Striatal body processing device and robot

Abstract

A striate-body-processing device (10) for routing a plurality of striate bodies (11) between a first member (3) and a second member (2) that are supported so as to be capable of relatively rotating about a prescribed axis (O), wherein: the striate body processing device (10) comprises an attachment unit (10c) for attaching to the second member (2), and a striate-body-securing part (14a, 14b) that passes along the axis (O) of the first member (3) and the second member (2) through a central hole (6) provided to a space including the axis (O), the striate-body-securing part (14a, 14b) securing the striate bodies (11) that are bent in a direction intersecting the axis (O) to the second member (2); and the striate-body-securing part (14a, 14b) secures groups of striate bodies (11) that are bent in different angular directions about the axis (O), said groups being obtained by dividing the plurality of striate bodies (11) into a plurality of groups, to respectively different positions in a circumferential direction about the axis (O).

Description

Technical Field

[0001] This disclosure relates to a striatum processing device Place and a robot.

Background Art

[0002] A robot including a base and an arm rotatably attached to the base about a vertical first axis is known (see, for example, Patent Document 1). The cable group of this robot rises vertically upward at the base, then curves in a U shape and extends vertically downward near the first axis and enters the arm. The cable group entering the arm has the cables arranged in a row in the radial direction, and is fixed in the arm in a row form by a fixing member.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the arm is rotated with respect to the base, the fixing member 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 large in the parallel direction. It is necessary to secure a large space for the cable group to pass through so that the large-sized cable group does not rub against the surroundings even when it moves due to twisting. Therefore, it is desired to reduce the size of the space through which the cable group passes while reducing the friction between the cable group and the surroundings.

Means for Solving the Problems

[0005] One aspect of this disclosure is for wiring a plurality of striatums between a first member and a second member supported to be relatively rotatable about a predetermined axis Sheet metal bent A filament processing device comprising: a mounting portion for attachment to the second member; and a filament fixing portion that penetrates a hollow hole provided in the space including the axis of the first member and the second member along the axis, and fixes the filament curved in a direction intersecting the axis on the second member side, wherein the filament fixing portion fixes each of the filaments in each of the groups, which are formed by dividing the plurality of filaments into a plurality of groups, and which are curved in different angular directions around the axis, at different positions in the circumferential direction around the axis. [Brief explanation of the drawing]

[0006] [Figure 1] This is a partial longitudinal cross-sectional view showing a robot equipped with a linear body processing device according to one embodiment of the present disclosure. [Figure 2] Figure 1 is a perspective view showing a linear body processing device. [Figure 3] This figure shows an example of a base seating surface to which the striatum processing device shown in Figure 2 is attached, and the positional relationship between the pulley and the belt. [Figure 4] Figure 2 is a plan view illustrating the wiring direction of the wires drawn out from the guide member on the top plate of the wire processing device. [Figure 5] This is a partial longitudinal cross-sectional view showing a robot equipped with a first modified example of the striatum processing device shown in Figure 1. [Figure 6] Figure 2 is a perspective view showing another modified example of the striatum processing apparatus. [Modes for carrying out the invention]

[0007] Below, a linear body processing apparatus 10, a linear body processing method, and a robot 1 according to one embodiment of the present disclosure will be described with reference to the drawings. The robot 1 according to this embodiment is, for example, a horizontal articulated robot. As shown in Figure 1, the robot 1 includes a base (second member) 2 which is installed on a surface to be installed, such as a ceiling (not shown). The robot 1 also includes a first arm (first member) 3 which is rotatably supported relative to the base 2 about a vertical axis (a predetermined axis) O.

[0008] Robot 1 is equipped with a motor 4 on the base 2 side that generates rotational force. Robot 1 is equipped with a reduction gear 5 that reduces the rotation of the motor 4's shaft 4a and drives the first arm 3 relative to the base 2 around the vertical axis O. The reduction gear 5 is sandwiched vertically between the base 2 and the first arm 3.

[0009] The base 2, the first arm 3, and the reduction gear 5 are provided with a hollow hole 6 that penetrates vertically in the space including the vertical axis O. The robot 1 is provided with a resin pipe 7 that is positioned to penetrate the hollow hole 6 from the first arm 3 side to the base 2 side, with its lower end fixed to the first arm 3.

[0010] The reduction gear 5 is equipped with a cylindrical input shaft 5a radially outward from a pipe 7 that protrudes toward the base 2. The robot 1 is equipped with pulleys (movable parts) 8a and 8b fixed to the motor 4's shaft 4a and the input shaft 5a, respectively. The robot 1 is also equipped with a belt (movable part) 9 stretched between the pulleys 8a and 8b. The rotation of the motor 4's shaft 4a is transmitted to the input shaft 5a by the pulleys 8a and 8b and the belt 9, and is input to the reduction gear 5.

[0011] Furthermore, the robot 1 includes a linear body processing device 10 according to one embodiment of the present disclosure. As shown in Figure 2, the filament processing apparatus 10 according to this embodiment is mainly made by bending sheet metal of a certain thickness. As shown in Figure 1, the filament processing apparatus 10 is equipped with a rectangular top plate 10a that is horizontally positioned at a distance vertically above the pipe 7.

[0012] Furthermore, as shown in Figure 2, the filament processing device 10 includes three partition walls 10b connected to three sides of the top plate 10a and extending in a direction perpendicular to the top plate 10a. The corners where the top plate 10a and the partition walls 10b connect are formed at obtuse angles, for example, by bending a sheet metal twice at a 45° angle. This prevents the filament 11, which will be described later, from being pressed against the corners of the boundary between the top plate 10a and the partition walls 10b.

[0013] Each partition wall 10b is provided with a flange (mounting portion) 10c at its tip for fixing the filament processing device 10 to the seating surface 2a of the base 2 by bolts 12. The flange 10c is provided with a through hole 10d that penetrates in the thickness direction of the plate. The bolts 12 passed through the through hole 10d of the flange 10c are fastened to the screw holes (see Figure 3) 2b of the seating surface 2a. This allows the filament processing device 10 to be fixed to the base 2.

[0014] As shown in Figure 3, the seating surface 2a of the base 2 is located radially outward of the pulley 8b fixed to the input shaft 5a in a plan view. When the flange 10c is fastened to the seating surface 2a with bolts 12, each partition wall 10b rises from the base 2 radially outward of the pulley 8b. That is, the pulley 8b is positioned to surround the radially outward of the hollow hole 6, and each partition wall 10b is positioned to surround the radially outward of the pulley 8b. As a result, the three partition walls 10b separate the space outside the partition walls 10b from the space inside where the pulley 8b and belt 9 are located.

[0015] As shown in Figure 1, the filament processing device 10 has a circular through-hole 10e in the top plate 10a that penetrates in the thickness direction of the plate. The filament processing device 10 also has a cylindrical guide member 13 fitted into the through-hole 10e. The guide member 13 is positioned away from the end of the hollow hole 6 in the direction of the vertical axis O. The guide member 13 is made of a resin with good sliding properties, such as PTFE. With the filament processing device 10 fixed to the base 2, the through-hole 10e in the top plate 10a is located vertically above the pipe 7.

[0016] Each partition wall 10b is provided with multiple through holes (wire fixing parts) 14a and notches (wire fixing parts) 14b that penetrate in the thickness direction of the plate. Through holes may be used instead of notches 14b. A wire 11 that runs vertically along the outer surface of the partition wall 10b can be easily secured by cable ties 15 that pass through the through holes 14a and notches 14b. This allows the wire 11 that has penetrated the pipe 7 to be fixed on the base 2 side.

[0017] As shown in FIG. 2, the through holes 14a and the notch 14b (hereinafter, the wire body fixing portion 14) are provided in each of the three partition walls 10b. As shown in FIG. 4, each wire body fixing portion 14 fixes the wire body 11 at a position spaced apart from the perpendicular V to each partition wall 10b from the vertical axis O by an interval D. Therefore, in a state where the wire body processing apparatus 10 is fixed to the base 2, the wire body fixing portion 14 is located in different angular directions around the vertical axis O with respect to the hollow hole 6.

[0018] The robot 1 includes a plurality of wire bodies 11 including cables and air tubes for a motor (not shown) mounted on the first arm 3. In the example shown in FIG. 4, the number of wire bodies 11 is six. Each wire body 11 vertically penetrates through the pipe 7 disposed in the hollow hole 6. Further, each wire body 11 is fixed on the base 2 side and the first arm 3 side of the pipe 7.

[0019] Next, the wire body processing method according to the present embodiment will be described below with reference to the drawings. The wire body processing method according to the present embodiment divides a plurality of wire bodies 11 penetrating through the pipe 7 into a plurality of groups on the base 2 side. In the example shown in FIG. 4, the number of groups is three. As shown in FIG. 1, all the groups of wire bodies 11 are passed through the guide member 13 of the top plate 10a. Thereafter, each wire body 11 is bent into a U shape and fixed to different wire body fixing portions 14 for each group.

[0020] That is, all the wire bodies 11 rise vertically from the first arm 3 side to the base 2 side in the pipe 7 and pass through the guide member 13. The wire bodies 11 of each group are directed in different angular directions in the circumferential direction with respect to the vertical axis O above the guide member 13. Then, the wire bodies 11 of each group are bent by 180° and directed vertically downward, and are fixed to the wire body fixing portions 14 of different partition walls 10b. Below the pipe 7, the wire body 11 is bent in an arbitrary direction intersecting the vertical axis O and fixed to the first arm 3 by an arbitrary method.

[0021] When the first arm 3 is rotated around the vertical axis O relative to the base 2, the fixed position of the wire body 11 on the first arm 3 is displaced around the vertical axis O. The wire body 11 between the fixed position on the first arm 3 and the wire body fixing part 14 on the base 2 absorbs the displacement by generating curvature and twisting. The wire body 11 is routed along the vertical axis O inside a pipe 7 that penetrates a hollow hole 6 containing the vertical axis O, and is curved on both sides of the pipe 7. This minimizes the curvature and twisting generated in the wire body 11 due to the rotation of the first arm 3 relative to the base 2.

[0022] According to this embodiment, the multiple wire bodies 11 that pass through the pipe 7 are divided into multiple groups and curve in different angular directions around the vertical axis O. Since they are not curved in the same direction outside the pipe 7, it is not necessary to arrange all the wire bodies 11 in a single line when passing through the pipe 7. As a result, the maximum external dimensions of the group of wire bodies 11 passing through the pipe 7 can be reduced. The inner diameter of the pipe 7 through which the group of wire bodies 11 passes and the diameter of the hollow hole 6 of the reducer 5, etc. can be reduced, making the robot 1 more compact.

[0023] Furthermore, the wire body 11 that has passed through the pipe 7 passes straight through the guide member 13 above it and emerges above the top plate 10a. Therefore, the wire body 11 from the pipe 7 to the guide member 13 does not come into contact with the pulley 8b and belt 9 around the pipe 7. In addition, the portion of the wire body 11 that emerges above the top plate 10a from the guide member 13 is also isolated from 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 wire body 11 inside the base 2 and the movable parts can be avoided.

[0024] Furthermore, according to this embodiment, a cylindrical guide member 13 is positioned at a distance above the upper end of the pipe 7. This allows the outer surface of the wire body 11, which bulges when curved into a U-shape, to come into contact with the inner surface of the guide member 13, thereby suppressing bulging. Consequently, the curved portion of the wire body 11 can be straightened into a compact shape, avoiding strong contact between the wire body 11 and the upper edge of the pipe 7. In addition, the wire body 11 can be routed in a space-saving manner.

[0025] Furthermore, since the guide member 13 is provided separately from the pipe 7, the position of the guide member 13 can be adjusted to match the length of the filament 11, allowing for proper correction of the bulge. If a large space can be secured within the base 2 and the large bulge of the linear body 11 can be tolerated, the guide member 13 may not be provided.

[0026] Furthermore, in this embodiment, the position of the filament fixing part 14 on the flat partition wall 10b is set at a position away from the position of the perpendicular line V from the vertical axis O. This allows the radius of curvature of the U-shaped curve of the filament 11 to be set larger than when the filament fixing part 14 is set at the position of the perpendicular line V. As a result, the lifespan of the filament 11 can be improved by increasing the radius of curvature of the filament 11 while maintaining a compact configuration of the filament processing device 10.

[0027] In this embodiment, the example shown is a striatum processing device 10 applied to a joint portion that rotates the first arm 3 relative to the base 2. Alternatively, it may be applied to any other joint, for example, a joint that rotates the second arm (not shown) relative to the first arm 3.

[0028] Furthermore, in this embodiment, a filament processing device 10 and method for processing the filament 11 that penetrates the pipe 7 on the base 2 side have been illustrated. Alternatively, a similar filament processing device 10 and method may be used when processing on the first arm 3 side. Also, the filament 11 may be processed on both sides of the pipe 7 using a similar filament processing device 10 and method.

[0029] In this embodiment, the wire body 11 that passes through the pipe 7 is curved in a U-shape on the base 2 side and fixed to the wire body fixing part 14. Alternatively, as shown in Figure 5, the wire body 11 that passes through the pipe 7 may be curved in an L-shape on the base 2 side and fixed to the wire body fixing part 14. In this case as well, the wire bodies 11 of each group can be curved in different angular directions in the circumferential direction around the vertical axis O.

[0030] Furthermore, in this embodiment, a flat partition wall 10b is exemplified. Alternatively, a cylindrical partition wall 10b may be used, as shown in Figure 6. In this embodiment, the six striatums 11 are divided into three groups of two. Alternatively, any number of striatums 11 may be divided into any number of groups of two or more. Furthermore, the number of striatums 11 in each group can be any number, as long as it is one or more, and the number of striatums 11 may differ from group to group.

[0031] Furthermore, in this embodiment, a resin pipe 7 is used, which is placed inside the hollow hole 6 of the gearbox 5, etc., to prevent the wire body 11 from contacting the inner wall of the hollow hole 6. Alternatively, if the hollow hole 6 has a sufficiently large inner diameter, the pipe 7 may be omitted. [Explanation of symbols]

[0032] 1 Robot 2. Base (Second component) 3. First arm (first member) 6 hollow hole 8a, 8b Pulley (movable part) 9. Belt (movable part) 10. Stripe body processing device 10b Bulkhead 10c flange (mounting part) 11. Striatum 13 Guide member 14. Striatal fixation part 14a Through hole (for fixing the filament) 14b Notch (for fixing the filamentous body) O Vertical axis (axis) V-shaped perpendicular line

Claims

1. A wire frame processing device comprising a sheet metal bent to wire a plurality of wire frames between a first member and a second member supported so as to be rotatable relative to each other around a predetermined axis, A mounting portion for attaching to the second member, A wire fixing portion penetrates a hollow hole provided in the space of the first member and the second member including the axis, along the axis, and on the second member side, the wire fixing portion fixes the wire which is curved in a direction intersecting the axis, The system comprises a guide member positioned at a location away from the end of the hollow hole in the axial direction, The linear body fixing part divides the plurality of linear bodies into a plurality of groups, and fixes each of the linear bodies in each group, which are curved in different angular directions around the axis, at different positions in the circumferential direction around the axis. A filament processing apparatus in which the filament is fixed to the first member, and the guide member contacts the outer surface of each group of filaments that penetrate the hollow hole so as to be relatively movable between the fixing position on the first member and the position on the second member where it is fixed by the filament fixing portion, thereby limiting the curvature of the filament.

2. The wire body processing apparatus according to claim 1, wherein each of the groups of wire bodies that penetrate the hollow hole is curved in a U-shape or an L-shape and fixed to the wire body fixing part.

3. The wire body processing apparatus according to claim 1 or claim 2, comprising a partition wall that separates the space in which the wire body fixed to the wire body fixing part is arranged from a movable part arranged on the second member side and movable relative to the second member.

4. The movable part is positioned to surround the radially outward side of the hollow hole, The linear body processing apparatus according to claim 3, wherein the partition wall is positioned to surround the radially outward side of the movable part.

5. The wire body fixing portion is provided in the partition wall, as described in claim 3.

6. The partition wall is formed in a flat plate shape and is arranged in multiple locations surrounding the radially outward side of the movable part. The linear body processing apparatus according to claim 5, wherein the linear body fixing portion is positioned at a distance from the axis to the perpendicular to each partition wall.

7. A wire processing device for wiring multiple wires between a first member and a second member that are supported so as to be rotatable relative to each other around a predetermined axis, A mounting portion for attaching to the second member, A wire fixing portion penetrates a hollow hole provided in the space of the first member and the second member including the axis, along the axis, and on the second member side, the wire fixing portion fixes the wire which is curved in a direction intersecting the axis, A partition wall is provided to separate the space in which the wire body fixed to the wire body fixing part is positioned from a movable part that is located on the side of the second member and is movable relative to the second member, The linear body fixing part divides the plurality of linear bodies into a plurality of groups, and fixes each of the linear bodies in each group, which are curved in different angular directions around the axis, at different positions in the circumferential direction around the axis. The movable part is positioned to surround the radially outward side of the hollow hole, A linear body processing device in which the partition wall is positioned to surround the radially outward side of the movable part.

8. A first member and a second member are supported so as to be able to rotate relative to each other around a predetermined axis, A wire processing apparatus according to any one of claims 1, 2, and 7, wherein the mounting portion is fixed to the second member, A robot comprising a plurality of wires that penetrate the hollow hole along the axis, are curved on the second member side in a direction intersecting the axis, and are fixed to the wire fixing part.

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