JPH0739575Y2 - Cable retainer for rotating parts - Google Patents
Cable retainer for rotating partsInfo
- Publication number
- JPH0739575Y2 JPH0739575Y2 JP13093689U JP13093689U JPH0739575Y2 JP H0739575 Y2 JPH0739575 Y2 JP H0739575Y2 JP 13093689 U JP13093689 U JP 13093689U JP 13093689 U JP13093689 U JP 13093689U JP H0739575 Y2 JPH0739575 Y2 JP H0739575Y2
- Authority
- JP
- Japan
- Prior art keywords
- fixed
- annular
- annular portion
- rotating
- cables
- 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 - Fee Related
Links
Description
【考案の詳細な説明】 [産業上の利用分野] 本考案は工業用ロボットなどの回転部分に接続されるケ
ーブル保持装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a cable holding device connected to a rotating part of an industrial robot or the like.
[従来の技術] 従来、工業用ロボット等の手首部がアームに対して回転
動作をする場合、アームから手首部に設けられたアクチ
ュエータに動力を送るケーブルをねじれや外部との衝突
による損傷を防ぐために、固定部と回転部との間に二重
円筒状の固定ガイドによってリング状の空間を形成し、
前記固定部から前記リング状空間内に挿入した配管配線
を揺動回転角度に応じた長さだけ前記空間に存在せし
め、前記回転部から取り出すようにしたものが開示され
ている(例えば特開昭59−129688号公報)。[Prior Art] Conventionally, when a wrist part of an industrial robot or the like rotates about an arm, a cable for transmitting power from the arm to an actuator provided on the wrist part is prevented from being twisted or damaged by collision with the outside. In order to protect the ring, a double cylindrical fixed guide forms a ring-shaped space between the fixed part and the rotating part.
There is disclosed a configuration in which a pipe wiring inserted from the fixed portion into the ring-shaped space is allowed to exist in the space for a length corresponding to a swinging rotation angle and is taken out from the rotating portion (for example, Japanese Patent Laid-Open Publication No. Sho. 59-129688).
[考案が解決しようとする課題] ところで、手首部に設けられたアクチュエータには動力
のほかに回転角やトルクなどを検出した信号を送る信号
線など多数のケーブルを接続する必要がある。しかし、
上記のように固定部と回転部との間に二重円筒状の固定
ガイドを設けると、多数のケーブルを固定ガイドの中で
絡まないように挿入するには手間がかかるとともに、固
定ガイドの中の状態を点検することが難しいなどの欠点
があった。[Problems to be Solved by the Invention] By the way, it is necessary to connect a large number of cables such as a signal line for transmitting a signal for detecting a rotation angle and torque in addition to power to the actuator provided on the wrist. But,
If a double-cylinder-shaped fixed guide is provided between the fixed part and the rotating part as described above, it takes time and effort to insert a large number of cables so as not to get entangled in the fixed guide. There were drawbacks such as it was difficult to check the condition of.
本考案は、多数のケーブルの取付け作業を容易にするこ
とを目的とするものである。The present invention aims at facilitating the mounting work of a large number of cables.
[課題を解決するための手段] 本考案は、固定部に設けられた回転軸により回転駆動さ
れる回転部と、前記固定部に一方端を、前記回転部に他
方端を固定した複数のケーブルとを備えた回転部分ケー
ブル保持装置において、扁平に並べられた前記複数のケ
ーブルにほぼ円形に湾曲して形成した円環状部と、前記
円環状部を覆う絶縁弾性材からなる弾性被覆と、前記円
環状部にU字状に形成した折り曲げ部とを設け、前記折
り曲げ部によりほぼ半円形状に重なった前記円環状部の
一方端を前記固定部に固定し、他方端を前記回転部に固
定したものである。[Means for Solving the Problems] The present invention provides a rotating part that is rotationally driven by a rotating shaft provided in a fixed part, and a plurality of cables having one end fixed to the fixed part and the other end fixed to the rotating part. In a rotating partial cable holding device comprising: an annular portion formed by bending the plurality of flatly arranged cables into a substantially circular shape; and an elastic coating made of an insulating elastic material that covers the annular portion, A U-shaped bent portion is provided in the annular portion, and one end of the annular portion that is overlapped in a substantially semicircular shape by the bent portion is fixed to the fixed portion, and the other end is fixed to the rotating portion. It was done.
[作用] 複数のケーブルを扁平に並べ、ほぼ円形に湾曲して形成
した円環状部は弾性絶縁体からなる円環被覆により覆わ
れ、円環状部にU字状に折り曲げ部を形成し、ほぼ半円
形状に重なった状態で円環状部の両端をそれぞれ固定部
と回転部に固定されているので、回転部が回転するにつ
れ、円環状部を覆った弾性被覆の剛性により円環状の曲
率を崩すことなく、円環状部の移動端は円環の半径Rの
円周上を、U字状の折り曲げ部に許容曲げ半径rを維持
しながら移動する。[Operation] An annular portion formed by arranging a plurality of cables in a flat shape and curving in a substantially circular shape is covered with an annular coating made of an elastic insulator, and a U-shaped bent portion is formed in the annular portion, Since both ends of the annular part are fixed to the fixed part and the rotating part in a state of overlapping in a semicircular shape, as the rotating part rotates, the rigidity of the elastic coating covering the annular part changes the annular curvature. The moving end of the annular portion moves on the circumference of the radius R of the annular portion to the U-shaped bent portion while maintaining the allowable bending radius r without breaking.
[実施例] 本考案を図に示す実施例について説明する。[Embodiment] An embodiment of the present invention shown in the drawings will be described.
第1図は本考案の実施例の側面図で、アームなどの固定
部1に設けられた回転軸2により回転駆動される手首部
などの回転部3が設けられ、固定部1から回転部3には
ケーブル4が配線される。ケーブル4は第2図に示すよ
うに、複数本扁平に並べられ、中央部に半径Rのほぼ円
形に湾曲した円環状部41が形成され、円環状部41はゴム
などの絶縁弾性材からなる弾性被覆5により覆われてい
る。円環状部41の一方端である固定端42は固定部1にケ
ーブル固定具11を介して固定されている。円環状部41は
回転部3の回転軸に対して直角の平面上に配置され、第
3図に示すように、許容曲げ半径rでU字状に折り曲げ
部43を形成され、半径Rのほぼ半円形状に重なった状態
で他方端である移動端44が回転部3にケーブル固定具31
を介して固定されている。FIG. 1 is a side view of an embodiment of the present invention, in which a rotating portion 3 such as a wrist portion that is rotationally driven by a rotating shaft 2 provided on a fixed portion 1 such as an arm is provided, and the fixed portion 1 to the rotating portion 3 are provided. A cable 4 is routed to this. As shown in FIG. 2, a plurality of cables 4 are arranged in a flat shape, and an annular portion 41 curved in a substantially circular shape with a radius R is formed in the central portion. The annular portion 41 is made of an insulating elastic material such as rubber. It is covered by the elastic coating 5. A fixed end 42, which is one end of the annular portion 41, is fixed to the fixed portion 1 via a cable fixing tool 11. The annular portion 41 is arranged on a plane perpendicular to the rotation axis of the rotating portion 3, and as shown in FIG. 3, a bent portion 43 is formed in a U shape with an allowable bending radius r, and the radius R is almost the same. The moving end 44, which is the other end in the state of being overlapped in a semicircular shape, is attached to the rotating portion 3 by the cable fixing member 31.
Is fixed through.
回転部3が回転する場合、第1図に示すように、移動端
44と固定端42とが円周上で同一位置に重なっている箇所
を開始点とすると、第4図に示すように、回転部3が回
転するにつれ、円環状部41を覆った弾性被覆5の剛性に
より、円環状の曲率を崩すことなく、円環の半径Rの円
周上を、U字状の折り曲げ部43に許容曲げ半径rを維持
しながら移動端43が移動する。When the rotating part 3 rotates, as shown in FIG.
Assuming that a position where 44 and the fixed end 42 overlap at the same position on the circumference is a starting point, as shown in FIG. 4, as the rotating part 3 rotates, the elastic coating 5 covering the annular part 41 is formed. Due to the rigidity, the moving end 43 moves on the circumference of the radius R of the ring while maintaining the allowable bending radius r in the U-shaped bent portion 43 without breaking the curvature of the ring.
折り曲げ部43の回転角αはケーブル4が2重構成で移動
するため、回転部3の回転角βの1/2である。したがっ
て、折り曲げ部43の回転角αが半円形状で約±180°で
あれば、回転部3の回転角βは約±360°回転すること
ができる。The rotation angle α of the bending portion 43 is 1/2 of the rotation angle β of the rotating portion 3 because the cable 4 moves in a double structure. Therefore, if the rotation angle α of the bent portion 43 is a semicircular shape of about ± 180 °, the rotation angle β of the rotating portion 3 can rotate about ± 360 °.
また、ケーブルの円環状部がゴム等の弾性被覆により覆
われているので、外部に衝突しても円環被覆が弾性変形
して、衝突した相手にも傷が生じることがない。Further, since the annular portion of the cable is covered with the elastic coating such as rubber, the annular coating is elastically deformed even when it collides with the outside, and the colliding partner is not damaged.
上記のように、複数のケーブルを扁平に並べた円環状部
を設け、円環状部が絶縁弾性材の弾性被覆により覆われ
ており、U字状の折り曲げ部に許容曲げ半径rを維持し
ながら、回転面に平行な部分は常に半径Rの円環形状を
維持するように構成されているので、従来のように固定
部と回転部との間に二重円筒状の固定ガイドを設ける必
要がなく、円環状部の両端をそれぞれ固定部と回転部に
固定するだけの取付け作業でケーブルを取り付けること
ができる。As described above, the annular portion in which a plurality of cables are arranged in a flat shape is provided, and the annular portion is covered with the elastic coating of the insulating elastic material, while maintaining the allowable bending radius r in the U-shaped bent portion. Since the portion parallel to the rotation surface is always maintained in the annular shape having the radius R, it is necessary to provide a double cylindrical fixed guide between the fixed portion and the rotating portion as in the conventional case. Instead, the cable can be attached only by fixing both ends of the annular portion to the fixed portion and the rotating portion.
また、二重円筒状の固定ガイドのような仕切を必要とせ
ず、多数のケーブルが円環状に一列に並べられているた
め、固定部と回転部に渡されるケーブルの動作状態を容
易に点検することができる。In addition, it does not require a partition like a double-cylindrical fixed guide, and many cables are arranged in a line in an annular shape, so it is easy to check the operating state of the cables passed to the fixed part and the rotating part. be able to.
[考案の効果] 以上述べたように、本考案によれば、円環状部の両端を
それぞれ固定部と回転部に固定するだけの取付け作業で
ケーブルのねじれ等が生じないようにしてあるので、ロ
ボットの手首等の回転部に配線するケーブルの取付け作
業や点検作業が簡単になる効果がある。[Effects of the Invention] As described above, according to the present invention, the cable is not twisted by the mounting work for fixing both ends of the annular portion to the fixed portion and the rotating portion, respectively. This has the effect of facilitating the work of attaching and inspecting the cables that are wired to the rotating parts such as the wrist of the robot.
第1図は本考案の実施例を示す要部側面図、第2図は円
環状部の正面図、第3図、第4図は円環状部の動作説明
図である。 1…固定部、2…回転軸、3…回転部、4…ケーブル、
41…円環状部、42…固定端、43…折り曲げ部、44…移動
端、5…弾性被覆FIG. 1 is a side view of an essential part showing an embodiment of the present invention, FIG. 2 is a front view of an annular portion, and FIGS. 3 and 4 are operation explanatory views of the annular portion. 1 ... Fixed part, 2 ... Rotating shaft, 3 ... Rotating part, 4 ... Cable,
41 ... annular part, 42 ... fixed end, 43 ... bent part, 44 ... moving end, 5 ... elastic coating
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭64−50711(JP,A) 実開 昭62−65189(JP,U) ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References Japanese Patent Laid-Open No. 64-50711 (JP, A) Shoukai 62-65189 (JP, U)
Claims (1)
される回転部と、前記固定部に一方端を、前記回転部に
他方端を固定した複数のケーブルとを備えた回転部分ケ
ーブル保持装置において、 扁平に並べられた前記複数のケーブルにほぼ円形に湾曲
して形成した円環状部と、 前記円環状部を覆う絶縁弾性材からなる弾性被覆と、 前記円環状部にU字状に形成した折り曲げ部とを設け、 前記折り曲げ部によりほぼ半円形状に重なった前記円環
状部の一方端を前記固定部に固定し、他方端を前記回転
部に固定したことを特徴とする回転部分のケーブル保持
装置。1. A rotary partial cable holder comprising: a rotary part which is rotationally driven by a rotary shaft provided in a fixed part; and a plurality of cables having one end fixed to the fixed part and the other end fixed to the rotary part. In the device, an annular portion formed by bending the plurality of cables arranged in a flat shape into a substantially circular shape, an elastic coating made of an insulating elastic material that covers the annular portion, and a U-shape on the annular portion. The formed bent portion is provided, and one end of the annular portion that is substantially semicircularly overlapped by the bent portion is fixed to the fixed portion, and the other end is fixed to the rotating portion. Cable retainer.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP13093689U JPH0739575Y2 (en) | 1989-11-08 | 1989-11-08 | Cable retainer for rotating parts |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP13093689U JPH0739575Y2 (en) | 1989-11-08 | 1989-11-08 | Cable retainer for rotating parts |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0368796U JPH0368796U (en) | 1991-07-08 |
JPH0739575Y2 true JPH0739575Y2 (en) | 1995-09-13 |
Family
ID=31678472
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP13093689U Expired - Fee Related JPH0739575Y2 (en) | 1989-11-08 | 1989-11-08 | Cable retainer for rotating parts |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0739575Y2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2502715A1 (en) | 2001-10-22 | 2012-09-26 | Kabushiki Kaisha Yaskawa Denki | Industrial robot |
-
1989
- 1989-11-08 JP JP13093689U patent/JPH0739575Y2/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2502715A1 (en) | 2001-10-22 | 2012-09-26 | Kabushiki Kaisha Yaskawa Denki | Industrial robot |
Also Published As
Publication number | Publication date |
---|---|
JPH0368796U (en) | 1991-07-08 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
LAPS | Cancellation because of no payment of annual fees |