Search

CN-122003317-A - Robot

CN122003317ACN 122003317 ACN122003317 ACN 122003317ACN-122003317-A

Abstract

A robot has an opening in a hollow member, which can open the interior space to the outside, the opening having a longitudinal dimension slightly larger than the outer diameter of an umbilical member routed in the interior space, and a transverse dimension capable of pulling out the midpoint in the longitudinal direction of the umbilical member. In this robot, the opening portion includes a first portion having a longitudinal dimension and a lateral dimension that enable insertion and extraction of a hand of an operator in a state of holding the umbilical member, and a second portion having a shape in which a part of a peripheral edge of the first portion is cut out, the longitudinal dimension of the second portion being slightly larger than an outer diameter of the umbilical member, and the lateral dimension of the opening portion at the second portion may be a dimension that enables extraction of a halfway position in a longitudinal direction of the umbilical member.

Inventors

  • HIGAKI MANA

Assignees

  • 发那科株式会社

Dates

Publication Date
20260508
Application Date
20231017

Claims (5)

  1. 1. A robot is characterized in that, The hollow member is provided with an opening portion capable of opening the inner space to the outside, The opening has a longitudinal dimension slightly larger than an outer diameter of the umbilical member routed in the internal space, and a lateral dimension capable of pulling out a position midway in a longitudinal direction of the umbilical member.
  2. 2. The robot of claim 1, wherein the robot is configured to move the robot body, The opening portion has a first portion having a longitudinal dimension and a lateral dimension that enable insertion and extraction of a hand of an operator in a state of holding the umbilical member, and a second portion having a shape in which a part of a peripheral edge of the first portion is cut out, The second portion has a longitudinal dimension slightly larger than the outer diameter of the umbilical, The lateral dimension of the opening at the second portion is a dimension that enables the pulling-out of the intermediate position in the longitudinal direction of the umbilical member.
  3. 3. A robot is characterized in that, The robot is provided with a hollow first part and a hollow second part, The first member includes a main body portion that rotatably supports the second member about a predetermined axis on one end side of the axis, and a tubular pipe portion rotatably connected to the second member about the axis on the other end side of the axis and connecting an inner space of the main body portion and an inner space of the second member, The main body part and the pipeline part are integrally formed, An opening is provided at a position crossing both the main body portion and the duct portion, the opening the internal space of the main body portion to the outside and being capable of being pulled out from a position midway in a longitudinal direction of the umbilical member which is guided from the main body portion to the second member via the duct portion.
  4. 4. The robot according to claim 3, wherein, The first portion of the opening portion provided on the main body portion side has a longitudinal dimension and a lateral dimension that enable insertion and extraction of a hand of an operator in a state of holding the umbilical member.
  5. 5. The robot of claim 3 or 4, wherein the robot comprises a plurality of robot arms, The second portion of the opening portion extending to the pipe portion side has a longitudinal dimension slightly larger than an outer diameter of the umbilical member.

Description

Robot Technical Field The present disclosure relates to a robot. Background A robot is known in which a J2 base is supported rotatably about a first vertical axis with respect to a J1 base, and a first arm is supported rotatably about a second horizontal axis with respect to the J2 base (for example, see patent literature 1). The J2 base has hollow first and second housings assembled to each other by joining end surfaces having openings to each other with the openings aligned. Further, umbilical members routed from the J1 base into the first housing through the cavities of the decelerator are guided into the second housing through the aligned openings, and further into the first arm. Prior art literature Patent literature Patent document 1 Japanese patent No. 7157276 specification Disclosure of Invention Problems to be solved by the invention In patent document 1, since the second case is detachable from the first case, wiring work of the umbilical member can be performed by using the opening opened by detaching both cases. When the housing is integrally formed, if an opening of a size into which a worker can insert his or her hand is not provided on the outer surface of the housing, wiring work for the umbilical member cannot be performed. However, in general, a large number of components such as a motor and a speed reducer are disposed in the internal space of the housing, and even if an operator can insert his or her hand into the opening, a sufficient space for allowing his or her hand to move cannot be secured therein. Therefore, it is desirable to be able to easily perform the wiring work of the umbilical member in the narrow inner space of the case. Solution for solving the problem One aspect of the present disclosure is a robot including an opening portion in a hollow member, the opening portion being capable of opening an inner space of the hollow member to the outside, the opening portion having a longitudinal dimension slightly larger than an outer diameter of an umbilical member routed in the inner space, and a lateral dimension capable of pulling out a position midway in a longitudinal direction of the umbilical member. In addition, another aspect of the present disclosure is a robot including a hollow first member and a hollow second member, the first member including a main body portion that supports the second member rotatably about a predetermined axis on one end side of the axis, and a tubular duct portion that is rotatably connected to the second member about the axis on the other end side of the axis, and connects an internal space of the main body portion and an internal space of the second member, the main body portion being integrally formed with the duct portion, the main body portion having an opening portion that opens the internal space of the main body portion to the outside at a position crossing both the main body portion and the duct portion, and that is capable of pulling out a position midway in a longitudinal direction of an umbilical member that is guided from the main body portion to the second member via the duct portion. Drawings Fig. 1 is a side view of a robot in one embodiment of the present disclosure. Fig. 2 is a rear view of the robot of fig. 1. Fig. 3 is a partial enlarged view of the rear surface side of the rotating body of the robot of fig. 2. Fig. 4 is a schematic partial plan view in cross section of an umbilical member routed in the internal space of the rotating body of the robot of fig. 3. Fig. 5 is a partial enlarged view of the robot of fig. 3 in which the cover is removed from the opening provided in the rotating body. Fig. 6 is a schematic partial plan view in cross section illustrating a work of pulling out an umbilical member from an opening of a rotating body of the robot of fig. 3. Fig. 7 is a schematic partial plan sectional view similar to fig. 6. Fig. 8 is a partial enlarged view of the rear surface side of the other rotating body of fig. 3. Detailed Description Next, a robot 1 in an embodiment of the present disclosure will be described with reference to the drawings. The robot 1 in the present embodiment is, for example, a vertical six-axis multi-joint robot. As shown in fig. 1, the robot 1 includes a base 2 and a rotating body (first member, hollow member) 3, the base 2 is provided on a surface F to be provided such as the ground, and the rotating body 3 is supported rotatably about a vertical first axis J1 with respect to the base 2. The robot 1 includes a first arm (second member) 4 and a second arm 5, the first arm 4 being supported rotatably about a horizontal second axis (predetermined axis) J2 with respect to the rotating body 3, and the second arm 5 being supported rotatably about a third axis J3 parallel to the second axis J2 with respect to the first arm 4. The robot 1 further includes a triaxial wrist unit 6 attached to the distal end of the second arm 5. The base 2 supports the rotating body 3 rotatably about the first axis J1 via