Electrical transmission or interconnection systems – Conductor arrangements or structure
Patent
1987-10-05
1989-10-31
Shoop, Jr., William M.
Electrical transmission or interconnection systems
Conductor arrangements or structure
439445, 378194, 378198, 248 49, 248 681, H01B 730, H02G 1100, B25J 1900
Patent
active
048779733
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
Cross-Reference to Related Application
The subject matter of the present application is related that of U.S. application Ser. No. 093,021, filed Aug. 5, 1987.
TECHNICAL FIELD
This invention relates to an apparatus for guiding a cable in an industrial robot and, more particularly, to an apparatus for guiding a cable provided between a support casing and swivel casing of an industrial robot having a swivel shaft.
BACKGROUND ART
An industrial robot is usually provided on a base secured to a floor or capable of moving along a floor. FIG. 4 is a side view illustrating one example of an industrial robot provided on a base secured to a floor.
In the Figure, numeral 1 denotes a base secured to the floor of a factory or the like. The base 1 has an upper portion on which there is provided a support casing 2 forming a fixed portion of a swivel shaft. The upper portion of the support casing 2 is provided with a rotatable swivel casing 3 forming the movable portion of the swivel shaft.
Attached to the upper part of the swivel casing 3 is a support portion 5 of a first arm 4 which operates over an oscillating angle W. Swingably attached to the upper part of the first arm 4 is a second arm 6 having a wrist 7.
In an industrial robot of this type, cables for leading power and signals to the first arm 4 are usually introduced into the first arm 4 via the swivel casing 3. The cables passing through the interior of the swivel casing 3 are twisted and pulled in accordance with the turning motion of the swivel casing 3 and move while the outer surfaces thereof rub against one another and contact the cramped interior of the swivel casing 3.
Since the outer surfaces of the cables move while contacting the interior of the swivel casing 3 due to the turning motion of the swivel casing 3, as described above, these outer surfaces are damaged. If the damage progresses, not only will the cable cores be severed to cause industrial robot malfunction but the power lines may also be grounded to the swivel casing to cause unforeseen accidents.
By way of example, an invention described in Japanese patent application No. 61-053224 has been proposed by the present inventors to solve the above problem. According to the aforementioned invention, a swivel shaft bearing at the joint between the swivel casing and support casing is provided with a hollow portion and a cable is passed through this portion. However, a support casing, swivel casing and swivel shaft bearing having a high mechanical strength are required because of the turning motion of the swivel shaft. In particular, in a case where a number of cable wires are accommodated in the hollow portion, it is difficult to realize a structure which will not diminish the rigidity of the hollow portion.
SUMMARY OF THE INVENTION
The present invention has been devised in view of the foregoing problems and its object is to provide an apparatus for dealing with the cable of an industrial robot in which the outer surface of the cable passing between two casings axially supported for free rotation relative to each other will not be damaged and the cable itself will not be subjected to excessive forces.
In accordance with the present invention, there is provided an apparatus for guiding a cable of an industrial robot having a support casing and a swivel casing freely turnably supported by the support casing for undergoing swiveling motion, and equipped with a cable led into the interior of the swivel casing from the support casing, the apparatus comprising an upper wall provided on an upper portion of the support casing, which is hollow, a first arcuate cut-out portion provided in the upper wall, a lower wall provided on a lower portion of the swivel casing, which is hollow, adjacent the upper wall provided on the upper portion of the support casing, a second arcuate cut-out portion provided in the lower wall and at least partially overlapping the first arcuate cut-out portion provided in the upper wall of the support casing, a generally "]"-shaped cable guide ha
Iwasaki Kyoji
Mizuno Hitoshi
Torii Nobutoshi
Fanuc Ltd.
Logan Sharon D.
Shoop Jr. William M.
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