ROBOT-ARM HARNESS CONNECTION STRUCTURE AND MULTI-JOINED WELDING ROBOT

• US 20190329428A1
• Filed: 01/15/2018
• Published: 10/31/2019
• Est. Priority Date: 02/01/2017
• Status: Active Grant

• Current Assignee: Klaus Schmidt
• Original Assignee: Kobe Steel Limited
• Inventors: SAKURAI, Yasuharu, SHIKA, Yuki, MURAKAMI, Motoaki, IGARASHI, Taichi, MINATO, Tatsuji
• Granted Patent: US 11,141,869 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B25J 19/0025 Means for supplying energy to the end effector
• CPC Class Codes: H02G 11/00 Arrangements of electric cables or lines between relatively-movable parts

Abstract

A harness connection structure has a first arm; a second arm which has a base side that is rotatably coupled to the first arm via an arm joint; and a harness that extends from a leading end of the first arm and is guided into an arm interior at the arm joint. The leading end of the first arm has a harness holding part that holds one longitudinal side of the harness. The arm joint has a harness fixing part that fixes the other longitudinal side of the harness inside the arm joint. The harness fixing part is disposed such that the harness is inclined from the longitudinal axis of the second arm toward the leading end of the first arm.

Claims

1. A robot-arm harness connection structure comprising:

a first arm;

a second arm having a base end side rotatably coupled to a tip end portion of the first arm through an arm joint portion; and

a harness extending from the tip end portion of the first arm and led in an arm inner side at the arm joint portion of the second arm,

wherein the tip end portion of the first arm has a harness holding portion for holding one side of the harness in a longitudinal direction,

the arm joint portion has a harness fixing portion for fixing the other side of the harness in the longitudinal direction to an inside of the arm joint portion, and

the harness fixing portion is configured such that the harness is arranged with the harness being inclined from a longitudinal axis of the second arm to a tip end portion side of the first arm.

2. The robot-arm harness connection structure according to claim 1, wherein

the harness is configured such that a curvature generated by inclination by the harness fixing portion is equal to or greater than an allowable bending radius of the harness, and

the tip end portion of the first arm is arranged inside a curved inner surface of the harness in a radial direction of an arc line with a curvature radius.

3. The robot-arm harness connection structure according to claim 1, wherein

the first arm has a first stopper portion,

the second arm has a second stopper portion configured to contact the first stopper portion on a leading side in a rotation direction of the second arm and an opening through which the harness extending from the tip end portion of the first arm is led in the arm joint portion, and

the second stopper portion is arranged on the leading side in the rotation direction with respect to the opening.

4. The robot-arm harness connection structure according to claim 1, wherein

a conductive line connected to a motor configured to rotatably drive the second arm is inserted into the harness.

5. The robot-arm harness connection structure according to claim 3, wherein

a conductive line connected to a motor configured to rotatably drive the second arm is inserted into the harness.

6. A multi joined welding robot comprising:

the robot-arm harness connection structure according to claim 1.

7. The multi joined welding robot according to claim 6, further comprising:

a pivoting portion provided pivotably about a first drive shaft along a vertical direction on a base;

the first arm having a base end portion coupled to the pivoting portion through a second drive shaft along a horizontal direction; and

the second arm coupled to the tip end portion of the first arm and provided rotatably about a third drive shaft parallel with the second drive shaft.

8. The robot-arm harness connection structure according to claim 2, wherein

the first arm has a first stopper portion,

the second arm has a second stopper portion configured to contact the first stopper portion on a leading side in a rotation direction of the second arm and an opening through which the harness extending from the tip end portion of the first arm is led in the arm joint portion, and

the second stopper portion is arranged on the leading side in the rotation direction with respect to the opening.

9. The robot-arm harness connection structure according to claim 2, wherein

a conductive line connected to a motor configured to rotatably drive the second arm is inserted into the harness.

10. A multi joined welding robot comprising:

the robot-arm harness connection structure according to claim 2.