Cable relay module and multijoint robot

Abstract

To provide a cable relay module which can absorb twisting of a cable caused by rotation to improve workability during wiring and facilitate assembly / disassembly work, and to provide a multijoint robot including the cable replay module in each joint.SOLUTION: A cable replay module 1 includes: a cylindrical housing 2; a cable 3; a support 4 with a bearing; motor control boards (internal mounting substrates) 11, 12; and connectors 7, 8. The cylindrical housing is installed along a rotation axis RX in a hollow part of a rotational driving unit of a multijoint robot. The cable is inserted along a center axis AX of the housing. The support with the bearing is installed on at least one bottom surface side of the housing and rotatably supports the cable. Each motor control board is incorporated into the housing and controls a driving motor of the multijoint robot. The connectors are provided on respective ends of the cable.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a cable relay module that absorbs twisting of a cable, and to an articulated robot using this cable relay module in a joint. [Background technology]

[0002] Conventionally, wiring such as power lines and signal lines, and piping such as air supply pipes in articulated robots have been constructed by passing cables through the hollow portion of the link mechanism, with the hollow portion absorbing twisting of the cables when each link operates (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-328982 Summary of the Invention [Problem to be solved by the invention]

[0004] By the way, the wiring of an articulated robot needs to be connected continuously in one stroke from the control device to the hand that performs the work, and this wiring passes through the hollow part of the link mechanism. Therefore, when the arm is driven, the hollow part of each joint rotates and the cable is twisted, so a structure is required to distribute the load so that it is not concentrated on the cable.

[0005] In addition, the structure makes it difficult to wire the equipment, and since it is not possible to assemble the main controller to actuators such as motors as units, specialized workers are required for assembly and disassembly, making it difficult to respond when it is necessary to restore service quickly.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to provide a cable relay module that can absorb twisting of the cable caused by rotation, improve workability when wiring, and facilitate assembly and disassembly, and a multi-joint robot that is equipped with this cable relay module at each joint. [Means for solving the problem]

[0007] The cable relay module of the present invention comprises a cylindrical housing installed along a rotation axis in the hollow portion of a rotation drive unit of a multi-joint robot, a cable inserted along the central axis of the housing, a bearing-equipped support device installed on at least one bottom side of the housing and supporting the cable so that it can rotate freely, an internal mounting board built into the housing and controlling the drive motor of the multi-joint robot, and connectors provided on both ends of the cable.

[0008] The present invention is also characterized in that the multi-joint robot is provided with the above-mentioned cable relay module at each joint, the cables of the multiple cable relay modules are connected in tandem with the connector, and a drive signal is input from a motor control device to the drive motor via the multiple cable relay modules. Effect of the Invention

[0009] In the present invention, the support with bearings installed on at least one bottom side of the housing absorbs the twist of the cable caused by the rotation and distributes the load according to the rotation of the joint so as not to concentrate it on the cable. In addition, by providing connectors on both ends of the cable, it is possible to assemble it in units, improving the workability when wiring and facilitating the assembly and disassembly work, allowing for quick recovery in the event of a malfunction. Furthermore, by incorporating an internal mounting board in the housing, the control device can be placed near the actuator, reducing the effects of noise.

[0010] Therefore, according to the present invention, it is possible to provide a cable relay module that can absorb twisting of the cable associated with rotation, improve workability when wiring, and facilitate assembly and disassembly work, and a multi-joint robot that is equipped with this cable relay module at each joint. [Brief description of the drawings]

[0011] [Figure 1] 1 is a cross-sectional view of a cable relay module according to an embodiment of the present invention. [Diagram 2] 1 is an external perspective view of a cable relay module according to an embodiment of the present invention; [Diagram 3] 3 is a schematic diagram showing an example of an arrangement in which a plurality of cable relay modules shown in FIGS. 1 and 2 are connected, and a state in which a joint has rotated along a rotation axis. FIG. [Figure 4] 5A to 5C are schematic diagrams for explaining an assembly and disassembly operation of the cable relay module according to the embodiment of the present invention. [Diagram 5] 3 is a front view showing an arm of a multi-joint robot in which the cable relay module shown in FIGS. 1 and 2 is used for a joint. FIG. [Figure 6] 3 is a cross-sectional view showing an arm of a multi-joint robot in which the cable relay module shown in FIGS. 1 and 2 is used in a joint. FIG. [Figure 7] 3 is a perspective view showing an arm of a multi-joint robot in which the cable relay module shown in FIGS. 1 and 2 is used for a joint. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a cross-sectional view of a cable relay module according to an embodiment of the present invention, and Fig. 2 is an external perspective view, with Fig. 1 showing a cross section taken along line X-X' in Fig. 2. As shown in Figs. 1 and 2, the cable relay module 1 is provided with a bearing-equipped support 4 for rotatably supporting a cable 3 on one bottom side of a cylindrical housing 2, and a fixing device 5 made of rubber or the like for fixing the cable 3 is installed so as to cover the other bottom side. A hexagonal flange 2a is formed on this other bottom side, and mounting holes 6-1 to 6-6 are formed for installing the cable relay module 1 in a hollow portion of a rotary drive unit of an articulated robot along a rotary shaft with bolts and nuts.

[0013] A cable (wiring such as a power line or a signal line) 3 is inserted along the central axis AX of the cylinder in the housing 2. Connectors (relay connectors) 7, 8 are provided on both ends of this cable 3. Furthermore, cable clamps 9, 10 are provided near the center of the housing 2 to support the cable 3 along the central axis AX of the housing 2. Motor control boards (internal mounting boards) 11, 12 are installed on the inner wall of the housing 2 with screws 13-1 to 13-4 or the like.

[0014] The motor control boards 11 and 12 control a drive motor (not shown) via branch wiring 3a and 3b of the cable 3, and each board is equipped with various electronic components 14a, 14b, 15a and 15b. The motor control boards 11 and 12 are connected to each other by an interconnection wiring 3c, and the electronic components 14a, 14b, 15a and 15b are connected to each other to form a motor control device.

[0015] Figure 3 shows an example of an arrangement when multiple cable relay modules shown in Figures 1 and 2 are connected, and shows a schematic diagram of a joint of an articulated robot. Here, three cable relay modules 1-1, 1-2, and 1-3 are used, and absorption of twist in the cable 3 when the joint rotates along the rotation axis RX from the state in Figure 3(a) to the state in Figure 3(b) is explained.

[0016] Assuming that a signal is input from cable relay module 1-1 (first axis), a support with bearing 4 that rotatably supports cable 3 is arranged on the upper side of cable relay module 1-1, and a fixture 5 that fixes cable 3 is arranged on the lower side. Furthermore, a support with bearing 4 that rotatably supports cable 3 is arranged on the right side of cable relay module 1-2 (second axis) where a signal is input, and a fixture 5 that fixes cable 3 is arranged on the left side. Furthermore, a support with bearing 4 that rotatably supports cable 3 is arranged on the left side of cable relay module 1-3 (third axis) where a signal is input, and a fixture 5 that fixes cable 3 is arranged on the right side.

[0017] By arranging the bearing-equipped support 4 and the fixing device 5 as described above, as shown in Figure 3(b), when the second axis (cable relay module 1-2), which is the rotation axis RX, rotates, the occurrence of twisting can be suppressed by making the bearing-equipped support 4 rotatably support the input side where twisting occurs.

[0018] That is, since the input side cable 3 moves due to the movement of the upper shaft, a bearing is mounted on the end of the cable relay module to absorb the twist. On the other hand, the positional relationship of the output side cable 3 with the lower shaft does not change, so the cable does not twist, and it is fixed with rubber or a clamp.

[0019] Therefore, the bearing-equipped support 4 installed on one side of the bottom surface of the housing 2 absorbs the twisting of the cable 3 that accompanies the rotation of the shaft, and distributes the load in accordance with the rotation of the rotating shaft so as not to be concentrated on the cable 3.

[0020] Although the bearing support 4 is provided on one of the bottom surfaces of the housing 2, it goes without saying that bearing support devices may be provided on both bottom surfaces of the housing 2.

[0021] 4 is a schematic diagram for explaining the assembly and disassembly work of the above-mentioned cable relay module. Each cable relay module 1-1, 1-2, ... is unitized, and the connector 7-1 of the cable relay module 1-1 is connected to the connector 7-2 of the cable relay module 1-2. This connects the cables 3-1, 3-2 in series. Also, the connector 8-1 of the cable relay module 1-1 is connected to the cable relay module in the previous stage, and the connector 8-2 of the cable relay module 1-2 is connected to the cable relay module in the subsequent stage. In this way, the cables of each cable relay module can be connected in series in a continuous manner, for example, from the control device to the hand performing the work, as if drawing a single line.

[0022] According to the above configuration, by providing connectors 7, 8 on both ends of cable 3, it is possible to assemble the cable as a unit, improving the workability when wiring and facilitating assembly and disassembly, allowing for quick recovery in the event of a breakdown. In addition, by incorporating motor control boards 11, 12 in housing 2, cable relay module 1 can be disposed near the drive motor (actuator), reducing the effects of noise.

[0023] 5 to 7 are respectively a front view, a cross-sectional view, and a perspective view of an arm of a multi-joint robot using the cable relay modules shown in FIGS. 1 and 2 as joints. In the arm of this multi-joint robot, cable relay modules are installed along the rotation axis in each of hollow sections 21, 22, and 23 of the rotary drive unit. For example, in hollow section 21 in FIG. 5, a cable relay module is inserted toward the back of the paper as shown by arrow AA, and is installed with a bolt and nut using a mounting hole in a flange. Meanwhile, in hollow section 22, a cable relay module is inserted from the right to the left of the paper as shown by arrow AB, and in hollow section 23, a cable relay module is inserted from the left to the right of the paper as shown by arrow AC, and is installed with a bolt and nut using a mounting hole in a flange.

[0024] By using a cable relay module in the arm of an articulated robot as shown in Figures 5 to 7, it is possible to absorb the twisting of the cable caused by the rotation that occurs with the movement of the arm, and to distribute the load according to the rotation of the joint so as not to concentrate it on the cable. In addition, it is possible to assemble it in units, which improves the workability when wiring, and simplifies the assembly and disassembly work, allowing for quick recovery in the event of a breakdown. Furthermore, since the control device can be placed near the actuator, the effects of noise can be reduced.

[0025] As described above, according to the present invention, it is possible to provide a cable relay module that can absorb twisting of a cable caused by rotation, improve workability when wiring, and facilitate assembly and disassembly work, and a multi-joint robot that is equipped with this cable relay module at each joint.

[0026] The circuit configurations, control procedures, etc. described in the above embodiments are merely schematic illustrations to enable the present invention to be understood and implemented. Therefore, the present invention is not limited to the described embodiments, and may be modified in various forms without departing from the scope of the technical ideas set forth in the claims.

[0027] For example, although a case has been described in which a motor control board is built into the cable relay module, when multiple cable relay modules are used, cable relay modules provided with a motor control board may be combined with cable relay modules without such a board. In addition, although an example has been described in which the motor control device is provided on a motor control board within the cable relay module, it is sufficient that at least some of the functions are provided within the cable relay module, and the remaining functions may be provided externally. [Explanation of symbols]

[0028] 1, 1-1, 1-2, 1-3... cable relay module, 2... housing, 2a... flange, 3, 3-1, 3-2... cable, 3a, 3b... branch wiring, 3c... interconnection wiring, 4... bearing support, 5... fixture, 6-1 to 6-6... mounting holes, 7, 8... connector, 9, 10... cable clamp, 11, 12... motor control board (internal mounting board), 13-1 to 13-4... screws, 14a, 14b, 15a, 15b... electronic components, AX... central axis, RX... rotating axis

Claims

1. A cylindrical housing is installed along a rotation axis in a hollow portion of a rotation drive unit of an articulated robot; A cable is inserted along a central axis of the housing; and a bearing-equipped support member that is installed on at least one bottom surface side of the housing and that rotatably supports the cable; An internal mounting board that is built into the housing and controls a drive motor of the articulated robot; connectors provided at both ends of the cable; A cable relay module comprising:

2. The cable relay module according to claim 1 , further comprising a fixture that is installed so as to close the other bottom side of the housing and that fixes the cable.

3. The cable relay module according to claim 1 , further comprising a cable clamp provided within the housing and supporting the cable along a central axis of the housing.

4. The cable relay module according to claim 1 , wherein the internal mounting board outputs a control signal for controlling the drive motor via a branch wiring of the cable.

5. 2. A multi-joint robot having a cable relay module according to claim 1 at each joint, wherein the cables of the plurality of cable relay modules are cascade-connected by the connector, and a drive signal is input to the drive motor from a motor control device at least partially mounted on the internal mounting board via the plurality of cable relay modules.

6. 3. A multi-joint robot including a cable relay module according to claim 2 at each joint, wherein the cables of the plurality of cable relay modules are connected in series by the connector, and a drive signal is input to the drive motor from a motor control device at least a part of which is mounted on the internal mounting board via the plurality of cable relay modules, The articulated robot according to claim 1, wherein the drive signal is input from a connector on the bearing-equipped support side of each of the cable relay modules and output from a connector on the fixing device side.

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