JP2021094649A - Industrial robot - Google Patents

Abstract

To solve the problem that it is difficult to secure heat radiation property of a pivotally-movable motor while suppressing a cable from contacting the pivotally-movable motor that may be caused by pivotally moving and rotating a support arm.SOLUTION: A fifth motor 40E that pivotally moves a support arm with respect to an upper arm 20 is fixed to an arm part of an industrial robot, at a position offset from a fourth rotating shaft J4. In the arm part, at a base end of the arm part are formed a ring-like insertion part 22A through which a cable 50 is inserted and an arm main body 22B extending from the insertion part 22A to be arranged in parallel with the cable. The arm main body 22B is provided with a clamp part 25 that holds the cable 50 on the arm main body 22B, at a position opposite to the fifth motor 40E, and a guide part 26 that movably guides the cable 50, at a side closer to a tip side of the arm part than the clamp part 25 and the fifth motor 40E.SELECTED DRAWING: Figure 7

Description

The present invention relates to an industrial robot in which a plurality of arms are connected.

Conventionally, as this type of industrial robot, Patent Document 1 describes a lower arm whose base end is pivotally attached to a base, an upper arm which is pivotally attached to the tip of the lower arm, and a support pivotally attached to the tip of the upper arm. An industrial robot equipped with an arm has been proposed.

In this upper arm, cables are arranged along a rotation axis along the longitudinal direction, and by arranging the cables so as to be adjacent to the arm body of the upper arm, the cables are exposed from the upper arm. This makes it possible to attach the cable to the upper arm.

JP-A-2014-136280

However, in the industrial robot according to Patent Document 1, since the pivot motor for pivoting the support arm is built in the upper arm, the heat generated when the pivot motor is driven cannot be sufficiently dissipated. ..

In view of these points, for example, it is conceivable to arrange the pivot motor in the exposed part of the arm body of the upper arm, but in this case, the cable swings around due to the pivot of the support arm, and these motors There is a risk of the cable coming into contact with the cable.

The present invention has been made in view of these points, and an object of the present invention is to ensure heat dissipation of the pivot motor and to bring the cable into contact with the pivot motor by pivoting and rotating the support arm. The purpose is to provide an industrial robot that can suppress the need to do so.

In view of the above problems, the industrial robot according to the present invention has a lower arm pivotally attached to a base, an upper arm pivotally attached to the tip of the lower arm, and a support pivotally attached to the tip of the upper arm. An industrial robot including an arm and at least a cable arranged on the upper arm, wherein the upper arm has a joint portion pivotally attached to the tip of the lower arm and a rotation axis along the longitudinal direction of the upper arm. The arm portion is provided with an arm portion attached to the joint portion so as to be rotatable by the above, the cable is arranged along the longitudinal direction, and the support arm is provided on the arm portion. A pivot motor that pivots with respect to the upper arm is fixed at a position offset from the rotation axis, and the arm portion includes an insertion portion through which the cable is inserted and an insertion portion at the base end of the arm portion. An arm body extending from the insertion portion so as to be juxtaposed with the cable is formed, and the arm body holds the cable in the arm body at a position facing the pivot motor. It is characterized in that a clamp portion and a guide portion for movably guiding the cable are provided on the tip end side of the arm portion rather than the clamp portion and the pivot motor.

According to the present invention, the cable is arranged along the longitudinal direction of the upper arm, and the arm body extends so as to be juxtaposed with the cable. Since the pivot motor is attached to the arm body extending from the insertion portion, the pivot motor is exposed. Therefore, the heat generated when the pivot motor is driven can be dissipated. If the insertion portion through which the cable is inserted is, for example, a ring shape on the base end side of the arm body, the cable can be exposed to the outside from the upper arm in a wider range.

Further, since the arm body is provided with a clamp portion for fixing the cable to the arm body at a position facing the pivot motor, the cable comes into contact with the pivot motor due to the swinging of the cable when the support arm operates. Can be prevented. Further, by providing a guide portion for movably guiding the cable on the tip end side of the arm portion, it is possible to limit the swinging range of the cable.

In a more preferred embodiment, the clamp portion and the guide portion are arranged in the center of the arm body along the longitudinal direction. According to this aspect, where the cable tends to swing around in the center of the arm body along the longitudinal direction, the swinging of the cable can be suppressed by providing the clamp portion and the guide portion in the center of the arm body.

In a more preferred embodiment, a connection portion in which wiring is connected to the pivot motor is arranged between the clamp portion and the guide portion. According to this aspect, even if the connecting portion is provided between the clamp portion and the guide portion, the swing of the cable is restricted, so that it is possible to prevent the cable from coming into contact with the connecting portion.

In a more preferred embodiment, the clamp portion and the guide portion are fixed to the arm body via a base plate. According to this aspect, when the clamp portion and the guide portion are attached to the arm main body, they can be attached to the base plate first, and then the base plate can be fixed to the arm main body. Thereby, before attaching the base plate to the arm body, it is possible to attach them to the base plate while adjusting the relative positions of the clamp portion and the guide portion more accurately.

In a more preferred embodiment, the guide portion is a frame body that is erected on the arm portion and has a guide hole for guiding the cable, and the peripheral edge portion of the guide portion is directed to the outside of the guide hole. It is bending toward. According to this aspect, even if the cable swings around in the guide portion, it is possible to prevent the cable from coming into contact with the edge of the peripheral edge of the frame and damaging the cable.

According to the present invention, it is possible to ensure the heat dissipation of the pivot motor and prevent the cable from coming into contact with the pivot motor due to the pivot and rotation of the support arm.

It is a perspective view which looked at the industrial robot which concerns on embodiment of this invention from the front side. FIG. 5 is a perspective view of the industrial robot shown in FIG. 1 as viewed from the rear side. It is a perspective view which looked at the industrial robot which concerns on embodiment of this invention from the other side of FIG. It is a side view of the upper arm shown in FIG. It is an enlarged perspective view of the upper arm shown in FIG. FIG. 5 is an enlarged perspective view of the upper arm shown in FIG. 5 as viewed from below. FIG. 5 is an enlarged perspective view of a main part of the upper arm shown in FIG.

Hereinafter, the industrial robot 1 (hereinafter referred to as robot 1) according to the embodiment of the present invention will be described in detail with reference to FIGS. 1 to 7.

As shown in FIGS. 1 and 2, the robot 1 has an end effector such as a gripping device and a welding device attached to its tip.

1. 1. Overall structure of robot 1 Robot 1 is a manipulator. The robot 1 is provided with a control device (not shown) that controls each motor or the like, and the operation of the robot 1 is controlled by the control device.

The robot 1 includes a base 11, and the base 11 is installed on an installation surface. The base 11 includes a fixed base 11a fixed to the installation surface and a swivel base 11b that swivels around the first axis J1 along a direction orthogonal to the installation surface. The output shaft (not shown) of the first motor 40A is connected to the swivel base 11b. As a result, the swivel base 11b is pivotally moved around the first axis J1 with respect to the fixed base 11a.

The robot 1 includes a lower arm 12 whose base end is pivotally attached to a base 11, an upper arm 20 pivotally attached to the tip of the lower arm 12, and a support arm 30 pivotally attached to the tip of the upper arm 20. .. These arms are made of metal and consist of, for example, cast iron, cast iron alloy castings.

A cable 50 is arranged in the robot 1 along the lower arm 12 from the base 11 as shown by the virtual line of the alternate long and short dash line in FIG. Further, as shown in FIGS. 2 and 3, the cable 50 is arranged on the upper arm 20 and connected to the end effector (not shown) via the support arm 30.

The lower arm 12 is pivotally attached (rotatably) to the base 11 via the second motor 40B to the second rotating shaft J2 which is parallel to the first shaft J1 in the direction orthogonal to the first shaft J1. The upper arm 20 is pivotally attached (rotatably) to the lower arm 12 around the third rotating shaft J3 parallel to the second rotating shaft J2 via the third motor 40C.

The upper arm 20 includes a joint portion 21 pivotally attached to the tip of the lower arm 12 and an arm portion 22 attached to the joint portion 21 so as to be rotatable on a fourth rotation axis J4 along the longitudinal direction of the upper arm 20. , Is equipped.

Specifically, the lower arm 12 and the joint portion 21 are pivotally attached via the third motor 40C described above. The arm portion 22 is rotated around the fourth rotation axis J4 with respect to the joint portion 21 by the power of the fourth motor 40D. This "fourth rotation axis J4" corresponds to the "rotation axis along the longitudinal direction of the upper arm" in the present invention.

Further, the tip of the upper arm 20 is a portion corresponding to the wrist portion of the robot 1, and a support arm 30 for supporting an end effector (not shown) is attached. In the present embodiment, the fifth motor 40E that pivots the support arm 30 with respect to the arm portion 22 is fixed to the arm portion 22 of the upper arm 20. As shown in FIG. 4, the fifth motor 40E is fixed at a position offset from the fourth rotating shaft J4 in which the arm portion 22 rotates. Here, the fifth motor 40E corresponds to the "pivot motor" referred to in the present invention.

The fifth motor 40E is connected to the support arm 30 via a power transmission belt or the like built in the arm body 22B. As a result, the power of the fifth motor 40E is transmitted to the power transmission belt (not shown) built in the arm body 22B, so that the support arm 30 is connected to the arm portion 22 by the fifth rotation shaft J5. Pivot (swing).

More specifically, the support arm 30 is cantilevered with respect to the upper arm 20, and includes a joint portion 31 attached to the upper arm 20 and a support portion main body 32 attached to the joint portion 31. There is. On one side of the joint portion 31, the joint portion 31 is pivotally attached to the arm portion 22 at the tip of the arm portion 22 of the upper arm 20 so as to be pivotally movable on the fifth rotation axis J5. The support portion main body 32 is rotatably attached to the joint portion 31 around the axis of the support arm 30 with respect to the joint portion 31. Further, a sixth motor 40F for rotating the support portion main body 32 is fixed to the joint portion 31 around the axis of the support arm 30 (specifically, the sixth rotation shaft J6).

As a result, the joint portion 31 is pivotally moved around the fifth rotation axis J5 together with the support portion main body 32 with respect to the arm portion 22 by the power of the fifth motor 40E. In addition to this, the support portion main body 32 rotates around the sixth rotation shaft J6 with respect to the joint portion 31 by the power of the sixth motor 40F.

2. About the structure of the arm portion 22 of the upper arm 20 As shown in FIG. 5, the arm portion 22 of the upper arm 20 is formed from the ring-shaped insertion portion 22A into which the cable 50 is inserted and the insertion portion 22A at the base end of the arm portion 22. An arm body 22B extending so as to be juxtaposed with the cable 50 is formed. A through hole 22a through which the cable 50 is inserted is fixed in the insertion portion 22A. The term "ring-shaped" as used herein includes not only circular loops, but also elliptical loops, polygonal loops, and the like.

The arm body 22B is formed so as to be continuous from a part of the peripheral edge of the ring-shaped insertion portion 22A. In the portion other than the first reinforcing rib 23 and the second reinforcing rib 24, which will be described later, the arm body 22B is centered on the fourth rotation shaft J4 and has an upper arm with a certain angle range from around the ring-shaped insertion portion 22A. It extends toward the tip of 20. This angle is preferably in the range of, for example, about 45 ° to 90 °.

The arm portion 22 is formed with a first reinforcing rib 23 projecting from the arm body 22B so as to surround the fifth motor 40E at a position opposite to the cable 50 with the fifth motor 40E in between. By providing the first reinforcing rib 23 so as to surround the fifth motor 40E, the fifth motor 40E can be protected and the rigidity of the arm portion 22 can be increased.

In the present embodiment, as shown in FIGS. 4 and 6, the first reinforcing rib 23 extends from the insertion portion 22A toward the tip end side of the arm main body 22B. As a result, bending of the arm body 22B along the longitudinal direction can be suppressed. When an end effector (not shown) is attached to the support arm 30, a bending moment is likely to act on the base end of the arm body 22B, but by providing the first reinforcing rib 23, the bending rigidity of the arm portion 22 is increased. It can be increased and the strength of the arm portion 22 can be secured.

Further, in the present embodiment, as shown in FIG. 6, the protrusion of the first reinforcing rib 23 from the arm body 22B decreases as it advances toward the tip of the arm body 22B. That is, the amount of protrusion of the first reinforcing rib 23 from the arm body 22B decreases toward the tip of the arm body 22B.

As a result, the weight of the first reinforcing rib 23 on the tip end side of the arm body 22B can be suppressed, and the bending of the arm portion 22 along the longitudinal direction on the base end side of the arm body 22B can be suppressed. Further, in the section from the position where the fifth motor 40E is fixed to the tip end side of the arm body 22B, the overhang of the first reinforcing rib 23 decreases as it advances toward the tip end side. The cable 50 can be visually recognized.

Specifically, as shown in FIGS. 4 and 6, the first reinforcing rib 23 projects from the longitudinal edge of the side surface 22b of the arm body 22B facing the cable 50 (fourth rotation axis J4). There is. More specifically, the first reinforcing rib 23 is located on the insertion portion 22A side of the fifth motor 40E along the direction of orbiting the fourth rotation axis J4 (that is, around the ring-shaped insertion portion 22A). Along), overhanging. Further, the first reinforcing rib 23 projects from the portion facing the fifth motor 40E along the direction intersecting the side surface 22b at the portion extending toward the tip end side of the arm portion 22 (that is, the arm body 22B). ..

Further, in the present embodiment, the arm portion 22 is formed with a second reinforcing rib 24 projecting from the arm main body 22B so as to face the first reinforcing rib 23 with the cable 50 interposed therebetween. As a result, the strength of the arm body 22B can be increased by the first reinforcing rib 23 and the second reinforcing rib 24.

More specifically, the second reinforcing rib 24 is formed on the insertion portion 22A side of the position where the fifth motor 40E is fixed. More specifically, the second reinforcing rib 24 is formed from the insertion portion 22A to the vicinity of the center in the longitudinal direction of the arm body 22B. The second reinforcing rib 24 is not formed in the section from the vicinity of the center in the longitudinal direction of the arm body 22B to the tip of the arm portion 22. As a result, when the fourth rotating shaft J2 is viewed from the second reinforcing rib 24 side, the cable 50 can be visually recognized together with the clamp portion 25 described later, so that the wiring work of the cable 50 is easy.

Here, the second reinforcing rib 24 projects from the arm body 22B along the direction of orbiting around the fourth rotation axis J4 (that is, along the edge of the ring-shaped insertion portion 22A). .. As a result, on the insertion portion 22A side of the fifth motor 40E, a part of the second reinforcing rib 24 and the first reinforcing rib 23 is stretched along the direction of rotating around the fourth rotation shaft J4 from the arm body 22B. The shape of the arm portion 22 on the insertion portion 22A side of the fifth motor 40E is such that the peripheral wall of the tubular portion is cut off.

With such a shape, not only the cable 50 can be exposed from the arm portion 22 on the insertion portion 22A side of the position where the fifth motor 40E is fixed, but also the insertion portion through which the cable 50 is inserted can be exposed. The through hole 22a of 22A can be visually recognized.

Similar to the first reinforcing rib 23, the second reinforcing rib 24 has a smaller protrusion from the arm main body 22B toward the tip of the arm main body 22B. In the present embodiment, the second reinforcing rib 24 is formed from the insertion portion 22A to the vicinity of the center in the longitudinal direction of the arm body 22B. In addition to this, as shown in FIG. 5, the first reinforcing rib 23 projects larger than the second reinforcing rib 24 on the insertion portion 22A side of the arm portion 22. That is, the overhanging amount of the first reinforcing rib 23 is larger than the overhanging amount of the second reinforcing rib 24 on the insertion portion 22A side of the arm portion 22.

As described above, the arm body 22B extends so as to be juxtaposed with the cable 50, and the insertion portion 22A into which the cable 50 is inserted is ring-shaped on the base end side of the arm body 22B. It can be exposed in a wider range from the upper arm 20.

Further, as described above, the first reinforcing rib 23 projects larger than the second reinforcing rib 24 on the insertion portion 22A side of the position where the fifth motor 40E is fixed. Therefore, in the section along the longitudinal direction of the arm portion 22, in the section on the insertion portion 22A side from the position where the fifth motor 40E is fixed, the cable 50 is arranged on the second reinforcing rib 24 side. It is possible to secure an open space for the purpose.

Further, in the section where the fifth motor 40E is fixed, the arm portion 22 has a first protruding from the arm body so as to surround the fifth motor 40E at a position opposite to the cable 50 with the fifth motor 40E in between. Reinforcing ribs 23 are formed. Therefore, an open space is formed so that the cable 50 is exposed on the side opposite to the position where the first reinforcing rib 23 is formed on the fifth motor 40E. As a result, it is possible to secure a space for arranging the cable 50.

3. 3. Mounting structure of the cable 50 The mounting structure of the cable 50 will be described below. A cable 50 is attached to the robot 1 as shown by the virtual lines of FIGS. 1 to 7. There are a plurality of cables 50, and the virtual line shown in the figure shows the range through which the plurality of cables pass. As shown in FIG. 1, the cable 50 is arranged along the lower arm 12 from the base 11. As shown in FIGS. 2 and 3, the cable 50 is arranged on the upper arm 20 and is connected to the end effector (not shown) via the support arm 30. As described above, this end effector is attached to the support arm 30 and is supported by the support arm 30. A part of the cable 50 may be connected to the fifth motor 40E and the sixth motor 40F.

The cable 50 is arranged in the upper arm 20 along the longitudinal direction of the arm portion 22. In the drawings, the cable 50 is shown to be arranged on the fourth rotation axis J4 for convenience, but the cable 50 is not subjected to a large tension due to the pivotal movement and rotation of the support arm 30. Is arranged on the arm portion 22 with a slack. Therefore, in the present invention, "the cable is arranged along the longitudinal direction of the upper arm" includes such a state.

In the present embodiment, a through hole 22a is formed in the insertion portion 22A of the arm portion 22, and a through hole 30a is also formed in the support arm 30. Therefore, the cable 50 is inserted through the through hole 22a of the arm portion 22, is arranged along the longitudinal direction of the arm portion 22, is inserted through the through hole 30a of the support arm 30, and is connected to an end effector (not shown). Will be done.

In the present embodiment, the fifth motor 40E is fixed to the arm body 22B at a position offset from the fourth rotation axis J4. Specifically, the fifth motor 40E is arranged closer to the first reinforcing rib 23 than the fourth rotating shaft J4. Further, the sixth motor 40F is fixed to the joint portion 31 of the support arm 30 at a position offset from the fourth rotation axis J4. Specifically, the sixth motor 40F and the arm portion 22 are arranged at positions such that the fourth rotation shaft J4 is sandwiched between them.

By arranging the fifth motor 40E and the sixth motor 40F at such a position, a space through which the cable 50 passes can be formed on the fourth rotation shaft J4. Further, since the fifth motor 40E and the sixth motor 40F are exposed from the arm portion 22, the heat generated during their driving can be easily dissipated to the outside.

The arm portion 22 has a supply line for supplying electric power to the fifth motor 40E, a signal line for a control signal for controlling the rotation of the fifth motor 40E (not shown), a rotation position detected by the fifth motor 40E, and the like. Wiring (not shown) such as a detection line (not shown) for the detection signal is arranged. In the present embodiment, these wirings are arranged by a route different from that of the cable 50, and the arm portion 22 is provided with a connecting portion 41E in which these wirings are connected to the fifth motor 40E. The connecting portion 41E is arranged between the clamp portion 25 and the guide portion 26, which will be described later, at a position along the longitudinal direction.

In the present embodiment, as shown in FIGS. 6 and 7, the connection portion 41E is composed of these wirings (not shown) and a wiring box accommodating these wirings. For example, these wirings are included. May be in a state of being bound by a binding band or the like. Similarly, a connecting portion 41F is provided in which wiring (not shown) such as a supply line, a signal line, and a detection line is connected to the sixth motor 40F. As shown in FIG. 4, in the side view of the arm portion 22, the connecting portion 41F is provided at a position opposite to the cable 50 with the sixth motor 40F interposed therebetween.

In the present embodiment, as shown in FIG. 5, the clamp portion 25 and the guide portion 26 are fixed to the side surface 22b of the arm main body 22B via the base plate 27. Since there is almost no overhang by the second reinforcing rib 24 described above at the position where the clamp portion 25 and the guide portion 26 are arranged, an open space is formed in the vicinity of the mounting position of the clamp portion 25 and the guide portion 26. There is. Therefore, in the wiring work of the cable 50, the cable 50 can be easily arranged at an appropriate position together with the clamp portion 25 and the guide portion 26.

Here, when the clamp portion 25 and the guide portion 26 are attached to the arm main body 22B, they can be attached to the base plate 27 first, and then the base plate 27 can be fixed to the arm main body 22B. Thereby, the relative positions of the clamp portion 25 and the guide portion 26 can be adjusted before attaching to the arm main body 22B. As a result, the clamp portion 25 and the guide portion 26 can be accurately fixed to the arm body 22B, and the optimum route of the cable 50 can be secured.

In this embodiment, the base plate 27 is provided, but if the clamp portion 25 and the guide portion 26 can be arranged at an appropriate position on the arm body 22B together with the cable 50, a fixture such as a bolt can be used. It may be directly fixed to the arm body 22B.

The clamp portion 25 is a portion that holds the cable 50 in the arm body 22B at a position facing the fifth motor 40E. As shown in FIG. 7, the clamp portion 25 includes a support bracket 25a attached to the base plate 27 and a U-shaped fastener 25b attached to the support bracket 25a via fasteners such as bolts or screws. It has.

The support bracket 25a is erected on the base plate 27 so as to extend to the side opposite to the arm body 22B with respect to the base plate 27, and supports the cable 50 together with the fastener 25b. With the fastener 25b attached to the support bracket 25a, the clamp portion 25 is formed with a holding hole 25A through which the cable 50 is inserted and holds the cable 50.

In the present embodiment, since the cable 50 passes through the fourth rotating shaft J4, the holding hole 25A for holding the cable 50 is formed at a position where the fourth rotating shaft J4 passes. Therefore, the cable 50 inserted into the holding hole 25A of the clamp portion 25 is held in a suspended state along the fourth rotation axis J4.

The holding hole 25A may have a size that allows the cable 50 to be held by the clamp portion 25, and the cable 50 moves in the direction along the fourth rotation axis J4 due to the pivoting and rotation of the support arm 30. The cable 50 may be held so that it can be moved. Further, as shown in FIG. 2, the support arm 30 may be further provided with a clamp portion 28 for holding the cable 50.

The guide portion 26 is a portion that movably guides the cable 50 around the fourth rotation shaft J4 on the tip end side of the arm portion 22 with respect to the clamp portion 25 and the fifth motor 40E. In the present embodiment, the guide portion 26 is a frame body erected on the arm portion 22 via the base plate 27, and a guide hole 26A for guiding the cable 50 is formed.

Specifically, the guide portion 26 passes the pair of first brackets 26a and 26a attached to the base plate 27 and the pair of first brackets 26a and 26a via fasteners such as bolts or screws. , A second bracket 26c attached to a pair of first brackets 26a, 26a is provided. The first bracket 26a and the second bracket 26c are members formed from a metal plate.

The pair of first brackets 26a and 26a are erected from the base plate 27 at intervals so as to sandwich the fourth rotation shaft J4. A guide hole 26A is formed in the guide portion 26 with the second bracket 26c attached to the pair of first brackets 26a and 26a. The guide hole 26A has a rectangular shape in a cross section orthogonal to the fourth rotation axis J4, and the opening area of the guide hole 26A is larger than the opening area of the holding hole 25A. As a result, a space in which the cable 50 can be moved around the fourth rotation axis J4 is formed in the guide portion 26.

In the present embodiment, the peripheral edge of the guide portion 26, which is a frame body, is bent toward the outside of the guide hole 26A formed in the guide portion 26 through which the cable 50 passes. Specifically, the pair of first brackets 26a and 26a and the peripheral edges 26b and 26d on both sides of the guide hole 26A formed by the second bracket 26c are bent toward the outside of the guide hole 26A. Therefore, in the present embodiment, the openings on both sides of the guide hole 26A extend outward. By providing such a guide hole 26A, even if the cable 50 swings around in the guide portion 26, the cable 50 comes into contact with the edges of the peripheral portions 26b and 26d forming the guide hole of the guide portion 26, and the cable 50 Can be prevented from being hurt.

In the present embodiment, the arm body 22B is provided with a clamp portion 25 for holding the cable 50 at a position facing the fifth motor 40E, so that the cable 50 is moved by the fifth motor 40E due to the swing of the cable 50. Can be prevented from coming into contact with. Further, by providing a guide portion 26 that movably guides the cable 50 on the tip side of the arm portion 22, the swinging range of the cable 50 can be limited and the contact of the cable 50 with the fifth motor 40E can be suppressed. it can.

In the present embodiment, as described above, the clamp portion 25 and the guide portion 26 are arranged at the center of the arm main body 22B along the fourth rotation axis J4. As a result, the cable 50 tends to swing around in the center of the arm body 22B along the fourth rotation axis J4. However, by providing the clamp portion 25 and the guide portion 26 in the center of the arm body 22B, the cable 50 swings around. It can be suppressed.

Further, by limiting the swing of the cable 50, the connection portion 41E to which the wiring of the fifth motor 40E is connected can be arranged between the clamp portion 25 and the guide portion 26. Therefore, the arm portion 22 can be made compact while suppressing the contact of the cable 50 with the connecting portion 41E.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various designs are designed without departing from the spirit of the present invention described in the claims. You can make changes.

1: Robot (industrial robot), 11: Base, 12: Lower arm, 20: Upper arm, 21: Joint part, 22: Arm part, 22A: Insertion part, 22B: Arm body, 23: First reinforcing rib, 24 : 2nd reinforcing rib, 25: Clamp part, 26: Guide part, 40E: 5th motor (rotary motor), 30: Support arm, 50: Cable, J4: 4th rotation axis (rotation axis)

Claims (5)

The lower arm with the base end pivotally attached to the base,
An upper arm pivotally attached to the tip of the lower arm,
A support arm pivotally attached to the tip of the upper arm,
An industrial robot equipped with at least a cable arranged on the upper arm.
The upper arm includes a joint portion pivotally attached to the tip of the lower arm, and an arm portion attached to the joint portion so as to be rotatable about a rotation axis along the longitudinal direction of the upper arm. ,
The cable is arranged along the longitudinal direction, and the cable is arranged along the longitudinal direction.
A pivot motor that pivots the support arm with respect to the upper arm is fixed to the arm portion at a position offset from the rotation axis.
At the base end of the arm portion, the arm portion is formed with an insertion portion through which the cable is inserted and an arm body extending from the insertion portion so as to be juxtaposed with the cable.
The arm body includes a clamp portion that holds the cable in the arm body at a position facing the pivot motor.
An industrial robot characterized in that a guide portion for movably guiding the cable is provided on the tip end side of the arm portion with respect to the clamp portion and the pivot motor. The industrial robot according to claim 1, wherein the clamp portion and the guide portion are arranged at the center of the arm body along the longitudinal direction. The industrial robot according to claim 1 or 2, wherein a connection portion in which wiring is connected to the pivot motor is arranged between the clamp portion and the guide portion. The industrial robot according to any one of claims 1 to 3, wherein the clamp portion and the guide portion are fixed to the arm body via a base plate. The guide portion is a frame body that is erected on the arm portion and has a guide hole for guiding the cable, and the peripheral edge portion of the guide portion is bent toward the outside of the guide hole. The industrial robot according to any one of claims 1 to 4, wherein the robot is characterized by the above.

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