Rotary joint wire processing structure and
By setting extra-long linear elements between the fixed components of the rotary joint and configuring them on the outer circumferential surface of the columnar part, the problem of the linear elements being difficult to insert into the hollow hole is solved, improving the ease of assembly and disassembly, reducing the risk of wear, and enhancing the adaptability of the rotary joint.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- FANUC LTD
- Filing Date
- 2023-11-13
- Publication Date
- 2026-05-12
AI Technical Summary
In existing technologies, it is difficult for linear bodies to be effectively inserted into and pass through hollow holes extending along the axis of rotation, resulting in difficulties in assembly and maintenance.
By providing a line body with an extra length between the first and second fixed parts of the rotary joint, ensuring that the line body extends radially away in the axial direction and is configured on the outer peripheral surface of the columnar part, the reliance on the hollow hole is reduced.
It improves the ease of assembly and disassembly of lines, reduces the risk of wear between lines and surrounding components, and enhances the flexibility and adaptability of rotary joints to accommodate changes in the number or thickness of lines.
Smart Images
Figure CN122029017A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to linear processing structures and robots with rotary joints. Background Technology
[0002] A linear body processing structure is known, which is used for a joint having a first wrist element and a second wrist element connected in a manner that allows rotation about a predetermined axis of rotation, wherein a linear body is inserted into and passes through a hollow hole with the axis of rotation as the central axis (see, for example, Patent Document 1).
[0003] Existing technical documents
[0004] Patent documents
[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-006450 Summary of the Invention
[0006] The problem the invention aims to solve
[0007] In the above-described processing structure where the line body is inserted and passes through a hollow hole extending along the axis of rotation, the line body must be inserted from one side of the axis of rotation and pass through the narrow space inside the hollow hole, making assembly and maintenance difficult.
[0008] Therefore, it is desirable to improve the workability of wiring lines for rotary joints.
[0009] Solution for solving the problem
[0010] One aspect of this disclosure is a linear processing structure for a rotary joint, the rotary joint comprising: a first component; and a second component supported for rotation about a predetermined axis relative to the first component, the linear processing structure comprising: a first fixing component fixing a midpoint in the length direction of the linear body to the first component; and a second fixing component fixing another midpoint in the length direction of the linear body to the second component, the linear body between the first fixing component and the second fixing component having a margin of length required for the movement of the rotary joint, and extending along the axial direction at a position radially away from the axis. Attached Figure Description
[0011] Figure 1 This is a partial side view of a robot with a line-body processing structure applied in one embodiment of the present disclosure.
[0012] Figure 2 yes Figure 1 A schematic diagram of a cross-section of a part of the robot.
[0013] Figure 3 yes Figure 1A schematic diagram of the shape of a line form when the first arm of a robot is rotated to its extreme rearward angle.
[0014] Figure 4 yes Figure 1 A schematic diagram of the shape of a line form when the first arm of a robot is rotated to its extreme angle on the front side.
[0015] Figure 5 This is a side view of a modified example of the line body processing structure in one embodiment of the present disclosure.
[0016] Figure 6 yes Figure 1 A schematic diagram of a cross-section of a portion of the first variant of the robot.
[0017] Figure 7 yes Figure 1 A schematic diagram of a cross-section of a portion of a second variant of the robot. Detailed Implementation
[0018] The line body processing structure 1 of a robot 100 according to one embodiment of the present disclosure will now be described with reference to the accompanying drawings. The robot 100 using the line body processing structure 1 of this embodiment is, for example, a six-axis vertical joint robot.
[0019] like Figure 1 As shown, robot 100 includes a base 110 and a rotating body (first component) 120. The base 110 is disposed on a horizontal surface such as the ground, and the rotating body 120 is supported so as to be able to rotate relative to the base 110 about a vertical first axis A. Additionally, robot 100 includes a first arm (second component) 130, which is supported so as to be able to rotate relative to the rotating body 120 about a horizontal second axis (axis) B. Robot 100 also includes a second arm (not shown) and a three-axis wrist unit (not shown). The second arm is supported so as to be able to rotate relative to the front end of the first arm 130, and the three-axis wrist unit is mounted on the front end of the second arm. In other words, robot 100 has six rotary joints.
[0020] The base 110 is a box-shaped component with a hollow portion 111 formed inside. A cable distribution plate 112 is mounted on one side of the base 110 (here, the side behind the robot 100). One end of an external cable 15 extending from an externally located power supply and control device (not shown) is connected to the cable distribution plate 112. In addition, a through hole 110h is provided on the upper surface of the base 110, which includes and extends along a first axis A.
[0021] The rotating body 120 is supported by a reducer (not shown) so that it can rotate about a first axis A relative to the upper surface of the base 110. Furthermore, the rotating body 120 includes a main body 121 with a through hole 120h that includes and extends along the first axis A. Additionally, as... Figure 2 As shown, the rotating body 120 has a pair of wall-shaped support portions 122 and 123 on both sides of the through hole 120h of the main body portion 121 in the direction of the second axis B. The pair of wall-shaped support portions 122 and 123 are parallel to each other and extend vertically upward.
[0022] The support portion 122 has a through hole 122h centered on the second axis B. Furthermore, a motor 127 and a reducer 126 disposed between the motor 127 and the first arm 130 are fixed to the outer surface 122s of the support portion 122. Thus, the first arm 130 can rotate relative to the rotating body 120 about the second axis B by reducing the rotation of the motor 127 via the reducer 126. The first arm 130 is supported on the support portion 122 side by the output shaft 126a of the reducer 126.
[0023] The support portion 123 has a cylindrical columnar portion 125 on the side of the first arm 130, and the columnar portion 125 extends toward the support portion 122 with the second axis B as the central axis. In addition, the support portion 123 has a through hole 123h, which extends along the second axis B from the outer side surface 123s of the support portion 123 to the front end of the columnar portion 125.
[0024] In addition, such as Figure 1 As shown, the outer peripheral surface of the support portion 123, at least on its upper oblique front side relative to the second axis B, is formed into a cylindrical surface with the same radius as the outer peripheral surface of the columnar portion 125. Figure 1 In the example shown, the outer peripheral surface of the columnar portion 125 becomes the outer peripheral surface of the support portion 123 within a range of approximately 180° from the front to the rear of the support portion 123.
[0025] In addition, a plurality of threaded holes (not shown) for fixing the first fixing member 11 are provided near the upper edge 123e on the upper front side of the outer surface 123s of the support 123.
[0026] like Figure 2 As shown, the first arm 130 is a hollow strip with a hollow portion 131 inside. The first arm 130 is configured such that its long axis extends between a pair of support portions 122 and 123 along a plane orthogonal to the second axis B.
[0027] A cylindrical surface with a radius equal to that of the columnar portion 125 is provided within the hollow portion 131 of the first arm 130, centered on the second axis B. Furthermore, an opening 130h is formed on a portion of the circumferential direction of the cylindrical surface of the first arm 130, the opening 130h penetrating the wall 133 on the side of the support portion 123 along the thickness direction, and opening the hollow portion 131 to the outside.
[0028] In addition, a plurality of threaded holes (not shown) for fixing the second fixing member 12 are provided on the inner wall of the support portion 122 side in the hollow portion 131 of the first arm 130.
[0029] These threaded holes are positioned radially outward from the second axis B at a position slightly larger than the radius of the columnar portion 125. Additionally, when the major axis of the first arm 130 is in a vertically upward orientation, these threaded holes are positioned circumferentially around the second axis B, similar to the plurality of threaded holes on the support portion 123 used for fixing the first fixing member 11.
[0030] Additionally, a hole 130f is provided on the wall surface 133 of the first arm 130, and the hole 130f extends from the wall surface 133 to the wall surface 132 side of the support portion 122 with the second axis B as the central axis. Figure 2 As shown, the front end of a shaft 124, which is fitted into a through hole 123h in the support portion 123 from the outer side in the direction of the second axis B, is disposed within the hole 130f via a bearing. Furthermore, the shaft 124 is fixed to the support portion 123 by a plurality of bolts. Thus, the first arm 130 is supported by the shaft 124 on the support portion 123 side and is able to rotate about the second axis B.
[0031] Thus, the first arm 130 is supported on both sides of the second axis B relative to a pair of support portions 122, 123 in a manner that allows it to rotate around the second axis B, forming a two-end support beam, thereby constituting a rotary joint J.
[0032] The robot 100 has a line body 10 that runs from the distribution plate 112 of the base 110 through six rotating joints to the wrist unit at the front end.
[0033] The line body 10 transmits power signals and control signals from external power supply and control device to the motors of each rotating joint of the robot 100.
[0034] like Figure 1 and Figure 2 As shown, the line body processing structure 1 in this embodiment is a processing structure for wiring to the line body 10, which has a rotating body 120 and a first arm 130. Hereinafter, the example will be described with the first arm 130 extending vertically upward along its major axis, i.e., the first arm 130 being located at the origin.
[0035] In this configuration, the base of the line body 10 is connected to the dividing plate 112 within the hollow portion 111 of the base 110, and the front end of the line body 10 is guided upward along the first axis A through the through holes 110h and 120h. After passing through the through hole 120h, the line body 10 bends towards the rear of the robot 100, then passes behind the support portion 123 and is led outward in the direction of the second axis B.
[0036] The line body 10, extended outward in the direction of the second axis B, is guided along the outer surface 123s of the support portion 123 towards the upper and oblique front of the second axis B. Then, the line body 10 is fixed to the support portion 123 by the first fixing member 11. In this case, the first fixing member 11 is fixed to the support portion 123 by tightening bolts S1 into a plurality of threaded holes provided near the end edge 123e of the support portion 123.
[0037] Thus, after the line body 10 crosses the second axis B, near the outer peripheral surface of the end edge 123e on the upper side of the oblique front of the support part 123, the midway position of the line body 10 in the length direction is fixed to the support part 123.
[0038] Next, as Figure 2 As shown, the line body 10, located further forward than the fixing position of the first fixing member 11, bends approximately 90° toward the first arm 130. Then, the line body 10 extends along the outer peripheral surface of the columnar portion 125 and enters the hollow portion 131 through the opening 130h of the first arm 130. Subsequently, the line body 10 is fixed to the first arm 130 at a midpoint along its length by the second fixing member 12. The second fixing member 12 is fixed to the first arm 130 by tightening bolts S2 into multiple threaded holes provided on the inner wall of the hollow portion 131.
[0039] In this configuration, the second fixing member 12 is significantly moved away from the first fixing member 11 along the second axis B, and is positioned approximately in the radial and circumferential directions along the second axis B. Consequently, the line body 10 between the first fixing member 11 and the second fixing member 12 extends along the second axis B in the space radially outside the outer peripheral surface of the columnar portion 125.
[0040] The function of the line body processing structure 1 in this embodiment, constructed in this manner, will now be explained.
[0041] According to the line body processing structure 1 of the robot 100 in this embodiment, the first fixing member 11 and the second fixing member 12 are significantly spaced apart in the direction of the second axis B. Furthermore, the line body 10 is arranged along the columnar portion 125, which is positioned closer to the second axis B than the shape of the first arm 130. Therefore, the midpoint of the line body 10 in the length direction can be fixed to the first arm 130 at a position closer to the second axis B, thereby reducing the movement distance of the second fixing member 12 accompanying the movement of the first arm 130.
[0042] Therefore, even without excessive slack in the line body 10 between the first fixing member 11 and the second fixing member 12, it is possible to ensure sufficient margin, i.e., extra length, for the movement of the first arm 130. In other words, even with a relatively small extra length, the line body 10 between the first fixing member 11 and the second fixing member 12 can remain slack relative to the rotation of the first arm 130 throughout its entire range of motion about the second axis B.
[0043] Furthermore, the wiring body 10 between the first fixing member 11 and the second fixing member 12 is routed on the outer side of the outer peripheral surface of the columnar portion 125. This ensures a larger space around the wiring body 10 compared to the conventional method where the wiring body 10 is routed through a narrow space formed in a hollow hole at the location of the axis containing the rotary joint. Therefore, the workability of assembling and disassembling the wiring body 10 is improved.
[0044] Furthermore, by positioning the line body 10 on the outer side of the outer peripheral surface of the columnar portion 125, it is possible to flexibly accommodate increases in the number or thickness of the line bodies 10 to be installed. In other words, unlike conventional processing structures that allow the line bodies 10 to pass through a hollow hole, it is not necessary to correspondingly enlarge the hollow hole or increase the size of the rotating joint as the number or thickness of the line bodies 10 increases.
[0045] Furthermore, in this case, by extending the line body 10 between the first fixing member 11 and the second fixing member 12 along the direction of the second axis B and positioning it near the second axis B, the required margin for movement of the first arm 130 is ensured. Thus, even when the line body 10 between the first fixing member 11 and the second fixing member 12 is relatively long, it does not need to extend significantly radially outwards from the second axis B. Therefore, even as... Figure 3 , 4 As shown, rotating the first arm 130 backward or forward to its limit angle can also accommodate the excess length of the line body 10 inside the virtual cylindrical surface C, which is centered on the second axis B and includes the second fixing component 12.
[0046] Therefore, within the movable range of the first arm 130 around the second axis B, the possibility of the linear body 10 between the first fixed member 11 and the second fixed member 12 swinging significantly and coming into contact with surrounding components can be reduced.
[0047] Furthermore, in this embodiment, the first fixing member 11 fixes the midpoint of the line body 10 along its length to the vicinity of the outer peripheral surface of the end edge 123e of the support portion 123. That is, the portion of the line body 10 that is further forward than the first fixing member 11 is positioned further outward than the outer peripheral surface of the end edge 123e of the support portion 123. Therefore, when the first arm 130 is moved, the line body 10 between the first fixing member 11 and the second fixing member 12 is not pressed against the outer peripheral surface of the end edge 123e, reducing the possibility of wear and damage to the line body 10.
[0048] Furthermore, in this embodiment, the second fixing member 12 is disposed within the hollow portion 131 of the first arm 130. This allows for efficient use of the space along the second axis B of the rotary joint J, enabling the first fixing member 11 and the second fixing member 12 to be significantly spaced apart along the second axis B. Therefore, even without increasing the size of the rotary joint J, sufficient length leeway can be provided for the line body 10 between the first fixing member 11 and the second fixing member 12.
[0049] It should be noted that in this embodiment, the first fixing member 11 fixes the line body 10 at a position consistent with the end edge 123e of the support portion 123. Alternatively, the first fixing member 11 may also fix the line body 10 at a position intersecting with the second axis B or at a position slightly rearward of the second axis B.
[0050] For example, such as Figure 5 As shown, the first fixing member 11 can also fix the portion of the line body 10 that intersects with the second axis B slightly towards the base end. This ensures more space on the outer surface 123s for fixing the first fixing member 11. Furthermore, by attaching a low-friction component T, such as a PTFE seal, to the end edge 123e, damage to the line body 10, which is further forward than the first fixing member 11, due to contact with the support portion 123 can be prevented.
[0051] In this embodiment, the second fixing member 12 is fixed to the inner wall of the hollow portion 131 of the first arm 130. Alternatively, the second fixing member 12 can also be installed on the wall surface 133 of the first arm 130.
[0052] In this configuration, the outer surface 123s of the support portion 123 and the wall surface 133 of the first arm 130 can be significantly distanced in the direction of the second axis B. This ensures that the line body 10 between the first fixing member 11 and the second fixing member 12 has sufficient length allowance. Furthermore, since the second fixing member 12 can be attached to and detached from the first arm 130 from the outside of the first arm 130, the attachment and detachment of the second fixing member 12 can be performed more easily.
[0053] In addition, in this embodiment, the line body processing structure 1 is applied to the rotary joint J between the rotating body 120 and the first arm 130 of the robot 100, but it is not limited to this and can also be applied to other rotary joints of the robot 100.
[0054] Furthermore, in this embodiment, the application of the line body processing structure 1 to a six-axis vertical multi-joint robot 100 is described as an example, but the application of the line body processing structure 1 is not limited to this.
[0055] For example, it can be applied to any robot that has rotary joints, such as horizontal multi-joint robots. Alternatively, it can be applied to industrial machinery such as injection molding machines or machine tools that have rotary joints.
[0056] Furthermore, in the robot 100 of this embodiment, the first arm 130 is supported by a pair of support portions 122 and 123 as a beam with supports at both ends. Alternatively, when the first fixing member 11 can be positioned at a position that is significantly further away from the second fixing member 12 fixed to the first arm 130 in the direction of the second axis B, the support portion 123 can be omitted and the first arm 130 can be supported as a cantilever beam.
[0057] In addition, in this embodiment, the columnar portion 125 of the robot 100 is provided on the support portion 123 of the rotating body 120. Alternatively, the columnar portion 125 may also be provided on the wall surface 133 on the side of the support portion 123 of the first arm 130.
[0058] For example, such as Figure 6 As shown, the columnar portion 125 can protrude from the wall surface 133 of the first arm 130 toward the support portion 123. In this case, it is sufficient to have the front end of the shaft 124, which is fitted into the through hole 123h of the support portion 123 from the outside in the direction of the second axis B, fitted into the hole 130 provided on the front end side of the columnar portion 125 via a bearing.
[0059] Or, such as Figure 7 As shown, the columnar portion 125 can also be formed in a shape that protrudes outward from the inner wall of the hollow portion 131 of the first arm 130 in the direction of the second axis B, more than the wall surface 133.
[0060] The embodiments of this disclosure have been described in detail above, but this disclosure is not limited to the above-described embodiments. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit and essence of the invention derived from the claims and their equivalents. For example, in the above embodiments, the order of each action and the order of each process are shown only as an example and are not limited thereto.
[0061] The following supplementary explanations are further disclosed regarding the above-described embodiments and variations.
[0062] (Supplementary Note 1)
[0063] A linear processing structure for a rotary joint, the rotary joint comprising:
[0064] First component; and
[0065] The second component, supported to be able to rotate relative to the first component about a predetermined axis, is characterized by having the following linear processing structure:
[0066] A first fixing component, which fixes the midpoint of the line body along its length to the first component; and
[0067] The second fixing component fixes another midway point along the length of the line body to the second component.
[0068] The line body between the first fixing component and the second fixing component has the excess length required for the movement of the rotary joint, and extends along the axial direction at a position radially away from the axis.
[0069] (Supplementary Note 2)
[0070] According to Supplementary Explanation 1, the linear processing structure of the rotary joint is characterized in that,
[0071] The first component has a pair of support portions at the positions where it clamps the second component from both sides along the axis, the pair of support portions supporting the second component so that it can rotate about the axis.
[0072] One of the supporting portions, or the supported portion of the second component supported by the supporting portion, has a columnar portion extending along the axis.
[0073] The first fixing member is fixed to the outer surface of the support portion along the axial direction.
[0074] The line body between the first fixing component and the second fixing component is disposed on the radially outer side of the columnar portion.
[0075] (Supplementary Note 3)
[0076] According to Supplementary Explanation 2, the linear processing structure of the rotary joint is characterized in that,
[0077] The columnar portion is cylindrical.
[0078] The first fixing member extends the midpoint of the line body along a direction intersecting the axis, and fixes the line body at a radial position equal to the outer diameter of at least the columnar portion on the side of the second fixing member.
[0079] (Supplementary Note 4)
[0080] The linear processing structure of the rotary joint according to any one of Supplementary Descriptions 1 to 3 is characterized in that,
[0081] The second component is a hollow component having a hollow portion, and has an opening that opens the hollow portion toward the first component side in the axial direction.
[0082] The second fixing component is fixed to the hollow part.
[0083] (Supplementary Note 5)
[0084] A robot, characterized by having:
[0085] At least one rotary joint includes a first component and a second component supported to be able to rotate relative to the first component about a predetermined axis;
[0086] Linear body, which is wired across the first and second components of the rotary joint;
[0087] A first fixing component, which fixes the midpoint of the line body along its length to the first component; and
[0088] The second fixing component fixes another midway point along the length of the line body to the second component.
[0089] The line body between the first fixing component and the second fixing component has the excess length required for the movement of the rotary joint, and extends along the axial direction at a position radially away from the axis.
[0090] (Supplementary Note 6)
[0091] The robot described in Supplementary Note 5 is characterized in that,
[0092] The first component is a rotating body supported so that it can rotate relative to a base disposed on the surface to be disposed about a first axis orthogonal to the surface to be disposed.
[0093] The second component is an arm supported so that it can rotate relative to the rotating body about a second axis that extends along a plane orthogonal to the first axis.
[0094] Explanation of reference numerals in the attached figures:
[0095] 1: Linear Structure Processing
[0096] 10: Linear Font
[0097] 11: First fixed component
[0098] 12: Second fixing component
[0099] 100: Robot
[0100] 110: Base
[0101] 120: Rotating body (first component)
[0102] 122, 123: Support section
[0103] 123s: Outer side
[0104] 125: Columnar part
[0105] 130: First arm (second component)
[0106] 130h: Opening
[0107] 131: Hollow section
[0108] A: First axis
[0109] B: Second axis (axis)
[0110] J: Rotational joint
Claims
1. A linear processing structure for a rotary joint, the rotary joint comprising: First component; and The second component, supported to be able to rotate relative to the first component about a predetermined axis, is characterized by having the following linear processing structure: A first fixing component, which fixes the midpoint of the line body along its length to the first component; and The second fixing component fixes another midway point along the length of the line body to the second component. The line body between the first fixing component and the second fixing component has the excess length required for the movement of the rotary joint, and extends along the axial direction at a position radially away from the axis.
2. The linear processing structure of the rotary joint according to claim 1, characterized in that, The first component has a pair of support portions at the positions where it clamps the second component from both sides along the axis, the pair of support portions supporting the second component so that it can rotate about the axis. One of the supporting portions, or the supported portion of the second component supported by the supporting portion, has a columnar portion extending along the axis. The first fixing member is fixed to the outer surface of the support portion along the axial direction. The line body between the first fixing component and the second fixing component is disposed on the radially outer side of the columnar portion.
3. The linear processing structure of the rotary joint according to claim 2, characterized in that, The columnar portion is cylindrical. The first fixing member extends the midpoint of the line body along a direction intersecting the axis, and fixes the line body at a radial position equal to the outer diameter of at least the columnar portion on the side of the second fixing member.
4. The linear processing structure of the rotary joint according to any one of claims 1 to 3, characterized in that, The second component is a hollow component having a hollow portion, and has an opening that opens the hollow portion toward the first component side in the axial direction. The second fixing component is fixed inside the hollow part.
5. A robot, characterized in that, have: At least one rotary joint includes a first component and a second component supported to be able to rotate relative to the first component about a predetermined axis; Linear body, which is wired across the first and second components of the rotary joint; The first fixing component fixes the midpoint of the line body along its length to the first component; as well as The second fixing component fixes another midway point along the length of the line body to the second component. The line body between the first fixing component and the second fixing component has the excess length required for the movement of the rotary joint, and extends along the axial direction at a position radially away from the axis.
6. The robot according to claim 5, characterized in that, The first component is a rotating body supported so that it can rotate relative to a base disposed on the surface to be disposed about a first axis orthogonal to the surface to be disposed. The second component is an arm supported so that it can rotate relative to the rotating body about a second axis that extends along a plane orthogonal to the first axis.