JP7570936B2

JP7570936B2 - Robot system and rotation mechanism

Info

Publication number: JP7570936B2
Application number: JP2021013854A
Authority: JP
Inventors: 栄二吉桑; 俊行辻森; 秀士山根; 祥一宮尾
Original assignee: Kawasaki Jukogyo KK
Current assignee: Kawasaki Motors Ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2024-10-22
Anticipated expiration: 2041-01-29
Also published as: JP2022117260A

Description

この発明は、ロボットシステムおよび回転機構に関し、特に、回転部にコイル状に巻回される線状部材を備えるロボットシステムおよび回転機構に関する。 This invention relates to a robot system and a rotation mechanism, and in particular to a robot system and a rotation mechanism that have a linear member wound in a coil shape around a rotating part.

従来、回転部にコイル状に巻回される線状部材を備えるロボットシステムが知られている（たとえば、特許文献１参照）。 Conventionally, robot systems have been known that have a linear member wound in a coil shape around a rotating part (see, for example, Patent Document 1).

上記特許文献１には、アームと、アームに回転可能に連結されている手首要素と、手首要素の先端側に装着されている作業ツールとを備える産業用ロボットが開示されている。この産業用ロボットでは、手首要素には、モータが設けられおり、モータの回転によって手首要素が回転する。また、モータを駆動するためのフラットケーブルが設けられている。フラットケーブルは、手首要素の回転軸を中心として渦巻き状に巻回されている。具体的には、フラットケーブルは、手首要素の回転軸に直交する面内（同一の面内）において渦巻き状に巻回されている。これにより、手首要素が一方向に回転した場合、渦巻き状に多重に巻回されたフラットケーブルが緩んだ状態となり、手首要素が反対方向に回転した場合、渦巻き状に巻回されたフラットケーブルが締まった状態となる。 The above-mentioned Patent Document 1 discloses an industrial robot including an arm, a wrist element rotatably connected to the arm, and a work tool attached to the tip side of the wrist element. In this industrial robot, a motor is provided in the wrist element, and the wrist element rotates due to the rotation of the motor. In addition, a flat cable is provided for driving the motor. The flat cable is wound in a spiral shape around the rotation axis of the wrist element. Specifically, the flat cable is wound in a spiral shape in a plane perpendicular to the rotation axis of the wrist element (in the same plane). As a result, when the wrist element rotates in one direction, the spirally wound flat cable is loosened, and when the wrist element rotates in the opposite direction, the spirally wound flat cable is tightened.

特許第４２８０２９５号公報Patent No. 4280295

しかしながら、上記特許文献１の産業用ロボットでは、フラットケーブルは、手首要素の回転軸に直交する面内（同一の面内）において渦巻き状に巻回されている。このため、フラットケーブルが、手首要素の回転軸に直交する方向（径方向）に積み重なるように配置されるため、渦巻き状に多重に巻回されたフラットケーブルの手首要素の回転軸に直交する方向（径方向）の幅が比較的大きくなる。このため、巻回されたフラットケーブル（線状部材）が設けられる部分の径方向の大きさが大型化するという問題点がある。 However, in the industrial robot of Patent Document 1, the flat cable is wound in a spiral shape in a plane (within the same plane) perpendicular to the rotation axis of the wrist element. As a result, the flat cable is arranged so that it is stacked in a direction (radial direction) perpendicular to the rotation axis of the wrist element, and the width of the spirally wound flat cable in the direction (radial direction) perpendicular to the rotation axis of the wrist element becomes relatively large. This poses the problem that the radial size of the part where the wound flat cable (linear member) is provided becomes large.

この発明は、上記のような課題を解決するためになされたものであり、この発明の１つの目的は、巻回された線状部材が設けられる部分の径方向の大型化を抑制することが可能なロボットシステムおよび回転機構を提供することである。 This invention has been made to solve the above problems, and one object of the invention is to provide a robot system and a rotation mechanism that can prevent the radial size of the part where the wound linear member is provided from increasing.

上記目的を達成するために、この発明の第１の局面によるロボットシステムは、回転部と、回転部にコイル状に巻回され、配線と配管とのうちの一方からなる第１線状部材と、を備え、第１線状部材は、回転部の回転角度範囲に応じて第１線状部材の巻回数が調整されるように、回転部の一方端側から他方端側に亘って螺旋状に巻回されており、第１線状部材の一方端は、回転部の回転に伴って回転しない固定端であり、他方端は、回転部の回転に伴って回転する回転端であり、第１線状部材は、複数設けられ、第１線状部材に接合されていないとともに配線と配管とのうちの他方からなる第２線状部材をさらに備え、複数の第１線状部材は、第２線状部材をガイドするように、第２線状部材とともに回転部の一方端側から他方端側に亘って螺旋状に巻回されている。 In order to achieve the above-mentioned object, a robot system according to a first aspect of the present invention comprises a rotating unit and a first linear member wound in a coil shape around the rotating unit and consisting of one of wiring and piping, the first linear member being wound spirally from one end side to the other end side of the rotating unit so that the number of turns of the first linear member is adjusted according to the rotation angle range of the rotating unit, one end of the first linear member is a fixed end that does not rotate with the rotation of the rotating unit and the other end is a rotating end that rotates with the rotation of the rotating unit , the first linear member is provided in multiple numbers and further comprises a second linear member that is not joined to the first linear member and consists of the other of wiring and piping, and the multiple first linear members are wound spirally from one end side to the other end side of the rotating unit together with the second linear member so as to guide the second linear member .

この発明の第１の局面によるロボットシステムでは、上記のように、第１線状部材は、回転部の回転角度範囲に応じて第１線状部材の巻回数が調整されるように、回転部の一方端側から他方端側に亘って螺旋状に巻回されている。これにより、第１線状部材が、回転部の一方端側から他方端側に亘って螺旋状に巻回されているので、第１線状部材は、回転部の回転軸に直交する方向（径方向）に積み重なるように配置されない。その結果、巻回された第１線状部材の径方向の幅が大きくなるのが抑制される。このため、巻回された第１線状部材が設けられる部分の径方向の大型化を抑制することができる。 In the robot system according to the first aspect of the present invention, as described above, the first linear member is wound spirally from one end side to the other end side of the rotating part so that the number of turns of the first linear member is adjusted according to the rotation angle range of the rotating part. As a result, since the first linear member is wound spirally from one end side to the other end side of the rotating part, the first linear member is not arranged so as to be stacked in a direction perpendicular to the rotation axis of the rotating part (radial direction). As a result, the radial width of the wound first linear member is prevented from increasing. Therefore, it is possible to prevent the radial size of the part where the wound first linear member is provided from increasing.

また、第１線状部材は、回転部の回転角度範囲に応じて第１線状部材の巻回数が調整されるように巻回されているので、第１線状部材が締まる方向に回転したとしても、第１線状部材が回転部の回転の妨げになるのを抑制することができる。また、第１線状部材の一方端が回転部の回転に伴って回転しない固定端であるので、第１線状部材の両端が自由端である場合と異なり、第１線状部材がたるむこと（第１線状部材の全体が緩んで直径が大きくなること）や、回転軸の回転に伴って第１線状部材が引きずられること（回転軸に対して第１線状部材の全体が回転しまうこと）を抑制することができる。 In addition, the first linear member is wound so that the number of turns of the first linear member is adjusted according to the rotation angle range of the rotating part, so that even if the first linear member rotates in the tightening direction, the first linear member can be prevented from interfering with the rotation of the rotating part. In addition, since one end of the first linear member is a fixed end that does not rotate with the rotation of the rotating part, unlike when both ends of the first linear member are free ends, it is possible to prevent the first linear member from sagging (the entire first linear member becoming loose and increasing in diameter) and from being dragged with the rotation of the rotating shaft (the entire first linear member rotating relative to the rotating shaft).

この発明の第２の局面による回転機構は、回転部と、回転部にコイル状に巻回され、配線と配管とのうちの一方からなる線状部材と、を備え、線状部材は、回転部の回転角度範囲に応じて線状部材の巻回数が調整されるように、回転部の一方端側から他方端側に亘って螺旋状に巻回されており、線状部材の一方端は、回転部の回転に伴って回転しない固定端であり、他方端は、回転部の回転に伴って回転する回転端であり、第１線状部材は、複数設けられ、第１線状部材に接合されていないとともに配線と配管とのうちの他方からなる第２線状部材をさらに備え、複数の第１線状部材は、第２線状部材をガイドするように、第２線状部材とともに回転部の一方端側から他方端側に亘って螺旋状に巻回されている。 A rotation mechanism according to a second aspect of the present invention comprises a rotating unit and a linear member wound in a coil shape around the rotating unit and consisting of one of wiring and piping, the linear member being wound spirally from one end side to the other end side of the rotating unit so that the number of turns of the linear member is adjusted according to the rotation angle range of the rotating unit, one end of the linear member is a fixed end that does not rotate with the rotation of the rotating unit and the other end is a rotating end that rotates with the rotation of the rotating unit , the first linear member is provided in multiple numbers and further comprises a second linear member that is not joined to the first linear member and consists of the other of wiring and piping, and the multiple first linear members are wound spirally from one end side to the other end side of the rotating unit together with the second linear member so as to guide the second linear member .

この発明の第２の局面による回転機構では、上記のように、線状部材は、回転部の回転角度範囲に応じて線状部材の巻回数が調整されるように、回転部の一方端側から他方端側に亘って螺旋状に巻回されている。これにより、線状部材が、回転部の一方端側から他方端側に亘って螺旋状に巻回されているので、線状部材は、回転部の回転軸に直交する方向（径方向）に積み重なるように配置されない。その結果、巻回された線状部材の径方向の幅が大きくなるのが抑制される。このため、巻回された線状部材が設けられる部分の径方向の大型化を抑制することが可能な回転機構を提供することができる。 In the rotation mechanism according to the second aspect of the present invention, as described above, the linear member is wound spirally from one end side to the other end side of the rotating part so that the number of turns of the linear member is adjusted according to the rotation angle range of the rotating part. As a result, since the linear member is wound spirally from one end side to the other end side of the rotating part, the linear member is not arranged so as to be stacked in a direction perpendicular to the rotation axis of the rotating part (radial direction). As a result, the radial width of the wound linear member is prevented from increasing. Therefore, it is possible to provide a rotation mechanism that can prevent the radial size of the part where the wound linear member is provided from increasing.

また、線状部材は、回転部の回転角度範囲に応じて線状部材の巻回数が調整されるように巻回されているので、第１線状部材が締まる方向に回転したとしても、線状部材が回転部の回転の妨げになることはない。また、線状部材の一方端が回転部の回転に伴って回転しない固定端であるので、線状部材の両端が自由端である場合と異なり、線状部材がたるむこと（線状部材の全体が緩んで直径が大きくなること）や、回転軸の回転に伴って線状部材が引きずられること（回転軸に対して線状部材の全体が回転しまうこと）を抑制することが可能な回転機構を提供することができる。 In addition, the linear member is wound so that the number of turns of the linear member is adjusted according to the rotation angle range of the rotating part, so even if the first linear member rotates in the tightening direction, the linear member does not interfere with the rotation of the rotating part. Also, since one end of the linear member is a fixed end that does not rotate with the rotation of the rotating part, unlike when both ends of the linear member are free ends, it is possible to provide a rotation mechanism that can prevent the linear member from sagging (the entire linear member loosening and increasing in diameter) and the linear member from being dragged with the rotation of the rotating shaft (the entire linear member rotating relative to the rotating shaft).

本発明によれば、上記のように、巻回された線状部材が設けられる部分の径方向の大型化を抑制することができる。 As described above, the present invention makes it possible to prevent the radial size of the portion in which the wound linear member is provided from increasing.

本発明の一実施形態によるロボットシステムの構成を示す図である。1 is a diagram showing a configuration of a robot system according to an embodiment of the present invention; 本発明の一実施形態によるハンドの断面図である。1 is a cross-sectional view of a hand according to an embodiment of the present invention. 本発明の一実施形態による複数の第１線状部材の断面図である。3 is a cross-sectional view of a plurality of first linear members according to an embodiment of the present invention; FIG. 本発明の一実施形態による複数の第１線状部材と第２線状部材との断面図である。3 is a cross-sectional view of a plurality of first linear members and a second linear member according to an embodiment of the present invention. FIG. クランプ部材に固定された状態の第１線状部材および第２線状部材を示す図である。13 is a diagram showing a first linear member and a second linear member in a state fixed to a clamp member. FIG. 本発明の一実施形態によるハンドの分解斜視図である。FIG. 2 is an exploded perspective view of a hand according to an embodiment of the present invention.

以下、本発明を具体化した本発明の一実施形態を図面に基づいて説明する。 Below, an embodiment of the present invention will be described with reference to the drawings.

図１～図６を参照して、本実施形態によるロボットシステム１００の構成について説明する。なお、ロボットシステム１００は、特許請求の範囲の「回転機構」の一例である。 The configuration of the robot system 100 according to this embodiment will be described with reference to Figures 1 to 6. The robot system 100 is an example of a "rotation mechanism" as defined in the claims.

図１に示すように、ロボットシステム１００は、ロボット１０と、ハンド２０とを備えている。 As shown in FIG. 1, the robot system 100 includes a robot 10 and a hand 20.

図１に示すように、ロボット１０は、垂直多関節ロボットからなる。また、ロボット１０は、ロボットアーム１１を含む。ロボットアーム１１は、関節１２を有する。関節１２は、複数設けられている。たとえば、関節１２（関節１２ａ～１２ｆ）は、６個設けられている。また、ロボットアーム１１は、基台１３に取り付けられている。 As shown in FIG. 1, the robot 10 is a vertical articulated robot. The robot 10 also includes a robot arm 11. The robot arm 11 has joints 12. There are multiple joints 12. For example, there are six joints 12 (joints 12a to 12f). The robot arm 11 is also attached to a base 13.

関節１２ａは、鉛直方向に延びる軸線Ｌ１回りに回転可能に構成されている。関節１２ｂは、水平方向に延びる軸線Ｌ２回りに回転可能に構成されている。関節１２ｃは、軸線Ｌ２に対して平行に延びる軸線Ｌ３回りに回転可能に構成されている。関節１２ｄは、軸線Ｌ３に直交する軸線Ｌ４回りに回転可能に構成されている。関節１２ｅは、軸線Ｌ４に直交する軸線Ｌ５回りに回転可能に構成されている。関節１２ｆは、軸線Ｌ５に直交する軸線Ｌ６回りに回転可能に構成されている。 The joint 12a is configured to be rotatable around an axis L1 that extends vertically. The joint 12b is configured to be rotatable around an axis L2 that extends horizontally. The joint 12c is configured to be rotatable around an axis L3 that extends parallel to the axis L2. The joint 12d is configured to be rotatable around an axis L4 that is perpendicular to the axis L3. The joint 12e is configured to be rotatable around an axis L5 that is perpendicular to the axis L4. The joint 12f is configured to be rotatable around an axis L6 that is perpendicular to the axis L5.

また、図２に示すように、ハンド２０は、ロボットアーム１１の先端に設けられており、ワーク（図示せず）を保持（吸着など）するように構成されている。また、ハンド２０の先端には、ワークを保持する保持部２１が設けられている。保持部２１は、一対設けられている。 As shown in FIG. 2, the hand 20 is provided at the tip of the robot arm 11 and is configured to hold (by suction, etc.) a workpiece (not shown). A holding portion 21 that holds the workpiece is provided at the tip of the hand 20. A pair of holding portions 21 are provided.

また、ハンド２０には、回転部２２が設けられている。回転部２２は、ロボットアーム１１の先端と、保持部２１との間に設けられている。回転部２２は、円筒形状を有している。また、回転部２２の両端は、それぞれ、フランジ形状を有する。回転部２２の一方端２２ａは、ロボットアーム１１の先端（フランジ１４）に接続されている。たとえば、回転部２２の一方端２２ａは、フランジ１４にネジ１により締結されている。なお、回転部２２は、円筒形状以外の円柱形状などを有していてもよい。 The hand 20 is also provided with a rotating unit 22. The rotating unit 22 is provided between the tip of the robot arm 11 and the holding unit 21. The rotating unit 22 has a cylindrical shape. Both ends of the rotating unit 22 each have a flange shape. One end 22a of the rotating unit 22 is connected to the tip (flange 14) of the robot arm 11. For example, one end 22a of the rotating unit 22 is fastened to the flange 14 by a screw 1. The rotating unit 22 may have a shape other than a cylindrical shape, such as a columnar shape.

また、回転部２２の他方端２２ｂは、保持部２１が取り付けられる取付部２３に接続されている。たとえば、回転部２２の他方端２２ｂは、取付部２３にネジ１により締結されている。また、取付部２３は、一対の保持部２１が取り付けられる板部２３ａと、回転部２２の他方端２２ｂが取り付けられる筒状部２３ｂとを含む。そして、回転部２２（保持部２１、および、取付部２３）は、ロボットアーム１１の回転（関節１２ｆの軸線Ｌ６回りの回転）とともに回転する。なお、保持部２１は、一対ではなく１つのみ、または、３つ以上設けられていてもよい。 The other end 22b of the rotating part 22 is connected to the mounting part 23 to which the holding part 21 is attached. For example, the other end 22b of the rotating part 22 is fastened to the mounting part 23 by a screw 1. The mounting part 23 includes a plate part 23a to which the pair of holding parts 21 are attached, and a cylindrical part 23b to which the other end 22b of the rotating part 22 is attached. The rotating part 22 (the holding part 21 and the mounting part 23) rotates together with the rotation of the robot arm 11 (rotation around the axis L6 of the joint 12f). Note that only one holding part 21, rather than a pair, or three or more holding parts 21 may be provided.

ここで、本実施形態では、回転部２２にコイル状に巻回され、配線と配管とのうちの少なくとも一方からなる第１線状部材３０が設けられている。そして、第１線状部材３０は、回転部２２の一方端側から他方端側に亘って螺旋状に巻回されている。具体的には、第１線状部材３０は、チューブ状配管からなる。そして、チューブ状配管からなる第１線状部材３０の内部に、配線などを挿入することが可能である。また、第１線状部材３０は、チューブ状配管の内部を介して、空気や塗料などが供給されるように構成されていてもよい。また、チューブ状配管からなる第１線状部材３０は、たとえば、樹脂、ウレタン、ナイロンなどにより形成されている。なお、「螺旋状」とは、３次元曲線の一種であり、回転しながら回転軸線方向（Ａ方向）に移動（上昇または下降）する曲線を意味する。 Here, in this embodiment, a first linear member 30 is provided, which is wound in a coil shape around the rotating part 22 and is made of at least one of wiring and piping. The first linear member 30 is wound in a spiral shape from one end side to the other end side of the rotating part 22. Specifically, the first linear member 30 is made of a tube-shaped piping. Wiring or the like can be inserted into the inside of the first linear member 30 made of the tube-shaped piping. The first linear member 30 may be configured so that air, paint, or the like is supplied through the inside of the tube-shaped piping. The first linear member 30 made of the tube-shaped piping is formed of, for example, resin, urethane, nylon, or the like. Note that the "spiral" refers to a type of three-dimensional curve, and means a curve that moves (up or down) in the direction of the rotation axis (direction A) while rotating.

また、第１線状部材３０の一方端３０ａは、回転部２２の回転に伴って回転しない固定端であり、他方端３０ｂは、回転部２２の回転に伴って回転する回転端である。具体的には、第１線状部材３０の一方端３０ａは、ロボットアーム１１側に設けられる管継手２に接続されている。また、管継手２には、第１線状部材３０に管継手２を介して接続される線状部材３（チューブ状配管）が接続されている。また、第１線状部材３０の他方端３０ｂは、ハンド２０側に設けられる管継手４に接続されている。 One end 30a of the first linear member 30 is a fixed end that does not rotate with the rotation of the rotating part 22, and the other end 30b is a rotating end that rotates with the rotation of the rotating part 22. Specifically, one end 30a of the first linear member 30 is connected to a pipe joint 2 provided on the robot arm 11 side. A linear member 3 (tube-shaped piping) that is connected to the first linear member 30 via the pipe joint 2 is connected to the pipe joint 2. The other end 30b of the first linear member 30 is connected to a pipe joint 4 provided on the hand 20 side.

また、本実施形態は、第１線状部材３０は、回転部２２の回転角度範囲に応じて第１線状部材３０の巻回数が調整されるように、回転部２２の一方端側から他方端側に亘って螺旋状に巻回されている。さらに、第１線状部材３０は、回転部２２の回転軸方向（Ａ方向）に沿った螺旋状の第１線状部材３０の長さＬ１１を調整するように、回転部２２の一方端側から他方端側に亘って螺旋状に巻回されている。 In addition, in this embodiment, the first linear member 30 is spirally wound from one end side to the other end side of the rotating part 22 so that the number of turns of the first linear member 30 is adjusted according to the rotation angle range of the rotating part 22. Furthermore, the first linear member 30 is spirally wound from one end side to the other end side of the rotating part 22 so that the length L11 of the spiral first linear member 30 along the rotation axis direction (direction A) of the rotating part 22 is adjusted.

具体的には、回転部２２は、回転軸線（Ａ方向）を中心として、一方側（Ｃ１側）および他方側（Ｃ２側）に所定の角度回転可能に構成されている。そして、第１線状部材３０は、回転部２２がＣ１側に最大限回転可能であり、かつ、Ｃ２側に最大限回転可能なように、第１線状部材３０（第２線状部材４０）の巻回数（長さ）が調整されている。つまり、回転部２２がＣ２側に最大限回転する前に、第１線状部材３０（第２線状部材４０）が締まって（回転部２２に巻きついて）、回転部２２が回転不可能とならないように、第１線状部材３０（第２線状部材４０）の巻回数（長さ）が調整されている。 Specifically, the rotating part 22 is configured to be rotatable a predetermined angle to one side (C1 side) and the other side (C2 side) around the rotation axis (A direction). The number of turns (length) of the first linear member 30 (second linear member 40) is adjusted so that the rotating part 22 can rotate to the C1 side and can rotate to the C2 side to the maximum extent. In other words, the number of turns (length) of the first linear member 30 (second linear member 40) is adjusted so that the first linear member 30 (second linear member 40) does not tighten (wrap around the rotating part 22) before the rotating part 22 rotates to the C2 side to the maximum extent, making the rotating part 22 unable to rotate.

また、回転部２２がＣ１側に回転する最中に、第１線状部材３０が緩んで、回転軸線（Ａ方向）に直交する方向（Ｒ方向）に第１線状部材３０同士が重ならないように、回転部２２の回転軸方向に沿った螺旋状の第１線状部材３０の長さＬ１１が調整されている。 In addition, the length L11 of the spiral first linear member 30 along the rotation axis direction of the rotating part 22 is adjusted so that the first linear members 30 do not loosen and overlap with each other in the direction (R direction) perpendicular to the rotation axis (A direction) while the rotating part 22 rotates toward the C1 side.

また、回転部２２の直径が異なる回転部２２に対しても、回転部２２が回転不可能とならないように（Ｒ方向に第１線状部材３０同士や第２線状部材４０同士が重ならないように）、第１線状部材３０（第２線状部材４０）の直径ｒ４、巻回数、および、長さＬ１１が調整される。すなわち、第１線状部材３０（第２線状部材４０）の直径ｒ４、巻回数、および、長さＬ１１を調整することにより、最適な第１線状部材３０（第２線状部材４０）の寸法が得られる。 The diameter r4, number of turns, and length L11 of the first linear member 30 (second linear member 40) are adjusted so that the rotating part 22 is not unable to rotate (so that the first linear members 30 and the second linear members 40 do not overlap in the R direction) even for rotating parts 22 with different diameters. In other words, by adjusting the diameter r4, number of turns, and length L11 of the first linear member 30 (second linear member 40), the optimal dimensions of the first linear member 30 (second linear member 40) can be obtained.

また、本実施形態では、図３に示すように、第１線状部材３０は、複数（たとえば４本）設けられている。複数の第１線状部材３０が互いに接合された状態で、回転部２２の一方端２２ａ側から他方端２２ｂ側に亘って螺旋状に巻回されている。具体的には、複数の第１線状部材３０は、互いに溶着または接着されることにより互いに接合されている。また、複数の第１線状部材３０は、第１線状部材３０の一方端３０ａ側から他方端３０ｂ側に向かって連続的に溶着（または接着）されていてもよいし、第１線状部材３０の一方端３０ａと他方端３０ｂとの間で、部分的に溶着（または接着）されていてもよい。 In this embodiment, as shown in FIG. 3, a plurality of first linear members 30 (for example, four) are provided. The plurality of first linear members 30 are wound in a spiral shape from one end 22a to the other end 22b of the rotating part 22 while being joined together. Specifically, the plurality of first linear members 30 are joined together by being welded or glued together. The plurality of first linear members 30 may be welded (or glued) continuously from one end 30a to the other end 30b of the first linear members 30, or may be partially welded (or glued) between one end 30a and the other end 30b of the first linear members 30.

また、複数の第１線状部材３０は、直径ｒ１を有する第１線状部材３１（２本）と、直径ｒ１より小さい直径ｒ２を有する第１線状部材３２（２本）とを含む。 The plurality of first linear members 30 also includes first linear members 31 (two members) having a diameter r1 and first linear members 32 (two members) having a diameter r2 smaller than the diameter r1.

また、本実施形態では、第１線状部材３０に接合されていないとともに配線と配管とのうちの少なくとも一方からなる第２線状部材４０が設けられている。複数の第１線状部材３０は、第２線状部材４０をガイドするように、第２線状部材４０とともに回転部２２の一方端２２ａ側から他方端２２ｂ側に亘って螺旋状に巻回されている。具体的には、複数の第１線状部材３０は、複数の第１線状部材３０によって囲まれる領域ＡＲに、第２線状部材４０が配置された状態で、回転部２２の一方端２２ａ側から他方端２２ｂ側に亘って螺旋状に巻回されている。また、この領域ＡＲを囲むように、４本の第１線状部材３０が、第１線状部材３２、第１線状部材３１、第１線状部材３１、および、第１線状部材３２の順で配置されている。 In addition, in this embodiment, a second linear member 40 is provided that is not joined to the first linear member 30 and is composed of at least one of wiring and piping. The first linear members 30 are spirally wound together with the second linear member 40 from one end 22a to the other end 22b of the rotating part 22 so as to guide the second linear member 40. Specifically, the first linear members 30 are spirally wound from one end 22a to the other end 22b of the rotating part 22 with the second linear member 40 disposed in an area AR surrounded by the first linear members 30. In addition, the four first linear members 30 are arranged in the order of the first linear member 32, the first linear member 31, the first linear member 31, and the first linear member 32 so as to surround this area AR.

また、本実施形態では、第２線状部材４０は、配線からなる。たとえば、第２線状部材４０は、信号線や電源線などである。また、第２線状部材４０の両端にコネクタが設けられている場合がある。この場合、第２線状部材４０を、チューブ状配管からなる第１線状部材３０の内部に挿入することは困難である。 In addition, in this embodiment, the second linear member 40 is made of wiring. For example, the second linear member 40 is a signal line or a power line. In addition, connectors may be provided on both ends of the second linear member 40. In this case, it is difficult to insert the second linear member 40 into the inside of the first linear member 30, which is made of a tube-shaped piping.

また、本実施形態では、複数の第１線状部材３０は、第２線状部材４０が挿入可能な挿入口ＡＲ１を有するように第２線状部材４０が配置される領域ＡＲの一部を囲むように配置されている。具体的には、上記のように、４本の第１線状部材３０が、第１線状部材３２、第１線状部材３１、第１線状部材３１、および、第１線状部材３２の順で配置されており、２つの第１線状部材３２同士の間に、挿入口ＡＲ１が設けられている。 In addition, in this embodiment, the multiple first linear members 30 are arranged to surround a part of the area AR in which the second linear members 40 are arranged so as to have an insertion opening AR1 through which the second linear members 40 can be inserted. Specifically, as described above, the four first linear members 30 are arranged in the order of first linear member 32, first linear member 31, first linear member 31, and first linear member 32, and an insertion opening AR1 is provided between two first linear members 32.

また、本実施形態では、複数の第１線状部材３０および第２線状部材４０の断面視において、挿入口ＡＲ１の幅Ｗは、第２線状部材４０の直径ｒ３よりも小さい。挿入口ＡＲ１は、第２線状部材４０を、挿入口ＡＲ１を介して複数の第１線状部材３０によって囲まれる領域ＡＲに圧入などにより挿入可能な幅Ｗ（第２線状部材４０の直径ｒ３よりも少し小さい幅Ｗ）を有する。 In addition, in this embodiment, in a cross-sectional view of the multiple first linear members 30 and the second linear members 40, the width W of the insertion opening AR1 is smaller than the diameter r3 of the second linear member 40. The insertion opening AR1 has a width W (a width W slightly smaller than the diameter r3 of the second linear member 40) that allows the second linear member 40 to be inserted by press-fitting or the like into the area AR surrounded by the multiple first linear members 30 through the insertion opening AR1.

また、本実施形態では、図３～図５に示すように、複数の第１線状部材３０は、挿入口ＡＲ１が、巻回された複数の第１線状部材３０の外径側（Ｒ１側）に開口するように、回転部２２に巻回されている。すなわち、複数の第１線状部材３０が回転部２２に巻回された状態で、挿入口ＡＲ１が外部に露出している。 In addition, in this embodiment, as shown in Figures 3 to 5, the multiple first linear members 30 are wound around the rotating part 22 so that the insertion opening AR1 opens on the outer diameter side (R1 side) of the wound multiple first linear members 30. In other words, when the multiple first linear members 30 are wound around the rotating part 22, the insertion opening AR1 is exposed to the outside.

また、本実施形態では、図２に示すように、第１線状部材３０が巻回された回転部２２を覆うカバー部５０が設けられている。また、カバー部５０は、第１線状部材３０の固定端側の部分を覆い、回転部２２の回転に伴って回転しない固定端側カバー部５１と、第１線状部材３０の回転端側の部分を覆い、回転部２２の回転に伴って回転する回転端側カバー部５２とを含む。さらに、ロボットアーム１１の先端（フランジ１４）と、回転部２２の一方端２２ａとを覆うカバー部５３が設けられている。 2, a cover portion 50 is provided to cover the rotating portion 22 around which the first linear member 30 is wound. The cover portion 50 includes a fixed end side cover portion 51 that covers a portion of the first linear member 30 on the fixed end side and does not rotate with the rotation of the rotating portion 22, and a rotating end side cover portion 52 that covers a portion of the first linear member 30 on the rotating end side and rotates with the rotation of the rotating portion 22. Furthermore, a cover portion 53 is provided to cover the tip (flange 14) of the robot arm 11 and one end 22a of the rotating portion 22.

図６に示すように、カバー部５３は、回転部２２の一方端２２ａを挟み込む、一対の挟み込み部分５３ａと、一対の挟み込み部分５３ａをロボットアーム１１の先端に固定する一対の固定部５３ｂとを含む。また、固定部５３ｂは、ロボットアーム１１にネジ１により固定される。また、固定部５３ｂと、一対の挟み込み部分５３ａとは、ネジ１により固定される。 As shown in FIG. 6, the cover part 53 includes a pair of clamping parts 53a that clamp one end 22a of the rotating part 22, and a pair of fixing parts 53b that fix the pair of clamping parts 53a to the tip of the robot arm 11. The fixing parts 53b are fixed to the robot arm 11 by a screw 1. The fixing parts 53b and the pair of clamping parts 53a are fixed to each other by a screw 1.

また、固定端側カバー部５１は、円筒形状を有している。また、固定端側カバー部５１は、分割可能な一対の分割部分５１ａにより構成されている。また、固定端側カバー部５１は、カバー部５３に、ネジ１により接続されている。 The fixed end cover part 51 has a cylindrical shape. The fixed end cover part 51 is composed of a pair of separable divided parts 51a. The fixed end cover part 51 is connected to the cover part 53 by the screw 1.

また、回転端側カバー部５２は、円筒形状を有している。また、回転端側カバー部５２は、分割可能な一対の分割部分５２ａにより構成されている。また、回転端側カバー部５２は、ハンド２０の取付部２３にネジ１により取り付けられている。 The rotating end cover part 52 has a cylindrical shape. The rotating end cover part 52 is composed of a pair of separable parts 52a. The rotating end cover part 52 is attached to the attachment part 23 of the hand 20 by a screw 1.

また、本実施形態では、図２に示すように、カバー部５０と回転部２２との間の径方向（Ｒ方向）の隙間の間隔Ｌ１２は、回転部２２が回転角度範囲内で回転することにより変化する巻回された第１線状部材３０の直径ｒ４に応じて調整されている。すなわち、回転部２２がＣ１側に回転し、巻回された第１線状部材３０が緩んで直径ｒ４が大きくなった場合でも、カバー部５０の内面に第１線状部材３０が接触しないように、間隔Ｌ１２が調整されている。 In addition, in this embodiment, as shown in FIG. 2, the radial (R direction) gap distance L12 between the cover part 50 and the rotating part 22 is adjusted according to the diameter r4 of the wound first linear member 30, which changes as the rotating part 22 rotates within the rotation angle range. In other words, the distance L12 is adjusted so that the first linear member 30 does not come into contact with the inner surface of the cover part 50 even when the rotating part 22 rotates toward the C1 side and the wound first linear member 30 loosens, increasing the diameter r4.

また、図２および図６に示すように、一纏めにされた複数の第１線状部材３０および第２線状部材４０のロボットアーム１１側は、クランプ部材６０ａにより固定されている。クランプ部材６０ａは、略Ｕ字形状を有する。また、クランプ部材６０ａは、たとえば、ＳＵＳ（ＳｔｅｅｌＵｓｅＳｔａｉｎｌｅｓｓ）により形成されている。クランプ部材６０ａは、カバー部５０の固定部５３ｂにネジ１により固定されている。また、一纏めにされた複数の第１線状部材３０および第２線状部材４０の、クランプ部材６０ａにより固定される部分には、ゴムシート６１ａ（図６参照）が巻回されている。ゴムシート６１ａにより、第１線状部材３０および第２線状部材４０が保護される。 2 and 6, the bundled first linear members 30 and second linear members 40 are fixed to the robot arm 11 by a clamp member 60a. The clamp member 60a has a substantially U-shape. The clamp member 60a is made of, for example, SUS (Steel Use Stainless). The clamp member 60a is fixed to the fixing portion 53b of the cover portion 50 by a screw 1. A rubber sheet 61a (see FIG. 6) is wrapped around the portion of the bundled first linear members 30 and second linear members 40 that is fixed by the clamp member 60a. The rubber sheet 61a protects the first linear members 30 and second linear members 40.

同様に、図５に示すように、一纏めにされた複数の第１線状部材３０および第２線状部材４０のハンド２０側は、クランプ部材６０ｂにより固定されている。クランプ部材６０ｂは、略Ｕ字形状を有する。また、クランプ部材６０ｂは、たとえば、ＳＵＳにより形成されている。クランプ部材６０ｂは、取付部２３の筒状部２３ｂにネジ１により固定されている。また、一纏めにされた複数の第１線状部材３０および第２線状部材４０の、クランプ部材６０ｂにより固定される部分には、ゴムシート（図示せず）が巻回されている。 Similarly, as shown in FIG. 5, the hand 20 side of the bundled first linear members 30 and second linear members 40 is fixed by a clamp member 60b. The clamp member 60b has a substantially U-shape. The clamp member 60b is made of, for example, SUS. The clamp member 60b is fixed to the cylindrical portion 23b of the mounting portion 23 by a screw 1. A rubber sheet (not shown) is wrapped around the portion of the bundled first linear members 30 and second linear members 40 that is fixed by the clamp member 60b.

［本実施形態の効果］
本実施形態では、以下のような効果を得ることができる。 [Effects of this embodiment]
In this embodiment, the following effects can be obtained.

本実施形態では、上記のように、第１線状部材３０は、回転部２２の回転角度範囲に応じて第１線状部材３０の巻回数が調整されるように、回転部２２の一方端２２ａ側から他方端２２ｂ側に亘って螺旋状に巻回されている。これにより、第１線状部材３０が、回転部２２の一方端２２ａ側から他方端２２ｂ側に亘って螺旋状に巻回されているので、第１線状部材３０は、回転部２２の回転軸に直交する方向（径方向）に積み重なるように配置されない。その結果、巻回された第１線状部材３０の径方向の幅（直径ｒ４）が大きくなるのが抑制される。このため、巻回された第１線状部材３０が設けられる部分の径方向の大型化を抑制することができる。 In this embodiment, as described above, the first linear member 30 is spirally wound from one end 22a to the other end 22b of the rotating part 22 so that the number of turns of the first linear member 30 is adjusted according to the rotation angle range of the rotating part 22. As a result, since the first linear member 30 is spirally wound from one end 22a to the other end 22b of the rotating part 22, the first linear member 30 is not arranged so as to be stacked in a direction perpendicular to the rotation axis of the rotating part 22 (radial direction). As a result, the radial width (diameter r4) of the wound first linear member 30 is prevented from increasing. Therefore, it is possible to prevent the radial size of the part where the wound first linear member 30 is provided from increasing.

また、本実施形態では、上記のように、第１線状部材３０は、回転部２２の回転角度範囲に応じて第１線状部材３０の巻回数が調整されるように巻回されているので、第１線状部材３０が締まる方向に回転したとしても、第１線状部材３０が回転部２２の回転の妨げになるのを抑制することができる。また、第１線状部材３０の一方端３０ａが回転部２２の回転に伴って回転しない固定端であるので、第１線状部材３０の両端が自由端である場合と異なり、第１線状部材３０がたるむこと（第１線状部材３０の全体が緩んで直径が大きくなること）や、回転軸の回転に伴って第１線状部材３０が引きずられること（回転軸に対して第１線状部材３０の全体が回転しまうこと）を抑制することができる。 In addition, in this embodiment, as described above, the first linear member 30 is wound so that the number of turns of the first linear member 30 is adjusted according to the rotation angle range of the rotating part 22. Therefore, even if the first linear member 30 rotates in the tightening direction, the first linear member 30 can be prevented from interfering with the rotation of the rotating part 22. In addition, since one end 30a of the first linear member 30 is a fixed end that does not rotate with the rotation of the rotating part 22, unlike when both ends of the first linear member 30 are free ends, it is possible to prevent the first linear member 30 from sagging (the entire first linear member 30 becomes loose and the diameter increases) and the first linear member 30 from being dragged with the rotation of the rotating shaft (the entire first linear member 30 rotates relative to the rotating shaft).

また、本実施形態では、上記のように、第１線状部材３０は、回転部２２の回転角度範囲に応じて第１線状部材３０の巻回数と、回転部２２の回転軸方向に沿った螺旋状の第１線状部材３０の長さＬ１１とを調整するように、回転部２２の一方端２２ａ側から他方端２２ｂ側に亘って螺旋状に巻回されている。これにより、回転部２２の回転軸方向に沿った螺旋状の第１線状部材３０の長さＬ１１を調整することにより、第１線状部材３０が回転部２２の回転軸に直交する方向（径方向）に積み重なるように配置されるのを容易に抑制することができる。 In addition, in this embodiment, as described above, the first linear member 30 is spirally wound from one end 22a to the other end 22b of the rotating part 22 so as to adjust the number of turns of the first linear member 30 and the length L11 of the spiral first linear member 30 along the rotation axis direction of the rotating part 22 according to the rotation angle range of the rotating part 22. As a result, by adjusting the length L11 of the spiral first linear member 30 along the rotation axis direction of the rotating part 22, it is possible to easily prevent the first linear member 30 from being stacked in a direction perpendicular to the rotation axis of the rotating part 22 (radial direction).

また、本実施形態では、上記のように、第１線状部材３０は、複数設けられ、複数の第１線状部材３０が互いに接合された状態で、回転部２２の一方端側から他方端側に亘って螺旋状に巻回されている。これにより、複数の第１線状部材３０が互いに接合されているので、複数の第１線状部材３０が巻回された状態において、複数の第１線状部材３０がばらけるのを抑制することができる。 In addition, in this embodiment, as described above, a plurality of first linear members 30 are provided, and the plurality of first linear members 30 are joined to each other and wound in a spiral shape from one end side to the other end side of the rotating part 22. As a result, since the plurality of first linear members 30 are joined to each other, it is possible to prevent the plurality of first linear members 30 from coming apart when the plurality of first linear members 30 are wound.

また、本実施形態では、上記のように、複数の第１線状部材３０は、第２線状部材４０をガイドするように、第２線状部材４０とともに回転部２２の一方端２２ａ側から他方端２２ｂ側に亘って螺旋状に巻回されている。これにより、複数の第１線状部材３０ととともに第２線状部材４０を一纏めにした状態で、回転部２２に巻回することができる。その結果、第１線状部材３０および第２線状部材４０が巻回された状態において、第１線状部材３０および第２線状部材４０がばらけるのを抑制することができる。また、第２線状部材４０が複数の第１線状部材３０によって囲まれるので、複数の第１線状部材３０により第２線状部材４０を保護することができる。 In addition, in this embodiment, as described above, the multiple first linear members 30 are spirally wound together with the second linear members 40 from one end 22a to the other end 22b of the rotating part 22 so as to guide the second linear members 40. This allows the multiple first linear members 30 and the second linear members 40 to be wound around the rotating part 22 in a bundled state. As a result, when the first linear members 30 and the second linear members 40 are wound, it is possible to prevent the first linear members 30 and the second linear members 40 from coming apart. In addition, since the second linear member 40 is surrounded by the multiple first linear members 30, the multiple first linear members 30 can protect the second linear member 40.

また、本実施形態では、上記のように、複数の第１線状部材３０は、第２線状部材４０が挿入可能な挿入口ＡＲ１を有するように第２線状部材４０が配置される領域ＡＲの一部を囲むように配置されている。これにより、複数の第１線状部材３０を接合した後に、第２線状部材４０を挿入口ＡＲ１から挿入することにより、複数の第１線状部材３０と第２線状部材４０とを容易に一纏めにすることができる。 In addition, in this embodiment, as described above, the multiple first linear members 30 are arranged to surround a part of the area AR in which the second linear members 40 are arranged so as to have an insertion opening AR1 through which the second linear members 40 can be inserted. This makes it possible to easily bundle the multiple first linear members 30 and the second linear members 40 together by inserting the second linear member 40 through the insertion opening AR1 after joining the multiple first linear members 30.

また、本実施形態では、上記のように、複数の第１線状部材３０および第２線状部材４０の断面視において、挿入口ＡＲ１の幅Ｗは、第２線状部材４０の直径ｒ３よりも小さい。これにより、第２線状部材４０が複数の第１線状部材３０によって囲まれる領域ＡＲに固定されるので（複数の第１線状部材３０によって第２線状部材４０が挟み込まれるので）、結束具などを用いることなく、複数の第１線状部材３０に対して第２線状部材４０を固定することができる。その結果、回転部２２の回転動作中に、第１線状部材３０および第２線状部材４０と結束具とが擦れ合うのを抑制することができる。 In addition, in this embodiment, as described above, in a cross-sectional view of the multiple first linear members 30 and the second linear members 40, the width W of the insertion opening AR1 is smaller than the diameter r3 of the second linear member 40. As a result, the second linear member 40 is fixed to the area AR surrounded by the multiple first linear members 30 (the second linear member 40 is sandwiched between the multiple first linear members 30), so that the second linear member 40 can be fixed to the multiple first linear members 30 without using a fastener or the like. As a result, it is possible to prevent the first linear member 30 and the second linear member 40 from rubbing against the fastener during the rotation operation of the rotating unit 22.

また、本実施形態では、上記のように、複数の第１線状部材３０は、挿入口ＡＲ１が、巻回された複数の第１線状部材３０の外径側に開口するように、回転部２２に巻回されている。これにより、複数の第１線状部材３０を回転部２２に巻回した後に、第２線状部材４０を外径側に開口する挿入口ＡＲ１から挿入することにより、複数の第１線状部材３０ととともに第２線状部材４０を一纏めにした状態で、回転部２２に巻回することができる。 In addition, in this embodiment, as described above, the multiple first linear members 30 are wound around the rotating part 22 so that the insertion port AR1 opens on the outer diameter side of the wound multiple first linear members 30. As a result, after the multiple first linear members 30 are wound around the rotating part 22, the second linear member 40 can be inserted through the insertion port AR1 that opens on the outer diameter side, and the multiple first linear members 30 and the second linear member 40 can be wound around the rotating part 22 in a bundled state.

また、本実施形態では、上記のように、第１線状部材３０は、チューブ状配管からなり、第２線状部材４０は、配線からなる。これにより、たとえば配線からなる第２線状部材４０が、第１線状部材３０と接合（溶着や接着など）が困難な特殊な配線であっても、複数のチューブ状配管からなる第１線状部材３０によって囲まれる領域ＡＲに、第２線状部材４０を配置することによって、複数のチューブ状配管からなる第１線状部材３０と、配線からなる第２線状部材４０とを容易に一纏めにすることができる。また、比較的摩擦に強いチューブ状配管からなる第１線状部材３０により、配線からなる第２線状部材４０を保護することができる。 In addition, in this embodiment, as described above, the first linear member 30 is made of tubular piping, and the second linear member 40 is made of wiring. As a result, even if the second linear member 40 made of wiring is a special wiring that is difficult to join (by welding or gluing, etc.) to the first linear member 30, by arranging the second linear member 40 in an area AR surrounded by the first linear members 30 made of multiple tubular piping, the first linear member 30 made of multiple tubular piping and the second linear member 40 made of wiring can be easily bundled together. In addition, the first linear member 30 made of tubular piping, which is relatively resistant to friction, can protect the second linear member 40 made of wiring.

また、本実施形態では、上記のように、複数の第１線状部材３０が互いに溶着または接着されることにより互いに接合されている。これにより、容易に、複数の第１線状部材３０を互いに接合することができる。 In addition, in this embodiment, as described above, the multiple first linear members 30 are joined to each other by welding or adhering. This makes it easy to join the multiple first linear members 30 to each other.

また、本実施形態では、上記のように、第１線状部材３０が巻回された回転部２２を覆うカバー部５０を設ける。これにより、第１線状部材３０をカバー部５０により保護することができる。 In addition, in this embodiment, as described above, a cover portion 50 is provided that covers the rotating portion 22 around which the first linear member 30 is wound. This allows the first linear member 30 to be protected by the cover portion 50.

また、本実施形態では、上記のように、カバー部５０と回転部２２との間の径方向の隙間の間隔Ｌ１２は、回転部２２が回転角度範囲内で回転することにより変化する巻回された第１線状部材３０の直径ｒ４に応じて調整されている。これにより、回転部２２が回転することにより、回転部２２に巻回された第１線状部材３０が緩んだ場合（巻回された第１線状部材３０の直径ｒ４が大きくなった場合）でも、第１線状部材３０とカバー部５０とが接触するのを抑制することができる。その結果、第１線状部材３０が損傷するのを抑制することができる。 In addition, in this embodiment, as described above, the radial gap distance L12 between the cover portion 50 and the rotating portion 22 is adjusted according to the diameter r4 of the wound first linear member 30, which changes as the rotating portion 22 rotates within the rotation angle range. This makes it possible to prevent the first linear member 30 and the cover portion 50 from coming into contact with each other even when the first linear member 30 wound around the rotating portion 22 becomes loose (when the diameter r4 of the wound first linear member 30 becomes large) as the rotating portion 22 rotates. As a result, it is possible to prevent damage to the first linear member 30.

また、本実施形態では、上記のように、カバー部５０は、第１線状部材３０の固定端側の部分を覆い、回転部２２の回転に伴って回転しない固定端側カバー部５１と、第１線状部材３０の回転端側の部分を覆い、回転部２２の回転に伴って回転する回転端側カバー部５２とを含む。これにより、第１線状部材３０の固定端が配置される回転部２２の回転に伴って回転しない部分と、第１線状部材３０の回転端が配置される回転部２２の回転に伴って回転する部分とを、固定端側カバー部５１と回転端側カバー部５２とにより個別に保護することができるので、第１線状部材３０を適切に保護することができる。 In the present embodiment, as described above, the cover part 50 includes a fixed end side cover part 51 that covers a portion on the fixed end side of the first linear member 30 and does not rotate with the rotation of the rotating part 22, and a rotating end side cover part 52 that covers a portion on the rotating end side of the first linear member 30 and rotates with the rotation of the rotating part 22. In this way, the portion that does not rotate with the rotation of the rotating part 22 where the fixed end of the first linear member 30 is disposed and the portion that rotates with the rotation of the rotating part 22 where the rotating end of the first linear member 30 is disposed can be individually protected by the fixed end side cover part 51 and the rotating end side cover part 52, so that the first linear member 30 can be appropriately protected.

［変形例］
なお、今回開示された実施形態は、すべての点で例示であって制限的なものではないと考えられるべきである。本発明の範囲は、上記した実施形態の説明ではなく特許請求の範囲によって示され、さらに特許請求の範囲と均等の意味および範囲内でのすべての変更（変形例）が含まれる。 [Modification]
It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

たとえば、上記実施形態では、ロボットアーム１１に設けられるハンド２０に含まれる回転部２２に対して本発明を適用する例を示したが、本発明はこれに限られない。たとえば、ロボットアーム１１の関節１２に対して本発明を適用してもよい。また、ロボット１０以外のワーク保持用のスイングアーム、ターンテーブル、ロータリテーブル、サーキュラテーブル、インデックステーブルなどの回転部に本発明を適用してもよい。 For example, in the above embodiment, an example was shown in which the present invention is applied to the rotating part 22 included in the hand 20 provided on the robot arm 11, but the present invention is not limited to this. For example, the present invention may be applied to the joint 12 of the robot arm 11. The present invention may also be applied to rotating parts such as a swing arm, turntable, rotary table, circular table, index table, etc. for holding a workpiece other than the robot 10.

また、上記実施形態では、第１線状部材３０が複数設けられている例を示したが、本発明はこれに限られない。たとえば、第１線状部材３０は、１本のみ設けられていてもよい。 In addition, in the above embodiment, an example in which multiple first linear members 30 are provided is shown, but the present invention is not limited to this. For example, only one first linear member 30 may be provided.

また、上記実施形態では、複数の第１線状部材３０が互いに接合されている例を示したが、本発明はこれに限られない。たとえば、複数の第１線状部材３０が互いに接合されていなくてもよい。また、複数の第１線状部材３０が、結束具などにより一纏めにされていてもよい。 In addition, in the above embodiment, an example in which the multiple first linear members 30 are joined to each other is shown, but the present invention is not limited to this. For example, the multiple first linear members 30 do not have to be joined to each other. Also, the multiple first linear members 30 may be bundled together using a tie or the like.

また、上記実施形態では、複数の第１線状部材３０によって囲まれる領域ＡＲに第２線状部材４０が配置される例を示したが、本発明はこれに限られない。たとえば、第２線状部材４０が設けられていない構成にも、本発明を適用することは可能である。 In addition, in the above embodiment, an example was shown in which the second linear member 40 is disposed in an area AR surrounded by a plurality of first linear members 30, but the present invention is not limited to this. For example, the present invention can also be applied to a configuration in which the second linear member 40 is not provided.

また、上記実施形態では、複数の第１線状部材３０は、第２線状部材４０が挿入可能な挿入口ＡＲ１を有するように領域ＡＲの一部を囲むように配置されている例を示したが、本発明はこれに限られない。たとえば、第２線状部材４０の全周を複数の第１線状部材３０により囲むように、第２線状部材４０に対して複数の第１線状部材３０を配置してもよい。 In addition, in the above embodiment, an example was shown in which the multiple first linear members 30 are arranged to surround a part of the area AR so as to have an insertion opening AR1 through which the second linear member 40 can be inserted, but the present invention is not limited to this. For example, the multiple first linear members 30 may be arranged relative to the second linear member 40 so that the entire circumference of the second linear member 40 is surrounded by the multiple first linear members 30.

また、上記実施形態では、挿入口ＡＲ１が、巻回された複数の第１線状部材３０の外径側に開口するように設けられている例を示したが、本発明はこれに限られない。たとえば、挿入口ＡＲ１が巻回された複数の第１線状部材３０の内径側に開口するように、複数の第１線状部材３０を巻回してもよい。 In addition, in the above embodiment, an example was shown in which the insertion port AR1 is provided so as to open to the outer diameter side of the wound plurality of first linear members 30, but the present invention is not limited to this. For example, the plurality of first linear members 30 may be wound so that the insertion port AR1 opens to the inner diameter side of the wound plurality of first linear members 30.

また、上記実施形態では、第１線状部材３０がチューブ状配管からなり、第２線状部材４０が配線からなる例を示したが、本発明はこれに限られない。たとえば、第１線状部材３０がチューブ状配管以外の部材（配線など）から構成されていてもよい。また、第２線状部材４０が配線以外の部材（チューブ状配管など）から構成されていてもよい。 In addition, in the above embodiment, an example was shown in which the first linear member 30 is made of tubular piping and the second linear member 40 is made of wiring, but the present invention is not limited to this. For example, the first linear member 30 may be made of a member other than tubular piping (such as wiring). Also, the second linear member 40 may be made of a member other than wiring (such as tubular piping).

また、上記実施形態では、複数の第１線状部材３０が、第２線状部材４０が配置される領域ＡＲを囲むように配置される例を示したが、本発明はこれに限られない。たとえば、２本の第１線状部材３２を設けずに、２本の第１線状部材３１のみを第２線状部材４０をガイドするように配置してもよい。 In addition, in the above embodiment, an example was shown in which a plurality of first linear members 30 are arranged to surround the area AR in which the second linear members 40 are arranged, but the present invention is not limited to this. For example, it is also possible to arrange only two first linear members 31 to guide the second linear members 40 without providing two first linear members 32.

１１ロボットアーム
２０ハンド
２２回転部
３０、３１、３２第１線状部材
４０第２線状部材
５０カバー部
５１固定端側カバー部
５２回転端側カバー部
１００ロボットシステム（回転機構）
ＡＲ領域
ＡＲ１挿入口
Ｌ１２（隙間の）間隔
ｒ１、ｒ２（第１線状部材の）直径
ｒ３（第２線状部材の）直径
Ｗ（挿入口の）幅
REFERENCE SIGNS LIST 11 Robot arm 20 Hand 22 Rotation unit 30, 31, 32 First linear member 40 Second linear member 50 Cover unit 51 Fixed end side cover unit 52 Rotation end side cover unit 100 Robot system (rotation mechanism)
AR: Area AR1: Insertion opening L12: Distance (of gap) r1, r2: Diameter (of first linear member) r3: Diameter (of second linear member) W: Width (of insertion opening)

Claims

A rotating part;
a first linear member wound in a coil shape around the rotating portion and including one of wiring and piping;
the first linear member is wound in a spiral shape from one end side to the other end side of the rotating portion such that the number of turns of the first linear member is adjusted according to a rotation angle range of the rotating portion,
one end of the first linear member is a fixed end that does not rotate with the rotation of the rotating part, and the other end is a rotating end that rotates with the rotation of the rotating part,
The first linear member is provided in plurality,
a second linear member that is not joined to the first linear member and is the other of a wiring and a pipe;
A robot system, wherein the plurality of first linear members are spirally wound together with the second linear member from one end side to the other end side of the rotating portion so as to guide the second linear member .

The robot system according to claim 1, wherein the first linear member is wound in a spiral shape from one end side to the other end side of the rotating part so as to adjust the number of turns of the first linear member and the length of the spiral first linear member along the rotation axis direction of the rotating part according to the rotation angle range of the rotating part.

3. The robot system according to claim 1, wherein the plurality of first linear members are joined to one another and wound in a spiral shape from one end side to the other end side of the rotating portion.

The robot system according to claim 1 , wherein the plurality of first linear members are arranged to surround a portion of an area in which the second linear member is arranged so as to have an insertion opening through which the second linear member can be inserted.

The robot system according to claim 4 , wherein in a cross-sectional view of the plurality of first linear members and the second linear members, the width of the insertion opening is such that the second linear members can be inserted by press-fitting .

The robot system according to claim 4 or 5 , wherein the plurality of first linear members are wound around the rotating portion so that the insertion opening opens to an outer diameter side of the wound plurality of first linear members.

The first linear member is a tube-shaped pipe,
The robot system according to claim 1 , wherein the second linear member is made of a wiring.

The robot system according to claim 1 , wherein the plurality of first linear members are joined to each other by welding or bonding.

The robot system according to claim 1 , further comprising a cover portion that covers the rotating portion around which the first linear member is wound.

The robot system of claim 9, wherein the radial gap between the cover portion and the rotating portion is adjusted according to the diameter of the spiral of the spirally wound first linear member , which changes as the rotating portion rotates within the rotation angle range.

A robot system as described in claim 9 or 10, wherein the cover portion includes a fixed end side cover portion that covers a portion of the first linear member on the fixed end side and does not rotate in conjunction with the rotation of the rotating portion, and a rotating end side cover portion that covers a portion of the first linear member on the rotating end side and rotates in conjunction with the rotation of the rotating portion .

A robot arm;
a hand provided on the robot arm,
The robot system according to claim 1 , wherein the rotating unit is provided on the hand and rotates together with the rotation of the robot arm.

A rotating part;
a first linear member wound in a coil shape around the rotating portion and including one of wiring and piping;
the first linear member is wound in a spiral shape from one end side to the other end side of the rotating portion such that the number of turns of the first linear member is adjusted according to a rotation angle range of the rotating portion,
one end of the first linear member is a fixed end that does not rotate with the rotation of the rotating part, and the other end is a rotating end that rotates with the rotation of the rotating part,
The first linear member is provided in plurality,
a second linear member that is not joined to the first linear member and is the other of a wiring and a pipe;
A rotation mechanism, wherein the plurality of first linear members are spirally wound together with the second linear member from one end side to the other end side of the rotating portion so as to guide the second linear member .

The rotation mechanism according to claim 13 , wherein the plurality of first linear members are wound in a spiral shape from one end side to the other end side of the rotating portion while being joined to one another.