JPH0567398B2 - - Google Patents
Info
- Publication number
- JPH0567398B2 JPH0567398B2 JP61273541A JP27354186A JPH0567398B2 JP H0567398 B2 JPH0567398 B2 JP H0567398B2 JP 61273541 A JP61273541 A JP 61273541A JP 27354186 A JP27354186 A JP 27354186A JP H0567398 B2 JPH0567398 B2 JP H0567398B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- cable
- signal line
- running
- power line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は走行ロボツト、特にロボツトと制御
盤とを接続するケーブルの配線構造の改良に関す
るものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] This invention relates to a traveling robot, and particularly to an improvement in the wiring structure of a cable connecting the robot and a control panel.
第４図および第５図は従来の走行ロボツトを示
すもので、図中１は走行台、２はこの走行台１上
を走行可能な台車、３は上記走行台１上をその長
手方向に往復走行するロボツト、４，５は上記台
車２の前端および後端に回転自在にそれぞれ配さ
れたプーリ、６はこれら両プーリ４，５を介して
張設された無端状のベルトで、その一部が上記ロ
ボツト３および走行台２にそれぞれ連結されてロ
ボツト３の走行に合わせる台車２を走行させるよ
うになつている。７は一端がロボツト側ケーブル
ジヨイントボツクス８に接続した他端が上記走行
台１上に配した固定側ケーブルジヨイントボツク
ス９を介しロボツト制御盤１０に接続された信号
線ケーブル、１１は一端がロボツト側ケーブルジ
ヨイントボツクス８に接続され他端が固定側ケー
ブルジヨイントボツクス９を介しロボツト制御盤
１０に接続された動力線ケーブルで、上記ロボツ
ト側ケーブルジヨイントボツクス８から引出され
た両ケーブル７，１１は、第５図に示すようにベ
ルト６上に交互に配置され、所々ケーブルサポー
ト取手１２により支持されている。
4 and 5 show conventional traveling robots. In the figures, 1 is a running base, 2 is a cart that can run on the running base 1, and 3 is a robot that reciprocates on the running base 1 in its longitudinal direction. The robot runs, 4 and 5 are pulleys rotatably arranged at the front and rear ends of the cart 2, and 6 is an endless belt stretched across both pulleys 4 and 5. are connected to the robot 3 and the carriage 2, respectively, so that the carriage 2 moves in accordance with the movement of the robot 3. 7 is a signal line cable whose one end is connected to the robot side cable joint box 8 and whose other end is connected to the robot control panel 10 via the fixed side cable joint box 9 arranged on the traveling platform 1; A power line cable connected to the robot side cable joint box 8 and the other end connected to the robot control panel 10 via the fixed side cable joint box 9, and both cables 7 drawn out from the robot side cable joint box 8. , 11 are arranged alternately on the belt 6 as shown in FIG. 5, and are supported by cable support handles 12 in places.
従来の走行ロボツトは上記のように構成され、
ロボツト３が走行台１上を走行すると、この動き
がベルト６を介し台車２に伝達され、台車２がロ
ボツト３の走行に合わせて走行台１上を走行す
る。そして走行するロボツト３に合わせてケーブ
ル７，１１の供給を行なう。 Conventional traveling robots are configured as described above.
When the robot 3 runs on the running platform 1, this movement is transmitted to the carriage 2 via the belt 6, and the carriage 2 runs on the running platform 1 in accordance with the running of the robot 3. The cables 7 and 11 are then supplied in accordance with the moving robot 3.
上記のような従来の走行ロボツトでは、信号線
ケーブル７および動力線ケーブル１１が、ともに
ロボツト３の一方側に引出されベルト６上に配さ
れているため、ケーブル本数が多くなつて台車２
を幅広にせざるを得ず、また信号線ケーブル７と
動力線ケーブル１１とが混在しているため、信号
線ケーブル７がノイズの影響を受け易いという問
題点があつた。
In the conventional traveling robot as described above, the signal line cable 7 and the power line cable 11 are both pulled out to one side of the robot 3 and arranged on the belt 6, so the number of cables increases and the carriage 2
Since the signal line cable 7 and the power line cable 11 are mixed, there is a problem that the signal line cable 7 is easily affected by noise.
この発明は、かかる現況に鑑みなされたもの
で、台車の幅を狭くすることができるとともに、
信号線が走行部分でノズルの影響を付けることが
ない走行ロボツトを得ることを目的とする。 This invention was made in view of the current situation, and it is possible to narrow the width of the cart, and
To obtain a running robot in which a signal line is not affected by a nozzle in a running part.
この発明に係る走行ロボツトは、ケーブルを信
号線と動力線とに分離し、両線をロボツトの両側
に振分けて配するようにしたものである。
In the traveling robot according to the present invention, the cable is separated into a signal line and a power line, and the two lines are distributed and arranged on both sides of the robot.
この発明においては、信号線と動力線とをロボ
ツトの両側に振分けて配するようにしているの
で、台車の幅を狭くすることができ、しかも信号
線がノズルの影響を受けることがなくなる。
In this invention, since the signal line and the power line are distributed and arranged on both sides of the robot, the width of the carriage can be reduced, and the signal line is not affected by the nozzle.
第１図〜第３図はこの発明の一実施例を示すも
ので、図中、第４図および第５図と同一符号は同
一又は相当部分を示す。この実施例においては、
信号線ケーブル７は、ロボツト側ケーブルジヨイ
ントボツクス８から一方のプーリ４側に引出され
て固定側ケーブルジヨイントボツクス９に導か
れ、さらに走行台１内を通してロボツト制御盤１
０に接続されており、また動力線ケーブル１１
は、ロボツト側ケーブルジヨイントボツクス８か
ら他方のプーリ５側に引出されて固定側ケーブル
ジヨイントボツクス９に導かれて、さらに走行台
１内を通してロボツト制御盤１０に接続されてい
る。これら両ケーブル７，１１のロボツト側ケー
ブルジヨイントボツクス８と固定側ケーブルジヨ
イントボツクス９との間の部分は、第２図および
第３図に示すようにケーブルサポート取手１２
ａ，１２ｂにガイドされた状態でベルト６の外面
にそつて配置され、また両ケーブル７，１１の固
定側ケーブルジヨイントボツクス９とロボツト制
御盤１０との間の部分は、第１図に示すように信
号線ケーブル７がノイズの影響を受けない距離だ
け動力線ケーブル１１から離して実装されてい
る。
1 to 3 show one embodiment of the present invention, and in the figures, the same reference numerals as in FIGS. 4 and 5 indicate the same or corresponding parts. In this example,
The signal line cable 7 is pulled out from the robot side cable joint box 8 to one pulley 4 side, guided to the fixed side cable joint box 9, and further passed through the traveling platform 1 to the robot control panel 1.
0 and is also connected to the power line cable 11
is pulled out from the robot side cable joint box 8 to the other pulley 5 side, guided to the fixed side cable joint box 9, and further connected to the robot control panel 10 through the traveling base 1. The portion between the robot side cable joint box 8 and the fixed side cable joint box 9 of both cables 7 and 11 is connected to a cable support handle 12 as shown in FIGS. 2 and 3.
The cables 7, 11 are arranged along the outer surface of the belt 6 while being guided by the cables 7, 12b, and the portion between the fixed side cable joint box 9 and the robot control panel 10 is shown in FIG. The signal line cable 7 is mounted away from the power line cable 11 by a distance that is not affected by noise.
上記のように構成された走行ロボツトにおいて
は、信号線ケーブル７と動力線ケーブル１１とが
ロボツト３の両側に振分けて配されているので、
第２図および第３図に示すように各ケーブル７，
１１が配置される幅が狭くなり、ベルト６および
台車２の幅を狭くすることができる。また両ケー
ブル７，１１が振分けられているので、走行部分
で信号線ケーブル７がノイズの影響を受けること
がない。 In the traveling robot configured as described above, the signal line cable 7 and the power line cable 11 are distributed and arranged on both sides of the robot 3.
As shown in FIGS. 2 and 3, each cable 7,
The width in which the belt 11 is arranged becomes narrower, and the width of the belt 6 and the cart 2 can be narrowed. Furthermore, since both cables 7 and 11 are distributed, the signal line cable 7 is not affected by noise in the running portion.
この発明は以上説明したとおり、ケーブルを信
号線と動力線とに分離し、ロボツトの両側に振分
けて配するようにしているので、台車の幅を狭く
することができるとともに、走行部分で信号線が
ノイズの影響を受けることがない等の効果があ
る。
As explained above, this invention separates the cable into the signal line and the power line and distributes them to both sides of the robot, so the width of the cart can be narrowed and the signal line is connected to the moving part. This has the advantage of not being affected by noise.
第１図はこの発明の一実施例を示す走行ロボツ
トの全体構成図、第２図は第１図の−線拡大
断面図、第３図は第１図の−線拡大断面図、
第４図は従来の走行ロボツトを示す第１図相当
図、第５図は第４図の−線拡大断面図であ
る。
１：走行台、２：台車、３：ロボツト、４，
５：プーリ、６：ベルト、７：信号線ケーブル、
１０：ロボツト制御盤、１１：動力線ケーブル、
なお、各図中、同一符号は同一又は相当部分を示
すものとする。
FIG. 1 is an overall configuration diagram of a traveling robot showing an embodiment of the present invention, FIG. 2 is an enlarged sectional view taken along the - line in FIG. 1, and FIG. 3 is an enlarged sectional view taken along the - line in FIG. 1.
FIG. 4 is a view corresponding to FIG. 1 showing a conventional traveling robot, and FIG. 5 is an enlarged sectional view taken along the line -- in FIG. 1: Travel platform, 2: Dolly, 3: Robot, 4,
5: Pulley, 6: Belt, 7: Signal line cable,
10: Robot control panel, 11: Power line cable,
In each figure, the same reference numerals indicate the same or corresponding parts.
Claims (1)
上を走行可能な台車と、この台車の前端および後
端にそれぞれ配したプーリ間に張設されその一部
が走行台およびロボツトにそれぞれ連結されてロ
ボツトに合わせ台車を走行させる無端状のベルト
と、上記ロボツトに一端が接続されベルトの外面
にそつて配されて他端が制御盤に接続されるケー
ブルとを具備する走行ロボツトにおいて、上記ケ
ーブルを、信号線と動力線とに分離し、信号線を
上記一方のプーリ側に配置するとともに、動力線
を上記他方のプーリ側に配置して両線をロボツト
の両側に振分けたことを特徴とする走行ロボツ
ト。1. A robot that runs on a running platform, a trolley that can run on this running platform, and pulleys arranged at the front and rear ends of this trolley, and a part of which is connected to the running platform and the robot, respectively. A traveling robot comprising: an endless belt for causing a cart to travel along with the robot; and a cable having one end connected to the robot, disposed along the outer surface of the belt, and the other end connected to a control panel. is separated into a signal line and a power line, and the signal line is placed on the side of one of the pulleys, and the power line is placed on the side of the other pulley, so that both lines are distributed to both sides of the robot. A running robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61273541A JPS63127311A (en) | 1986-11-17 | 1986-11-17 | Running robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61273541A JPS63127311A (en) | 1986-11-17 | 1986-11-17 | Running robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63127311A JPS63127311A (en) | 1988-05-31 |
| JPH0567398B2 true JPH0567398B2 (en) | 1993-09-24 |
Family
ID=17529266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61273541A Granted JPS63127311A (en) | 1986-11-17 | 1986-11-17 | Running robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63127311A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150055846A1 (en) * | 2013-08-23 | 2015-02-26 | Ge Medical Systems Global Technology Company, Llc | Image processing method and apparatus and program |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040021139A (en) * | 2002-09-02 | 2004-03-10 | 삼성전자주식회사 | Wired mobile robot |
| CN104881027B (en) * | 2015-05-04 | 2018-05-29 | 国家电网公司 | Wheel-track combined Intelligent Mobile Robot active obstacle system and control method |
-
1986
- 1986-11-17 JP JP61273541A patent/JPS63127311A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150055846A1 (en) * | 2013-08-23 | 2015-02-26 | Ge Medical Systems Global Technology Company, Llc | Image processing method and apparatus and program |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63127311A (en) | 1988-05-31 |
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