JPH0584689A - Industrial robot - Google Patents

Abstract

PURPOSE:To provide an industrial robot wherein required work can be performed in a narrow acting area. CONSTITUTION:A supporter 5 is provided in the point end of an acting body 3 supported to a fixed part 1, and handle 6 is mounted on a hollow shaft inserted through the supporter 5. A connecting streak unit 9 is inserted to the hollow shaft to transmit driving force or the like to the handle 6. In this way, unreasonable tensile force acting on the connecting streak unit 9 at the time of actuating the handle 6 is decreased to prevent an acting area of an industrial robot from a reckless spread by protruding a supporting fixture of the connecting streak unit 9. Thus, required work can be attained in a narrow operational area to efficiently utilize a set up place.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot having a handle attached to the tip of an actuator.

[0002]

2. Description of the Related Art FIG. 3 is a side view showing a conventional industrial robot. In the figure, 1 is a fixed part composed of a base of an industrial robot, 2 is a first arm whose one end is pivoted to the fixed part 1,
Reference numeral 3 is a second arm pivotally attached to the tip of the first arm 2, 4 is a first rotating body pivotally supported at the tip of the second arm 3, and 5 is a second rotating body pivotally supported by the first rotating body 4. A moving body, 6 is a handle pivotally supported by the second rotating body 5, 7 is an intermediate supporter standing upright from a relay tool 8 fixed to the second arm 3, 9 is a handle 6 at one end and an intermediate at the other end. It is a flexible connecting strip made of a spirally wound electric wire, an air hose, etc., which is connected to a control unit (not shown) of an industrial robot via a support 7.

The conventional industrial robot is constructed as described above, and the driving force, the signal and the like are transmitted to the handle 6 which is displaced with respect to the fixed portion 1 through the connecting strip 9 to perform the required industrial robot work. It has become.

[0004]

In the conventional industrial robot as described above, the intermediate support tool 7 is provided so as to project so that an unreasonable pulling force does not act on the connecting strip 9 when the handle 6 is operated. Since the intermediate support 7 moves together with the actuating member such as the handle 6, the operating range of the industrial robot is unduly wide, and there is a problem that installation of peripheral equipment is restricted.

The present invention has been made to solve the above problems, and an object thereof is to obtain an industrial robot capable of performing required work in a narrow motion range.

[0006]

In the industrial robot according to the present invention, a hollow shaft is provided so as to pass through a support body at the tip of an actuating body supported by a fixed portion, and a handle is attached via this hollow shaft. The connecting strip is inserted into the hollow shaft.

[0007]

In the industrial robot configured as described above, the driving force and the like are transmitted to the handle by the connecting strip inserted through the hollow shaft.

[0008]

1 and 2 are views showing an embodiment of the present invention, in which the same symbols as those in FIG. A support body composed of a second rotating body disposed near the tip of 3, a hollow shaft 51 penetrating the support body 5, and a handle 6 pivotally supported via the hollow shaft 51.

In the industrial robot configured as described above, the driving force or the like is transmitted to the handle 6 by the connecting strip 9 inserted into the hollow shaft 51. As a result, even if the connecting strip 9 is not supported at the position projecting from the actuating body 3 by the intermediate support 7 in FIG. 3, the unreasonable pulling force acting on the connecting strip 9 during the operation of the handle 6 is reduced. Therefore, the operating range of the industrial robot is not unduly widened, the required work can be performed in the narrow operating range, and the industrial robot can be efficiently used in the installation place.

[0010]

As described above, according to the present invention, the handle is pivoted through the hollow shaft penetrating the support member at the tip of the actuating member supported by the fixed portion, and the connecting strip is inserted through the hollow shaft. The drive force and the like are transmitted to the handle. As a result, it is possible to reduce the unreasonable pulling force that acts on the connecting strip during the movement of the handle, and the operating range of the industrial robot does not unnecessarily widen due to the protrusion of the support tool of the connecting strip. This makes it possible to perform the required work, and has the effect of making efficient use of the installation site.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is an enlarged vertical cross-sectional view of the support of FIG.

FIG. 3 is a view corresponding to FIG. 1 showing a conventional industrial robot.

[Explanation of symbols]

 1 Fixed Part 3 Actuator 5 Support 6 Handle 9 Connection Strip 51 Hollow Shaft

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[Procedure amendment]

[Submission date] June 8, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0002

[Correction method] Change

[Correction content]

[0002]

2. Description of the Related Art FIG. 3 is a side view showing a conventional industrial robot. In the figure, 1 is pivoted on the base of an industrial robot.
A fixed portion that revolves but does not move , 2 is a first arm whose one end is pivotally supported by the fixed portion 1, 3 is a second arm pivotally attached to the tip of the first arm 2, and 4 is a second arm 3 The first rotating body pivotally supported at the tip of the, 5 is the second rotating body pivotally supported by the first rotating body 4, 6 is the handle pivotally supported by the second rotating body 5, and 7 is the second arm 3. An intermediate supporter which is erected from the fixed relay 8 has a spiral shape in which one end is connected to the handle 6 and the other end is connected to the control unit (not shown) of the industrial robot via the intermediate support 7. It is a flexible connecting strip made of an electric wire, an air hose and the like.

Claims (1)

[Claims] 1. An operating body supported by a fixed portion, a handle pivoted through a hollow shaft provided through the supporting body at the tip of the operating body, and one end of which is a member close to the fixed portion. An industrial robot equipped with a connecting strip that is mounted and inserted into the hollow shaft, and has the other end connected to the handle.