Fanuc Corporation

Wataru Amemiya

Toshihiko Inoue

Tomoyuki Motokado

Kuniyasu Matsumoto

Kousuke Imasaka

Moriaki Oonishi

Masayoshi Mori

A linear motion mechanism has a plurality of linear motion elements assembled telescopically in multiple stages, and a block row connected to the linear motion elements and configured to drive the linear motion elements. A drive mechanism feeds the block row from an accommodating portion to extend the linear motion elements and pulls back the block row to the housing to contract the linear motion elements. The wire body is wired along the block row. A detour member is provided to absorb the excess length of the wire body which varies as the block row is fed and pulled back.

Linear motion mechanism

In a linear expansion mechanism, high rigidity is secured in all directions of orthogonal axes without any constraint on installation posture. The linear expansion mechanism includes: a block train made up of a plurality of blocks coupled along a coupling direction; a housing for containing the block train; a mechanism configured to deliver and draw the block train along the coupling direction; and a fixing mechanism configured to fix a relative position of a leading end position of the block train delivered from the housing relative to an entrance/exit position Pe located on the housing at which the block train enters and exits the housing with respect to directions orthogonal to the coupling direction of the block train.

Linear expansion mechanism

A linear-object management structure for a robot, where a post-attached linear object is guided via the same path as a basic cable from inside a base and fixed at the position of a first fixing member, is subsequently extended forward beyond the basic cable, through a path closer to a first axis than the basic cable is, is curved in a direction along a first arm, is fixed to a side surface of the first arm, at the position of a second fixing member, such that a certain length margin required for the operation of the first arm is provided between the position of the first fixing member and the position of the second fixing member, and is guided to an upper-side movable portion along the first arm.

Robot linear-object management structure and additional linear-object fixing member

A linear expansion mechanism includes: a plurality of linear-motion mechanisms assembled in series; a block train including a plurality of blocks coupled to each other in a row, a block at a leading end being connected to a linear-motion mechanism at a leading end; and a housing part that houses the block train. The housing part has a pair of arc-shaped rails and that being separately arranged on opposite sides of the block train, and a pair of projection bodies to be engaged with the pair of arc-shaped rails are provided on opposite side faces of each of the blocks.

A robot apparatus includes a base, a strut unit, and a linear expansion mechanismrotatably supported on the strut unit. The linear expansion mechanism includes: a plurality of cylindrical bodies assembled in series to each other; a block train including a plurality of blocks coupled to each other in a row, the block at the leading end being connected to the cylindrical body at the leading end; and a housing part that houses the block train along an arc-shaped trajectory, the housing part being arranged below the cylindrical body at the trailing end and above the strut unit.

Robot apparatus

A linear object handling structure of a robot includes a rotational drum supported above a base in a rotatable manner about a vertical axis line, a plurality of operation shafts supported by the rotational drum, and a hollow part near the vertical axis line in the rotational drum. A first linear object group including cables for driving the operation shafts has one end fixed to the base and the other end wired to the motors of the operation shafts supported by the rotational drum, and is disposed to penetrate through the hollow part. A second linear object group for a peripheral device supported by any one of the operation shafts is collectively covered by a flexible conduit pipe, disposed to penetrate through the hollow part, and detachably fixed to the base and the rotational drum.

Robot linear object handling structure

Provided is a wire body processing structure for a robot having a wrist, a base end of which is connected to a forearm in a rotatable manner about a first axis and a distal end of which has a plurality of working tools attached thereto. The wire body processing structure includes a first flexible conduit disposed along the first axis from the forearm to the distal end of the wrist and also includes a second flexible conduit disposed longitudinally within the first conduit. A first wire body for one of the working tools is extended longitudinally through the second conduit. A second wire body for another one of the working tools is extended longitudinally through a space between the first conduit and the second conduit.

Wire body processing structure for robot

Provided is a linear-object handling structure of a robot, in which a linear object for a motor that drives a second arm and a wrist and a linear object for a work tool that is attached to the wrist pass from a base part to the inside of a rotational drum in the vicinity of a first axis, are guided upward to the outside through a through-hole provided in the rotational drum, are respectively curved toward opposite lateral sides of the rotational drum in the substantially circumferential directions while each given a margin of length required for the motion of the rotational drum, are guided from the lateral sides of the rotational drum to the second arm in the longitudinal direction of the first arm while each being given a margin of length required for the motions of the first arm and the second arm.

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Yamanashi, Japan

Wataru Amemiya