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CN-122029017-A - Umbilical member treatment structure of rotary joint and robot

CN122029017ACN 122029017 ACN122029017 ACN 122029017ACN-122029017-A

Abstract

A rotating joint (J) umbilical member treatment structure (1) is provided with a first member (120) and a second member (130) which is supported so as to be rotatable about a predetermined axis (B) relative to the first member (120), wherein the rotating joint (J) umbilical member treatment structure (1) is provided with a first fixing member (11) which fixes a position midway in the longitudinal direction of an umbilical member (10) to the first member (120), and a second fixing member (12) which fixes the other position midway in the longitudinal direction of the umbilical member (10) to the second member (130), and the umbilical member (10) between the first fixing member (11) and the second fixing member (12) has a surplus length required for the operation of the rotating joint (J) and extends in the axial (B) direction at a position radially apart from the axis (B).

Inventors

  • WANG DONG

Assignees

  • 发那科株式会社

Dates

Publication Date
20260512
Application Date
20231113

Claims (6)

  1. 1. An umbilical member treatment structure of a rotary joint, the rotary joint comprising: A first part, and A second member that is rotatably supported about a predetermined axis with respect to the first member, wherein the umbilical member treatment structure of the rotary joint includes: A first fixing member for fixing a middle position of the umbilical member in the length direction to the first member, and A second fixing member that fixes the other halfway position in the longitudinal direction of the umbilical member to the second member, The umbilical member between the first and second fixing members has a margin length required for the operation of the rotary joint, and extends in the axial direction at a position radially apart from the axis.
  2. 2. The umbilical member treatment structure of a rotary joint as claimed in claim 1 wherein, The first member includes a pair of support portions that support the second member rotatably about the axis at positions sandwiching the second member from both sides in the axis direction, One of the support portions or the supported portion of the second member supported by the one support portion is provided with a columnar portion extending along the axis, The first fixing member is fixed to an outer side surface of the one support portion in the axial direction, The umbilical member between the first and second fixing members is disposed radially outward of the columnar portion.
  3. 3. The umbilical member treatment structure of a rotary joint as claimed in claim 2 wherein, The columnar portion is formed in a cylindrical shape, The first fixing member extends the halfway position of the umbilical member in a direction intersecting the axis line, and fixes the umbilical member at a radial position equal to an outer diameter of at least the columnar portion on the second fixing member side.
  4. 4. The umbilical member treatment structure of a rotary joint according to any one of claims 1 to 3, wherein, The second member is a hollow member having a hollow portion, and has an opening portion for opening the hollow portion toward the first member side in the axial direction, The second fixing member is fixed in the hollow portion.
  5. 5. A robot is characterized by comprising: At least one rotary joint including a first member and a second member supported rotatably about a predetermined axis with respect to the first member; an umbilical member that extends across the first member and the second member of the rotary joint; a first fixing member for fixing the intermediate position of the umbilical member in the longitudinal direction to the first member, and A second fixing member that fixes the other halfway position in the longitudinal direction of the umbilical member to the second member, The umbilical member between the first and second fixing members has a margin length required for the operation of the rotary joint, and extends in the axial direction at a position radially apart from the axis.
  6. 6. The robot of claim 5, wherein the robot comprises a plurality of sensors, The first member is a rotating body supported so as to be rotatable about a first axis orthogonal to a surface to be mounted with respect to a base provided on the surface to be mounted, The second member is an arm supported so as to be rotatable with respect to the rotating body about a second axis extending along a plane orthogonal to the first axis.

Description

Umbilical member treatment structure of rotary joint and robot Technical Field The present disclosure relates to an umbilical member treatment structure of a rotary joint and a robot. Background An umbilical member treatment structure is known in which an umbilical member is inserted into and passed through a hollow hole having a predetermined rotation axis as a central axis with respect to a joint including a first wrist element and a second wrist element rotatably connected about the rotation axis (for example, refer to patent document 1). Prior art literature Patent literature Patent document 1 Japanese patent laid-open No. 2020-006450 Disclosure of Invention Problems to be solved by the invention In the above-described processing structure in which the umbilical member is inserted through the hollow hole extending along the rotation axis, it is necessary to insert the umbilical member from the side of the rotation axis through a narrow space in the hollow hole, and it is difficult to perform assembly work and maintenance work. Therefore, it is desirable to improve workability in wiring an umbilical member to a rotary joint. Solution for solving the problem One aspect of the present disclosure is an umbilical member treatment structure of a rotary joint including a first member and a second member supported rotatably about a predetermined axis with respect to the first member, the umbilical member treatment structure of the rotary joint including a first fixing member that fixes a position halfway in a longitudinal direction of an umbilical member to the first member, and a second fixing member that fixes another position halfway in the longitudinal direction of the umbilical member to the second member, the umbilical member between the first and second fixing members having a margin required for operation of the rotary joint and extending in the axial direction at a position radially apart from the axis. Drawings Fig. 1 is a partial side view of a robot to which an umbilical member treatment structure in one embodiment of the present disclosure is applied. Fig. 2 is a schematic view of a section of a portion of the robot of fig. 1. Fig. 3 is a schematic view of the form of the umbilical member in a state where the first arm of the robot of fig. 1 is rotated to the limit angle on the rear side. Fig. 4 is a schematic view of the form of an umbilical member in a state where the first arm of the robot of fig. 1 is rotated to the limit angle on the front side. Fig. 5 is a side view of a modification of the umbilical member treatment structure in one embodiment of the present disclosure. Fig. 6 is a schematic view of a cross section of a part of the first modification of the robot of fig. 1. Fig. 7 is a schematic cross-sectional view of a part of a second modification of the robot of fig. 1. Detailed Description Next, an umbilical member treatment structure 1 of a robot 100 according to an embodiment of the present disclosure will be described with reference to the drawings. The robot 100 to which the umbilical member treatment structure 1 in the present embodiment is applied is, for example, a six-axis vertical multi-joint robot. As shown in fig. 1, the robot 100 includes a base 110 and a rotating body (first member) 120, the base 110 is provided on a horizontal surface to be provided such as the ground, and the rotating body 120 is supported rotatably about a vertical first axis a with respect to the base 110. The robot 100 further includes a first arm (second member) 130, and the first arm 130 is supported rotatably about a horizontal second axis (axis) B with respect to the rotating body 120. The robot 100 further includes a second arm (not shown) rotatably supported with respect to the distal end of the first arm 130, and a triaxial wrist unit (not shown) attached to the distal end of the second arm. That is, the robot 100 includes six rotary joints. The base 110 is a box-shaped member having a hollow portion 111 formed therein. A distribution board 112 is mounted on one side surface of the base 110 (here, the rear side surface of the robot 100). To the distribution board 112, one end of an external cable 15 extending from an external power supply device and a control device, not shown, is connected. In addition, a through hole 110h including the first axis a and extending along the first axis a is provided on the upper surface of the base 110. The rotating body 120 is supported rotatably about a first axis a with respect to the upper surface of the base 110 via a speed reducer, not shown. The rotary body 120 includes a body 121, and the body 121 includes a through hole 120h, and the through hole 120h includes the first axis a and extends along the first axis a. As shown in fig. 2, the rotary body 120 includes a pair of wall-shaped support portions 122 and 123 on both sides of the through hole 120h through the body 121 in the second axis B direction, and the pair of wall-shaped support portions 122 and 1