Umbilical body processing apparatus, umbilical body processing method, and robot

Abstract

A wire body processing device (10) for routing a plurality of wire bodies (11) between a first member (3) and a second member (2) that are supported so as to be relatively rotatable about a predetermined axis (O), the wire body processing device (10) being provided with: an attachment section (10c) for attaching to the second member (2); and line body fixing sections (14a, 14b) that fix a line body (11) that is bent in a direction intersecting the axis (O) on the second member (2) side and passes through a hollow hole (6) provided in a space including the axis (O) of the first member (3) and the second member (2) along the axis (O). The linear body fixing parts (14a, 14b) are used for fixing linear bodies (11) bent in different angular directions around the axis (O) at different positions in the circumferential direction around the axis (O), and the linear bodies (11) are linear bodies (11) in groups obtained by dividing a plurality of linear bodies (11) into a plurality of groups.

Description

Technical Field

[0001] The present invention relates to a line body processing device, a line body processing method and a robot. Background Art

[0002] A robot is known, which includes: a base; and an arm, which is mounted so as to be rotatable relative to the base around a vertical first axis (for example, see Patent Document 1). The cable group of the robot stands vertically upward in the base, bends into a U-shape, and extends vertically downward near the first axis to enter the arm. The cable group entering the arm is arranged in a row in the radial direction, and is fixed in the arm by a fixing member to maintain the row.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-140456 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] When the arm is rotated relative to the base, the fixed part in the arm moves, causing the cable group to twist. When the cables are arranged in a row, the cross-section of the cable group becomes larger in the direction of arrangement. It is necessary to ensure a large space for the cable group to pass through so that even if the large-sized cable group moves due to twisting, it will not rub against the surroundings.

[0008] Therefore, it is desired to reduce the size of the space through which the cable group passes and reduce the friction between the cable group and the surroundings.

[0009] Solutions for solving problems

[0010] One embodiment of the present disclosure is a wire body processing device, which is used to route multiple wire bodies between a first component and a second component supported in a manner that allows relative rotation around a predetermined axis. The wire body processing device includes: a mounting portion, which is used to be mounted on the second component; a wire body fixing portion, which fixes the wire body, the wire body passes through a hollow hole in the space containing the axis that is provided in the first component and the second component along the axis, and is bent in a direction intersecting the axis to the side of the second component. The wire body fixing portion fixes the wire body bent in different angular directions around the axis at different circumferential positions around the axis, and the wire body is obtained by dividing a plurality of the wire bodies into a plurality of groups. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1It is a partial longitudinal cross-sectional view showing a robot equipped with a filament body processing device according to an embodiment of the present disclosure.

[0012] Figure 2 It is shown Figure 1 A three-dimensional diagram of a line body processing device.

[0013] Figure 3 It shows that the installation Figure 2 An example of a receiving surface of a base of a linear body processing device and a diagram showing the positional relationship between a pulley and a belt.

[0014] Figure 4 It is explained from Figure 2 A top view of the wiring direction of the line body led out by the guide component of the top plate of the line body processing device.

[0015] Figure 5 It shows that Figure 1 A partial longitudinal sectional view of a robot of the first variant of the line body processing device.

[0016] Figure 6 It is shown Figure 2 A stereoscopic diagram of another variation of the line body processing device. DETAILED DESCRIPTION

[0017] Hereinafter, a line body processing device 10, a line body processing method, and a robot 1 according to an embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0018] The robot 1 of this embodiment is, for example, a horizontal multi-joint robot. Figure 1 As shown, the robot 1 includes a base (second component) 2 installed on a surface (not shown) such as a ceiling. In addition, the robot 1 includes a first arm (first component) 3, which is supported so as to be rotatable around a vertical axis (predetermined axis) O relative to the base 2.

[0019] The robot 1 includes a motor 4 that generates a rotational force on the side of the base 2. The robot 1 includes a reducer 5 that reduces the rotation of a shaft 4a of the motor 4 to drive the first arm 3 around a vertical axis O relative to the base 2. The reducer 5 is interposed between the base 2 and the first arm 3 in the up-down direction.

[0020] The base 2, the first arm 3, and the speed reducer 5 have a hollow hole 6 penetrating in the vertical direction in a space including the vertical axis O. The robot 1 has a resin pipe 7 which is arranged to penetrate the hollow hole 6 from the first arm 3 side to the base 2 side and has a lower end fixed to the first arm 3.

[0021] The reducer 5 has a cylindrical input shaft 5a on the radially outer side of the tube 7 protruding toward the base 2. The robot 1 has pulleys (movable parts) 8a and 8b respectively fixed to the shaft 4a of the motor 4 and the input shaft 5a. In addition, the robot 1 has a belt (movable part) 9 stretched between the pulleys 8a and 8b. The rotation of the shaft 4a of the motor 4 is transmitted to the input shaft 5a by the pulleys 8a and 8b and the belt 9, and is input to the reducer 5.

[0022] Furthermore, the robot 1 includes the filament processing device 10 according to one embodiment of the present disclosure.

[0023] like Figure 2 As shown, the wire body processing device 10 of this embodiment is mainly formed by bending a sheet metal of a certain thickness. Figure 1 As shown, the filament body processing device 10 includes a rectangular top plate 10 a , and the top plate 10 a is horizontally arranged at a distance vertically above the pipe 7 .

[0024] In addition, if Figure 2 As shown, the linear body processing device 10 has three partition walls 10b, which are connected to three sides of the top plate 10a and extend in a direction orthogonal to the top plate 10a. The corner where the top plate 10a and the partition walls 10b are connected is formed into an obtuse angle by, for example, bending the sheet metal twice at an angle of 45°. Thereby, it is possible to avoid the linear body 11 described later being pressed against the corner of the boundary between the top plate 10a and the partition walls 10b.

[0025] Each partition wall 10b has a flange (mounting portion) 10c at the front end, and the flange (mounting portion) 10c is used to fix the linear body processing device 10 to the receiving surface 2a of the base 2 using a bolt 12. The flange 10c has a through hole 10d that penetrates in the plate thickness direction. The bolt 12 passing through the through hole 10d of the flange 10c is fastened to the threaded hole of the receiving surface 2a (refer to Figure 3 . )2b. Thus, the line body processing device 10 can be fixed to the base 2.

[0026] like Figure 3 As shown, in the top view, the receiving surface 2a of the base 2 is located radially outside the pulley 8b fixed to the input shaft 5a. When the flange 10c is fastened to the receiving surface 2a by the bolt 12, each partition wall 10b rises from the base 2 radially outside the pulley 8b. That is, the pulley 8 is arranged at a position radially outside surrounding the hollow hole 6, and each partition wall 10b is arranged at a position radially outside surrounding the pulley 8b. Thus, the three partition walls 10b separate the space outside the partition wall 10b from the space inside where the pulley 8b and the belt 9 are arranged.

[0027] like Figure 1As shown, the line body processing device 10 has a circular through hole 10e penetrating in the plate thickness direction on the top plate 10a. In addition, the line body processing device 10 has a cylindrical guide component 13 embedded in the through hole 10e. The guide component 13 is arranged at a position away from the end of the hollow hole 6 along the vertical axis O direction. The guide component 13 is made of a resin with good sliding properties such as PTFE. When the line body processing device 10 is fixed to the base 2, the through hole 10e of the top plate 10a is located vertically above the tube 7.

[0028] Each partition wall 10b has a plurality of through holes (line body fixing parts) 14a and cutouts (line body fixing parts) 14b that penetrate in the plate thickness direction. The cutouts 14b may also be replaced by through holes. By using a cable tie 15 that passes through the through holes 14a and the cutouts 14b, the line body 11 extending in the up-down direction can be easily fixed to the outer surface of the partition wall 10b. Thus, the line body 11 that penetrates the tube 7 can be fixed on the side of the base 2.

[0029] like Figure 2 As shown in FIG. 1 , the through hole 14a and the notch 14b (hereinafter, the line body fixing portion 14) are provided in each of the three partition walls 10b. Figure 4 As shown, each line body fixing portion 14 fixes the line body 11 at a position separated by a distance D from a perpendicular line V from the vertical axis O to each partition wall 10b. Therefore, when the line body processing device 10 is fixed to the base 2, the line body fixing portion 14 is located at different angles around the vertical axis O relative to the hollow hole 6.

[0030] The robot 1 includes a plurality of umbilical bodies 11, and the plurality of umbilical bodies 11 include cables and air tubes for motors (not shown) mounted on the first arms 3. Figure 4 In the example shown, there are six umbilical bodies 11. Each umbilical body 11 is vertically inserted into the tube 7 of the hollow hole 6. Each umbilical body 11 is fixed to the tube 7 on the base 2 side and the first arm 3 side.

[0031] Next, the line body processing method of this embodiment is described with reference to the drawings.

[0032] In the method for processing the filaments of this embodiment, the plurality of filaments 11 penetrating the tube 7 are divided into a plurality of groups on the side of the base 2. Figure 4 In the example shown, the number of groups is three. Figure 1 As shown, all the umbilical bodies 11 of the groups are passed through the guide member 13 of the top plate 10a. After that, each umbilical body 11 is bent into a U-shape and fixed to a different umbilical body fixing portion 14 for each group.

[0033] That is, all the line bodies 11 stand up in the vertical direction from the first arm 3 side to the base 2 side in the tube 7, and pass through the guide member 13. The line bodies 11 of each group are above the guide member 13, and face different angles in the circumferential direction relative to the vertical axis O. In addition, the line bodies 11 of each group are bent 180° to face vertically downward, and are fixed to the line body fixing portion 14 of different partition walls 10b.

[0034] Below the tube 7 , the filament body 11 is bent in an arbitrary direction intersecting the vertical axis O, and is fixed to the first arm 3 by an arbitrary method.

[0035] When the first arm 3 is rotated relative to the base 2 around the vertical axis O, the fixed position of the line body 11 in the first arm 3 is displaced around the vertical axis O. The line body 11 between the fixed position in the first arm 3 and the line body fixing portion 14 in the base 2 absorbs the displacement by generating bending and twisting. The line body 11 is wired along the vertical axis O in the tube 7 that passes through the hollow hole 6 containing the vertical axis O, and is bent on both sides of the tube 7. Thus, by rotating the first arm 3 relative to the base 2, the bending and twisting generated in the line body 11 can be suppressed to a minimum.

[0036] According to the present embodiment, the plurality of line bodies 11 passing through the tube 7 are divided into a plurality of groups and are bent in different angular directions around the vertical axis O. Since they are not bent in the same direction outside the tube 7, it is not necessary to arrange all the line bodies 11 in a row when passing through the tube 7. As a result, the maximum outer dimensions of the line body 11 group when passing through the tube 7 can be reduced. The inner diameter of the tube 7 through which the line body 11 group passes and the diameter of the hollow hole 6 of the reducer 5 and the like can be reduced, and the robot 1 can be miniaturized.

[0037] In addition, the linear body 11 passing through the tube 7 passes straight through the guide member 13 above it and extends to a position higher than the top plate 10a. Therefore, the linear body 11 from the tube 7 to the guide member 13 does not contact the pulley 8b and the belt 9 around the tube 7. In addition, the portion of the linear body 11 extending from the guide member 13 to the top of the top plate 10a can also be isolated from the movable parts such as the pulley 8b by the top plate 10a and the partition wall 10b. As a result, even if the space inside the base 2 is narrow, interference between the linear body 11 inside the base 2 and the movable parts can be avoided.

[0038] In addition, according to the present embodiment, a cylindrical guide member 13 is arranged at intervals upward from the upper end of the tube 7. As a result, the outer surface of the linear body 11 that is expanded due to bending into a U-shape can be brought into contact with the inner surface of the guide member 13, thereby suppressing the expansion. Therefore, the bent portion of the linear body 11 can be corrected into a compact shape to avoid strong contact between the linear body 11 and the upper edge of the tube 7. In addition, the linear body 11 can be wired in a space-saving manner.

[0039] Furthermore, since the guide member 13 is provided separately from the tube 7 , the position of the guide member 13 can be adjusted according to the length of the umbilical body 11 , and the expansion can be appropriately corrected.

[0040] In the case where a wide space can be ensured in the base 2 and a large expanded curved portion of the umbilical body 11 can be allowed, the guide member 13 may not be provided.

[0041] In addition, in the present embodiment, the position of the line body fixing portion 14 in the flat partition wall 10b is arranged at a position away from the position of the perpendicular line V from the vertical axis O. As a result, the curvature radius of the U-shaped bend of the line body 11 can be set larger than the case where the line body fixing portion 14 is arranged at the position of the perpendicular line V. As a result, while the line body processing device 10 is compactly constructed, the curvature radius of the line body 11 can be increased, thereby achieving an increase in the life of the line body 11.

[0042] In addition, in this embodiment, the linear body processing device 10 is exemplified as being applicable to the joint portion that rotates the first arm 3 relative to the base 2. Alternatively, it may be applicable to any other joint, for example, a joint that rotates the second arm (not shown) relative to the first arm 3.

[0043] In addition, in this embodiment, the linear body processing device 10 and method for processing the linear body 11 penetrating the tube 7 on the side of the base 2 are exemplified. Alternatively, when processing is performed on the side of the first arm 3, the same linear body processing device 10 and method can also be used. In addition, the same linear body processing device 10 and method can also be used to process the linear body 11 on both sides of the tube 7.

[0044] In addition, in this embodiment, the filament body 11 penetrating the pipe 7 is bent into a U-shape on the base 2 side to be fixed to the filament body fixing portion 14. Figure 5 As shown, the filaments 11 penetrating the tube 7 may be bent into an L-shape on the base 2 side to be fixed to the filament fixing portion 14. In this case, the filaments 11 of each group may be bent in different angles in the circumferential direction around the vertical axis O.

[0045] In addition, in this embodiment, the partition wall 10b of the plate shape is exemplified. Figure 6 As shown, a cylindrical partition wall 10b may also be used.

[0046] In addition, in this embodiment, the six linear bodies 11 are divided into three groups, each with two linear bodies. Alternatively, any number of linear bodies 11 may be divided into any number of groups of more than two. In addition, the number of linear bodies 11 in each group may be any number as long as it is more than one linear body, and the number of linear bodies 11 in each group may also be different.

[0047] In this embodiment, the resin tube 7 disposed in the hollow hole 6 of the reducer 5 and the like is used to avoid contact between the filament 11 and the inner wall of the hollow hole 6. Alternatively, the tube 7 may be omitted when the hollow hole 6 has a sufficiently large inner diameter.

[0048] Description of reference numerals:

[0049] 1. Robot

[0050] 2 Base (second component)

[0051] 3First arm (first component)

[0052] 6 Hollow holes

[0053] 8a, 8b pulley (movable part)

[0054] 9 belts (movable part)

[0055] 10 Line body processing device

[0056] 10b Next door

[0057] 10c Flange (mounting part)

[0058] 11 Lines

[0059] 13 Guide components

[0060] 14 Line body fixing part

[0061] 14a Through hole (line body fixing part)

[0062] 14b incision (line body fixing part)

[0063] OVertical axis (axis)

[0064] V vertical line

Claims

1. A line body processing device, characterized in that: The filament processing device is used to route a plurality of filaments between a first component and a second component supported in a manner capable of relative rotation around a predetermined axis. The line body processing device comprises: A mounting portion, which is used to be mounted on the second component; and The filament fixing part fixes the filament, wherein the filament passes through the hollow hole of the space including the axis provided in the first component and the second component along the axis, and is bent in a direction intersecting the axis at the side of the second component. The line body fixing portion fixes the line bodies bent in different angular directions around the axis at different circumferential positions around the axis, and the line bodies are the line bodies of each group obtained by dividing a plurality of the line bodies into a plurality of groups.

2. The linear body processing device according to claim 1, characterized in that: The umbilical bodies of each group passing through the hollow hole are bent into a U-shape or an L-shape and fixed to the umbilical body fixing portion.

3. The linear body processing device according to claim 1 or 2, characterized in that: The linear body processing device includes a guide member, and the guide member is arranged at a position away from the end of the hollow hole along the axial direction. The guide component contacts the outer surface of each group of the filament bodies penetrating the hollow hole to limit the bending and expansion of the filament bodies.

4. The linear body processing device according to any one of claims 1 to 3, characterized in that: The umbilical body processing device includes a partition wall that isolates a space for arranging the umbilical body fixed to the umbilical body fixing portion from a movable portion that is arranged on the second member side and movable relative to the second member.

5. The linear body processing device according to claim 4, characterized in that: The movable portion is arranged at a position surrounding the radially outer side of the hollow hole. The partition wall is arranged at a radially outer side surrounding the movable portion.

6. The linear body processing device according to claim 4 or 5, characterized in that: The line body fixing portion is arranged on the partition wall.

7. The linear body processing device according to claim 6, characterized in that: The partition wall is formed in a flat plate shape and is arranged in plurality at a position radially outside surrounding the movable portion. The umbilical body fixing portion is arranged at a position spaced apart from a perpendicular line from the axis to each of the partition walls.

8. A method for processing a linear body, for routing a plurality of linear bodies between a first component and a second component supported in a manner capable of relative rotation around a predetermined axis, characterized in that: The plurality of linear bodies are passed through hollow holes provided in the first component and the second component along the axis, and the hollow holes include the axis. Divide the plurality of linear bodies penetrating to the second component side into a plurality of groups, The linear bodies of each group are bent in a direction intersecting the axis and in different angular directions around the axis, and are fixed to the second component at different positions in the circumferential direction around the axis.

9. The method for processing a line body according to claim 8, characterized in that: The linear bodies of each of the groups passing through the hollow hole to the second member are bent into a U-shape or an L-shape and fixed to the second member.

10. The linear body processing method according to claim 8 or 9, characterized in that: The guide member is brought into contact with the outer surface of the umbilical body that passes through the hollow hole to the second member side at a position away from the end of the hollow hole in the axial direction, thereby restricting the bending expansion of the umbilical body.

11. A robot, characterized in that: have: A first member and a second member are supported so as to be relatively rotatable about a predetermined axis; The wire body processing device according to any one of claims 1 to 7, wherein the mounting portion is fixed to the second component; and A plurality of the umbilical bodies pass through the hollow hole along the axis, are bent in a direction intersecting the axis at the side of the second component, and are fixed to the umbilical body fixing portion.

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