil or a tubular component molded from resin, and can be easily bent. The conduit 8 is housed in a through path 12 that extends from the rear of the forearm 6 to the front of the third wrist unit 11.

[0027] The working tool 100, for example, is a welding torch, which is fixed to the flange surface at the front end of the third wrist unit 11.

[0028] The work tool control device 200 is a wire feeding device that controls the feeding of welding wire to the welding torque 100, and is fixed to the rear of the forearm 6.

[0029] The first line body 3 is a linear component guided within a conduit 8, extending from the wire feed device 200 at the rear of the forearm 6 to the welding torch 100 at the front of the wrist 7. The first line body 3 includes a gas hose for supplying auxiliary gas, an electrical conduit for supplying welding wire, and a power cable for supplying power to the welding torch 100.

[0030] The first line body 3 has a cross-sectional area that is sufficiently smaller than that of the conduit 8, is configured to penetrate the conduit 8 along its length, and is connected to the welding torch 100 and the welding wire feed device 200 respectively at the positions exposed outward from the openings at both ends of the conduit 8. A gap sufficiently large is formed between the inner surface of the conduit 8 and the outer surface of the first line body 3 when the second line body (later installed line body) 13 described below is configured.

[0031] The rope 4 is made of a flexible material and includes: a rope body (linear body) 14, which is made of wire having an outer diameter that is sufficiently smaller than that of the second linear body 13 described below; and a connecting member 15, which is installed at one end of the rope body 14.

[0032] The rope body 14 is, for example, made of a single-core welding wire with a diameter of less than 2 mm.

[0033] like Figure 2 As shown, the connecting member 15 has an opening (accommodating opening) 15a at one end that can accommodate the end of the second line body 13, and a mounting portion 16 at the other end that is mounted on the rope body 14. The connecting member 15 is made of a flexible and soft material such as resin, and is tapered from the opening 15a toward the mounting portion 16.

[0034] Therefore, as Figure 3 As shown, with the end of the second line body 13 accommodated within the opening 15a, the connecting member 15 can be retracted radially inward by securing it from the radially outward using a nylon strap 17 or the like. Thus, with one end of the second line body 13 covered by the connecting member 15, the second line body 13 can be easily connected to the lead rope 4.

[0035] like Figure 4 As shown, a rope 4 is introduced into the gap between the inner surface of the conduit 8 and the outer surface of the first linear body 3, passing through the conduit 8 along its length. Furthermore, as... Figure 1 As shown, the rope 4 is introduced at the position where it extends outward from the openings at both ends of the conduit 8, and the two ends are respectively fixed to the first line body 3, the welding rod 100 or the welding wire feed device 200 in a detachable manner by means of, for example, nylon straps 18.

[0036] like Figure 1 As shown, the connecting member 15 installed at one end of the introduction rope 4 is fixed to the welding rod 100, for example, by means of a nylon strap 18. In addition, the other end of the introduction rope 4 has a sufficiently long excess portion extending outward from the opening of the conduit 8, and is fixed to the first wire body 3 by means of a nylon strap 18, and is accommodated in or detachably fixed to the welding wire feed device 200 while the excess portion is wound up.

[0037] The second line body (post-installation line body) 13 is, for example, a line body connected to a sensor (work tool) 150 that detects the welding status performed by the welding torque 100. The second line body 13 includes, for example, cables for powering the sensor 150 and transmitting detection signals, and piping for supplying air to clean the sensor 150. The sensor 150 and the second line body 13 are typically installed on the robot 1 after it has been set up at the user's location.

[0038] The function of the robot 1 configured in this embodiment will be explained below.

[0039] According to the robot 1 of this embodiment, when the wrist 7 of the robot 1 moves, the movable guide tube 8 follows the movement of each wrist unit 9, 10, 11 by bending or twisting within the through path 12 as each wrist unit 9, 10, 11 rotates. As the guide tube 8 deforms, the first line body 3 also deforms, but the space within the guide tube 8 is ensured, thus protecting the first line body 3.

[0040] Furthermore, when the first linear body 3 deforms, the guide rope 4 also deforms. However, since the diameter of the guide rope 4 is small enough, and the gap between the conduit 8 and the first linear body 3 is ensured, the guide rope 4 does not generate significant friction with the first linear body 3. Additionally, the guide rope 4 is fixed further outward than the openings at both ends of the conduit 8, so the first linear body 3 does not undergo significant deformation at the position where the guide rope 4 is fixed. Therefore, even at the fixed position of the guide rope 4, no significant force is applied to the first linear body 3, and the first linear body 3 remains in a healthy state.

[0041] Next, the following operation will be described: A sensor 150, which serves as another working tool, is installed at the front end of the robot 1 in this embodiment, and a second line body 13 connected to the sensor 150 is wired into the conduit 8.

[0042] First, the fixation is released by cutting the nylon straps 18 at both ends of the fixed insertion rope 4. Since the two ends of the insertion rope 4 are fixed to the outside of the opening of the conduit 8, the nylon straps 18 used for fixation can be easily cut from the outside.

[0043] Next, as Figure 5 As shown, the connecting member 15, installed at one end of the welding rod 100 of the introduction rope 4, connects to one end of the second line body 13 to which wiring is desired. Figure 3As shown, the installation operation of attaching the second linear body 13 to the connecting member 15 is performed as follows: the end of the second linear body 13 is accommodated in the opening 15a of the connecting member 15, and a nylon strap 17 is fastened from the outside of the connecting member 15. The fastening force of the nylon strap 17 causes the connecting member 15 to contract radially inward, thereby fastening the connecting member 15 and the second linear body 13 together. Thus, one end of the second linear body 13 is connected to one end of the rope 4.

[0044] like Figure 6 As shown, in this state, the other end of the guide rope 4, which is located at the rear of the forearm 6, is pulled along its length. Since there is an excess length at the other end of the guide rope 4, the operator can easily apply traction to the guide rope 4 by grasping the excess length with their hand without using tools.

[0045] Thus, the rope 4, under applied traction, moves within the conduit 8 towards the forearm 6, thereby introducing the second linear body 13, connected to the connecting member 15 at one end, into the conduit 8 from the opening at the front end. Furthermore, as... Figure 7 As shown, by pulling the guide rope 4, the connecting part 15 at the front end of the guide rope 4 is pulled out from the opening on the rear side of the conduit 8. Thus, the second wire body 13 penetrates the conduit 8. The second wire body 13, penetrating the conduit 8, is detachably fixed at both ends to the first wire body 3, the welding torch 100, or the welding wire feed device 200 using nylon straps 19 at the positions where it extends outward from the openings at both ends of the conduit 8.

[0046] In this case, since the connecting member 15 covers one end of the second linear body 13, the operator can perform the operation without one end of the second linear body 13 getting stuck inside the conduit 8 from the start of its insertion into the conduit 8 until its removal from the conduit 8. Furthermore, since the connecting member 15 is tapered towards the insertion rope 4, it prevents itself from getting stuck during insertion into and movement within the conduit 8, thus allowing for smooth movement.

[0047] Therefore, it has the following advantages: by simply pulling the introduction rope 4 out of the conduit 8, one end of the second line body 13 can be smoothly introduced into the conduit 8 and smoothly pass through the conduit 8, thereby easily configuring the second line body 13 to pass through the conduit 8.

[0048] That is, according to the robot 1 of this embodiment, after the robot 1 is set up at the user's side, it is not necessary to lay the wiring of the second line body 13 for the user's work tool, i.e. the sensor 150, in the conduit 8 when manufacturing the robot 1, so that the user can lay the desired second line body 13.

[0049] Furthermore, the wiring work for the second line body 13 is only the connection work between the introduction rope 4 and the second line body 13, and the work of pulling out the introduction rope 4 from the conduit 8, which can be easily carried out even by inexperienced users.

[0050] Furthermore, in this embodiment, the introduction rope 4 is secured to the first line body 4 at the position where it protrudes from the openings at both ends of the conduit 8 using a nylon strap 18. Alternatively, as... Figure 8 As shown, an adapter 20 can also be installed between the flange surface of the third wrist unit 11 and the working tools 100 and 150. By providing an opening 20a in the adapter 20 to lead the guide rope 4 radially outward from the conduit 8, the guide rope 4 led out from the opening 20a can be fixed to the working tools 100, 150, etc.

[0051] Furthermore, in this embodiment, a second line body 13 connected to the sensor 150 is described as an example, but a second line body 13 connected to any other work tool can also be used. Additionally, the guide rope 4 is detachably fixed to the first line body 3 using a nylon strap 18, but it can also be detachably fixed using any other means such as Velcro.

[0052] Additionally, the connecting member 15 and the second linear body 13 are fastened together using nylon strap 17, thereby connecting the introduction rope 4 and the second linear body 13. Alternatively, as... Figure 9 as well as Figure 10 As shown, the connecting member 15 can also be constructed using a cylindrical component that can be moved along the length of the lead rope 4, and the connecting member 15 can cover the connection between the main body of the connecting rope 14 and the second line body 13.

[0053] In this case, the connection between the rope 4 and the second line body 13 can be achieved by binding the rope body 14 tightly to the second line body 13, or by using the nylon strap 17 to secure the rope body 14 and the second line body 13. This prevents the nylon strap 17 from protruding from the outside of the connecting member 15, thus making the introduction of the second line body 13 into the conduit 8 easier.

[0054] Furthermore, as the connecting member 15, a deformable resin component is exemplified, but it can also be made of a foldable bag-shaped component, which is fixed to the first linear body 3 in the folded state. Alternatively, as the connecting member 15, a metal component capable of radial plastic deformation can also be used, and the lead rope 4 and the second linear body 13 are connected by radially crushing the connecting member 15, which contains the second linear body 13 in the opening 15a.

[0055] Furthermore, while this embodiment illustrates the case of having a single introduction rope 4, multiple introduction ropes 4 may also be used. Alternatively, a single introduction rope 4 may be used, and when the second line body 13 is introduced into the conduit 8, the other introduction ropes 4 may be introduced together, thereby using the introduced introduction rope 4 for the introduction of other second line bodies 13.

[0056] Furthermore, in this embodiment, welding torque 100 and sensor 150 are used as examples of working tools, but the method is not limited to this. Also, the number of working tools is not limited to two.

[0057] Explanation of reference numerals in the attached figures:

[0058] 1: Robot

[0059] 3: First line font (line font)

[0060] 4: Introduction using ropes (introduction using lines)

[0061] 6: Forearm

[0062] 7: Wrist

[0063] 8: Catheter

[0064] 13: Second line element (line element installed later)

[0065] 14: Rope-like main body (linear main body)

[0066] 15: Connecting components

[0067] 15a: Opening (accommodating opening)

[0068] 16: Installation Department

[0069] 100: Welding torque (tool)

[0070] 150: Sensors (Work Tools)

[0071] A: First axis

Claims

1. A robot, characterized in that, have: forearm; The wrist is connected to the forearm at its base in a manner that allows it to rotate about a first axis, and a working tool is mounted on its front end. A flexible conduit, configured along the first axis from the forearm to the anterior end of the wrist, and having openings at both ends; and A linear body is introduced, which is arranged to penetrate the interior of the conduit along its axial direction, and is capable of being withdrawn from the opening at least on the forearm side of the conduit. The two ends of the introduced line are detachably fixed to positions accessible from the outside of the conduit. The introduced line body includes a line body body and a connecting component, wherein the connecting component is capable of connecting the end of the line body body on the working tool side to the end of the line body body for later installation within the conduit.

2. The robot according to claim 1, characterized in that, The two ends of the introduced line are fixed to the outside of the openings at both ends of the conduit.

3. The robot according to claim 1 or 2, characterized in that, The working tool is fixed at the front end of the wrist. The lines used for the work tool extend through the conduit along the axial direction to provide wiring.

4. The robot according to claim 1 or 2, characterized in that, The connecting member has a receiving opening at one end that can accommodate the end of the later-installed line body, and a mounting portion at the other end that is mounted on the line body body, and is tapered from the receiving opening toward the mounting portion.

5. The robot according to claim 4, characterized in that, The connecting component is formed into a bag shape made of a foldable material.

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