JP2018008325A - Rotation mechanism and positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotation mechanism which is relatively-small and can prevent the damage on the wiring, and provide a positioning device.SOLUTION: The rotation mechanism includes: a fixed body; a movable body which performs reciprocal rotation less than one rotation with respect to the fixed body; and a plurality of pieces of wirings which are stretched between the fixed body and movable body. The rotation mechanism also includes a fixed holding member which holds the plurality of pieces of wirings on the fixed body and is fixed on the fixed body; and a movable holding member which holds the plurality of pieces of wirings on the movable body and is arranged on the movable body in a linearly movable manner in the center line direction of the held wiring. The plurality of pieces of wirings are held by the fixed holding member and movable holding member so as to form the wiring rows overlapped in the center axial direction view of the rotation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a turning mechanism and a positioning device.

  For example, for industrial robots and the like, a turning mechanism configured so that the movable body can perform reciprocal turning less than one rotation with respect to the fixed body is widely used. In such a turning mechanism, since bending stress acts repeatedly on the electric wiring for transmitting electric power and signals from the fixed body to the movable body, it is necessary to prevent disconnection or short circuit due to fatigue of the electric wiring.

  As a wiring structure in the turning mechanism, a method is known in which a turning shaft is hollow and wiring is arranged in the turning shaft in the axial direction (Japanese Patent Laid-Open No. 6-143186). In this wiring structure, since the turning of the movable body is absorbed by the twisting of the wiring, the wiring is hardly bent. Accordingly, in this wiring structure, the stress acting on the wiring can be sufficiently reduced by increasing the length of the portion extending in the axial direction in the turning axis of the wiring. However, when the turning axis is short, the wiring is excessive. There is a risk of twisting and disconnection. Further, in this wiring structure, when a plurality of wirings are arranged, the wiring row is twisted by the turning of the movable body, so when the number of wirings arranged in the rotating shaft is relatively large, If the wirings are tightened together, excessive stress may be applied to damage the wirings.

  Further, as another wiring structure in the turning mechanism, the electric wiring is wound in a spiral shape around the turning axis of the movable body and arranged in a shape like a torsion spring (torsion spring), thereby bending the wiring. A structure has been proposed in which the stretching angle is reduced (Japanese Patent Laid-Open No. 63-295195). That is, in the turning mechanism described in the above publication, the winding diameter of the electric wiring decreases with the turning movement of the movable body, and the number of turns increases, or the winding diameter increases and the number of turns decreases. Thus, the change in the bending radius of the wiring is reduced. However, in this wiring configuration, when a large number of wirings are provided, it is necessary to wind the wiring in a spiral shape of another line, and there is an inconvenience that the space occupied by the wiring is increased in the direction of the turning axis.

  Further, as another wiring structure in the turning mechanism, the electric wiring is stretched so as to draw an arc around the turning axis, wound around a tension piece (pulley), folded in a U shape, and the tension piece is pulled by a spring. A structure has been proposed in which tension is applied to the electric wiring to absorb the movement of the wiring due to the turning of the movable body (Japanese Patent Laid-Open No. 9-267289). In this configuration, the position at which the wiring is folded back by the pulling piece is moved by the turning of the movable body, so that the bending of the wiring having a bending radius equal to the diameter of the pulling piece repeatedly acts. Therefore, in order to reduce the stress by increasing the bending radius in the wiring structure described in the above publication, it is necessary to relatively increase the planar dimension of the wiring structure. Further, in the wiring structure described in the above publication, the tension piece is pulled by a spring, so that the structure is relatively complicated, and there is a possibility that an excessive load is applied to the wiring by the spring and the wiring is likely to be damaged.

JP-A-6-143186 JP 63-295195 A JP-A-9-267289

  In view of the above inconveniences, an object of the present invention is to provide a turning mechanism and a positioning device that are relatively small and can prevent damage to wiring.

  The invention made to solve the above-described problems includes a fixed body, a movable body that reciprocates less than one rotation with respect to the fixed body, and a plurality of wirings that span between the fixed body and the movable body. A turning mechanism comprising: a fixed holding member that holds the plurality of wirings on the fixed body and is fixed to the fixed body; and a center of the wiring that holds and holds the plurality of wirings on the movable body A movable holding member disposed on the movable body so as to be linearly movable in a linear direction, and the fixed holding member and the plurality of wirings form a wiring row that overlaps when viewed in the direction of the central axis of rotation. It is a turning mechanism that is held by a movable holding member.

  The plurality of wirings are held by a plurality of movable holding members that can be linearly moved independently, and at least the positions of the portions held by the fixed holding members and the movable holding members of the plurality of wirings in the center axis direction of the rotation are equal. A plurality of wiring rows are formed, and the lengths of the plurality of wiring rows between the fixed holding member and the movable holding member are preferably equal. Note that “the positions in the direction of the central axis of the turn are equal” means that the existence areas in the direction of the central axis of the turn overlap at least partially. In other words, “the position in the direction of the central axis of the turn is equal” means that at least a part overlaps when viewed from the direction perpendicular to the central axis of the turn.

  The plurality of wiring lines are linearly symmetrical with respect to a straight line that is parallel to the wiring between the fixed holding member and the movable holding member and intersects the central axis of rotation in a state where the wiring row extends linearly between the fixed holding member and the movable holding member. It is good to be arranged in.

  The movable body has a circuit storage portion that accommodates a circuit board, ends of the plurality of wirings extending from the movable holding member are fixed to the circuit storage portion, and the plurality of wirings are stored in the circuit from the movable holding member. It is preferable that the bending radius up to the portion be arranged so that it can be maintained at 6 times or more of the wiring outer diameter and 33 times or more of the wire core outer diameter.

  Another invention made in order to solve the above-mentioned subject is a positioning device provided with the turning mechanism and a robot for positioning a fixed body of the turning mechanism.

  In the turning mechanism of the present invention, the movable holding member movable along the wiring direction is provided on the movable body to hold the wiring. Therefore, when the movable body turns with respect to the fixed body, the wiring is movable and held by its elasticity. By moving the member, its own bending radius can be kept relatively large. For this reason, the turning mechanism and the positioning device can relatively reliably prevent damage to the wiring while being relatively small.

It is a typical side view which shows the structure of the turning mechanism of one Embodiment of this invention. It is typical AA sectional view in the center angle position of the turning mechanism of FIG. FIG. 2 is a schematic cross-sectional view taken along line AA in a state where a movable body of the turning mechanism in FIG. 1 is turned. It is a schematic plan view which shows the structure of a positioning device provided with the turning mechanism of FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.

[Swivel mechanism]
A turning mechanism 1 according to an embodiment of the present invention shown in FIGS. 1 and 2 includes a fixed body 2 and a movable body 3 that reciprocates less than one rotation around the center axis θ of rotation with respect to the fixed body 2. And a drive unit 4 that rotates the movable body 3 with respect to the fixed body 2. Further, the turning mechanism 1 includes a plurality of wirings W that are spanned between the fixed body 2 and the movable body 3.

  The turning mechanism 1 holds a plurality of wires W on the fixed body 2, holds a plurality of fixed holding members 5 fixed to the fixed body 2, and holds a plurality of wires W on the movable body 3. And a plurality of movable holding members 6 disposed on the movable body 3 so as to be linearly movable in the center line direction of W (the direction of the center line in the portion where the wiring W is gripped).

  The turning mechanism 1 can be used as a part of a drive system such as a joint mechanism of a robot, for example, and holds a positioning member (not shown) by a movable body 3, and an angular position around the θ axis of the positioning member. Can be used to determine.

  The positioned member whose angular position is determined by the turning mechanism 1 is not particularly limited, and examples thereof include an arbitrary tool such as a punch used for punching, an electric inspection head having a plurality of probes, and the like.

<Wiring>
The plurality of wires W are wires for supplying electric power to a positioning mechanism (not shown) that is turned around the turning center axis θ by the turning mechanism 1 and signals for transmitting and receiving electrical signals to and from the positioning mechanism. Includes lines. Each of the plurality of wirings W is preferably an insulated wire, and may include other core cables.

  The wiring W is preferably held by the fixed body 2 and the movable body 3 so as to extend linearly at the center angle position of the swivelable range of the movable body 3 with respect to the fixed body 2. In this way, by causing the wiring W to extend linearly at the center angle position, the bending radius of the wiring W accompanying the turning operation of the turning mechanism can be made relatively large.

<Fixed body>
The fixed body 2 is a member that is not displaced in the turning operation of the turning mechanism, that is, a member whose angular position around the turning center axis θ does not change. The fixed body 2 may not be displaced depending on the operation of the turning mechanism, but may be held by another drive mechanism so that the absolute position and posture are changed.

<Movable body>
The movable body 3 can have a circuit storage portion 7 that houses a circuit board or the like for supplying electric power to a positioned member that is held by the movable body 3 and is rotationally positioned, and for transmitting and receiving control signals and the like. .

  One end of the plurality of wires W is fixed to the circuit storage unit 7.

<Driver>
The drive unit 4 is a power mechanism that determines the relative angular position of the movable body 3 by turning the movable body 3 with respect to the fixed body 2.

  As this drive part 4, a servomotor with a reduction gear etc. can be used, for example. The power supply and control to the drive unit 4 may be performed via a wiring (not shown) disposed on the fixed body 2.

<Fixed holding member>
The fixed holding member 5 forms a wiring row B in which the plurality of wirings W are arranged in a row while holding the plurality of wirings W so as to overlap each other when viewed in the direction of the central axis θ of the turning. More specifically, the plurality of wirings W are held parallel to each other so that each wiring W extends in parallel to a plane perpendicular to the turning center axis θ, and the plurality of wirings W are arranged in parallel to the turning center axis θ. It may be held by the fixed holding member 5 so as to form the wiring row B. That is, it is preferable that the directions of the central axes of the portions of the wiring W held by the fixing holding members 5 of the plurality of wirings W are all equal.

  The plurality of fixed holding members 5 are arranged side by side on the fixed body 2 so that at least the portions where the plurality of wirings W are held form a wiring row B having the same position (height) in the direction of the central axis θ of rotation. Is done. In other words, the plurality of wirings W are rotated by the plurality of fixed holding members 5 in the circumferential direction (the circumferential direction of a virtual circle drawn around the central axis θ of rotation on a virtual plane perpendicular to the central axis θ of rotation). Are formed so as to form a plurality of wiring rows B in parallel.

  The plurality of fixed holding members 5 are parallel to the wiring between the fixed holding member 5 and the movable holding member 6 in a state where the plurality of wiring rows B extend linearly between the fixed holding member 5 and the movable holding member 6. They are arranged symmetrically with respect to a straight line that intersects with the turning center axis θ (turning diameter: a virtual straight line perpendicular to the turning center axis θ). That is, the plurality of fixed holding members 5 include the swivel center axis θ in a state where the plurality of wiring rows B extend linearly when viewed in the direction of the swivel central axis θ, and the wiring W held by the fixed holding member 5 Each of the plurality of wirings W is held so that the central axes of the plurality of wiring rows B are substantially mirrored on a plane parallel to the center line direction.

  The interval between the plurality of fixed holding members 5 only needs to be able to hold the plurality of wiring rows B so as not to interfere with each other, and can be determined according to the outer diameter of the wiring W to be held. Further, since the bending radius of the wiring W outside the bent portion is reduced as the interval between the fixed holding members 5 is increased, the interval between the plurality of fixed holding members 5 is preferably as small as possible.

  The fixed holding member 5 can be configured to include a support column 8 disposed upright on the fixed body 2 and a cover 9 that sandwiches a plurality of wires W between the support column 8. The cover 9 may be formed integrally with the column 8 or may be a separate member. Moreover, the support | pillar 8 or the cover 9 may have an elastic body in the surface contact | abutted to the some wiring W so that the some wiring W which may have an individual different wiring outer diameter may be hold | maintained reliably. You may have the unevenness | corrugation matched to the diameter of this.

  The lower limit of the distance between the end of the holding holding member 5 that holds the wiring W on the side of the turning central axis θ and the turning central axis θ is 6 times the outer diameter of the wiring W and the outside of the wire W. The larger one of 33 times the diameter is preferable, and the larger one is 8 times the outer diameter of the wiring W and 44 times the outer diameter of the wire core of the wiring W. On the other hand, the upper limit of the distance between the end on the side of the turning central axis θ of the portion holding the wiring W of the fixed holding member 5 and the turning central axis θ is 30 times the outer diameter of the wiring W and the wire W It is preferably 165 times larger than the core outer diameter, more preferably 20 times the outer diameter of the wire W and 110 times larger than the wire core outer diameter of the wire W. When the distance between the end portion of the fixed holding member 5 holding the wiring W on the side of the turning central axis θ and the turning central axis θ is less than the lower limit, the bending radius of the wiring W cannot be maintained in an appropriate state. There is a fear. If the distance between the end of the portion holding the wiring W of the fixed holding member 5 on the side of the turning central axis θ and the turning central axis θ exceeds the upper limit, the turning mechanism may become unnecessarily large or fixed. There is a possibility that unexpected bending may act along with the turning motion because the wiring W is bent by its own weight between the body 2 and the movable body 3.

<Movable holding member>
Each movable holding member 6 holds a plurality of wirings W so as to overlap each other when viewed in the direction of the central axis θ of rotation, and forms a wiring row B in which the plurality of wirings W are arranged in a row. More specifically, the plurality of wirings W are held parallel to each other so that each wiring W extends in parallel to a plane perpendicular to the turning center axis θ, and the plurality of wirings W are arranged in parallel to the turning center axis θ. It is preferable that the movable holding member 6 holds the wiring row B. In other words, it is preferable that the directions of the central axes of the portions of the wiring W held by the movable holding member 6 of the plurality of wirings W are all equal.

  Further, it is preferable that the plurality of movable holding members 6 are arranged side by side in the radial direction on the movable body 3 and form a plurality of wiring rows B whose positions in the direction of the central axis θ of rotation are equal at least in the holding portion. . In other words, the plurality of wirings W may be held by the plurality of movable holding members 6 so as to form a plurality of wiring rows B arranged in parallel in the circumferential direction of the turning. More specifically, the plurality of movable holding members 6 swivel in parallel with the wiring between the fixed holding member 5 and the movable holding member 6 in a state where the plurality of wiring rows B extend linearly when viewed in the direction of the central axis θ of turning. It is good to arrange | position symmetrically with respect to the straight line (swivel diameter) which cross | intersects central axis (theta).

  Each movable holding member 6 includes a guide rail 10 fixed to the movable body 3, a slider 11 slidably disposed on the guide rail 10, a support column 12 fixed to the slider 11, and the support column 12. And a cover 13 for sandwiching a plurality of wirings W between them. That is, the plurality of movable holding members 6 are preferably arranged so as to be linearly movable independently of each other. As a result, the bending stress of the plurality of wiring rows B is individually relieved, so that the bending stress is not concentrated on a part of the wiring rows B (the bending radius does not become excessively small), so that damage to the wiring W can be prevented more effectively. Is done.

  As the guide rail 10 and the slider 11, for example, a commercially available linear guide or the like can be used. The configuration of the support 12 and the cover 13 of the movable holding member 6 can be the same as the configuration of the support 8 and the cover 9 of the fixed holding member 5.

  In a state where the wiring W extends linearly between the fixed holding member 5 and the movable holding member 6, the end of the movable holding member 6 that holds the plurality of wirings W on the side of the turning central axis θ and the turning central axis θ Is preferably 6 times the outer diameter of the wire W and 33 times the wire core outer diameter of the wire W, and is preferably 8 times the outer diameter of the wire W and the wire core outer diameter of the wire W. 44 times larger is more preferable. On the other hand, the upper limit of the distance between the end of the movable holding member 6 holding the wiring W on the side of the turning central axis θ and the turning central axis θ is 30 times the outer diameter of the wiring W and the wiring W It is preferably 165 times larger than the outer diameter of the wire core, more preferably 20 times larger than the outer diameter of the wire W and 110 times larger than the outer diameter of the wire core. If the distance between the end portion of the movable holding member 6 that holds the wiring W on the side of the turning central axis θ and the turning central axis θ is less than the lower limit, the bending radius of the wiring W cannot be maintained in an appropriate state. There is a fear. When the distance between the end of the movable holding member 6 that holds the wiring W on the side of the turning central axis θ and the turning central axis θ exceeds the upper limit, the turning mechanism may be unnecessarily large or fixed. There is a possibility that unexpected bending may act along with the turning motion because the wiring W is bent by its own weight between the body 2 and the movable body 3.

  The movable holding member 6 is positioned in the vicinity of the end on the central axis θ side of the turn of the linearly movable range on the movable body 3 in a state where the wiring W extends linearly between the fixed holding member 5 and the movable holding member 6. It is preferable to do. Thereby, the quantity which can ease the bending of the wiring W with respect to turning of the movable body 3 becomes comparatively large.

  The lower limit of the linearly movable distance of the movable holding member 6 on the movable body 3 is preferably 6 times as large as the outer diameter of the wiring W and 33 times as large as the outer diameter of the wire core. Is more preferably 8 times as large as 44 times the wire core outer diameter of the wiring W. On the other hand, the upper limit of the linear movable distance of the movable holding member 6 on the movable body 3 is preferably 30 times larger than the outer diameter of the wiring W and 165 times larger than the outer diameter of the wire core. The larger one of 20 times the outer diameter and 110 times the outer diameter of the wire W is more preferable. When the linearly movable distance on the movable body 3 of the movable holding member 6 is less than the lower limit, the bending radius of the wiring W may not be maintained in an appropriate state. On the contrary, when the linear movable distance of the movable holding member 6 on the movable body 3 exceeds the upper limit, the turning mechanism may be unnecessarily large.

  As described above, the portions of the plurality of wires W extending from the movable holding member are fixed to the circuit storage unit 7 on the movable body 3. The wiring W between the movable holding member 6 and the circuit storage portion 7 is bent and extended as the movable body 3 turns, but the end of the movable holding member 6 on the side far from the turning center axis θ of the movable range. The bend radius is minimized when positioned at.

  The lower limit of the minimum value of the bending radius between the movable holding member 6 of the plurality of wires W and the fixed end in the circuit storage unit 7 is 6 times the outer diameter of the wires W and the outer diameter of the wire core of the wires W. The larger one of 33 times is preferable, and the larger one is 8 times the outer diameter of the wiring W and 44 times the outer diameter of the wire core. If the minimum value of the bending radius between the movable holding member 6 of the plurality of wires W and the fixed end in the circuit storage portion 7 is less than the lower limit, the wires W may be damaged due to fatigue by turning the movable body 3. is there. On the other hand, the upper limit of the bending radius between the movable holding member 6 of the plurality of wires W and the fixed end in the circuit storage unit 7 is not particularly limited, but the turning mechanism 1 is not required to be enlarged or the circuit is stored. It is preferable that the moment of inertia does not increase unnecessarily due to the influence of the arrangement of the portion 7.

  The plurality of movable holding members 6 hold the plurality of wires W so that the lengths between the fixed holding members 5 and the movable holding members 6 of the plurality of wiring rows B are equal. Thereby, the curvature of each wiring row | line | column B bent by turning of the movable body 3 becomes a comparatively close thing, and interference between the wiring row | line | columns B can be prevented.

<Turning motion>
As shown in FIG. 3, the turning mechanism 1 is configured to fix the movable body 3 by turning (swinging) the movable body 3 around the central axis θ with respect to the fixed body 2 by the driving unit 4. Determine the angular position relative to the body 2.

  When the movable body 3 is turned, the wiring row B (the plurality of wires W) between the fixed holding member 5 and the movable holding member 6 is maintained in a state parallel to each other in a direction perpendicular to the turning central axis θ. The movable body 3 is bent in the turning direction as viewed in the direction of the turning center axis θ, but the movable holding member 6 is moved along the guide rail 10 in a direction away from the turning center axis θ by the elastic force of the wiring row B. The bend radius is made relatively large.

  In the case of having a plurality of movable holding members 6, in order to keep the length between the fixed holding members 5 and the movable holding members 6 of the plurality of wiring rows B formed (the length cannot be changed), The movable holding member 6 on the side approaching the fixed body 2 by the turning is moved more along the guide rail 10 (the slide amount of the slider 11 becomes larger) and is arranged farther from the central axis θ. Thereby, the bending radius increases as the wiring row B is held by the movable holding member 6 on the side closer to the fixed body 2 when the movable body 3 turns. On the contrary, the wiring row B held by the movable holding member 6 arranged on the side far from the fixed body 2 when the movable body 3 is turned has a relatively small bending radius. For this reason, as shown in the figure, as the movable body 3 turns, the distance between the wiring rows B between the fixed holding member 5 and the movable holding member 6 increases, thereby preventing interference and friction between the wiring rows B. be able to.

  As described above, in order to prevent the interference and friction between the wiring rows B more reliably by changing the moving distances of the movable holding members 6, between the fixed holding member 5 and the movable holding member 6 of each wiring row B. It is preferable to make the lengths equal.

  FIG. 3 shows an example in which the movable body 3 is turned counterclockwise with respect to the fixed body 2. However, when the movable body 3 is turned clockwise with respect to the fixed body 2, a plurality of wirings are provided. Row B is bent into a shape generally mirrored in FIG.

  In the turning mechanism 1, the fixed holding member 5 and the plurality of wiring rows B between the fixed holding member 5 and the fixed holding member 6 in a central angular position, that is, when viewed in the direction of the central axis θ of turning, extend linearly. Since the movable holding member 6 is arranged in line symmetry with respect to a virtual straight line that is parallel to the plurality of wiring rows B between the fixed holding member 5 and the fixed holding member 6 and intersects the central axis θ of the turning, In the counterclockwise turn, the bending radius of the wiring row B (the wiring row B held by the movable holding member 6 disposed on the side far from the fixed body 2 when the movable body 3 turns) is substantially equal. In addition, it is possible to prevent the wiring W from being damaged by preventing the bending radius from becoming excessively small.

<Advantages>
As described above, in the turning mechanism 1 of the present invention, the movable body 3 is fixed by making the movable holding member 6 that holds the wiring W on the movable body 3 linearly movable along the center line direction of the wiring W. When the wiring W moves with respect to the body 2, the movable holding member 6 is moved by its elasticity, so that its own bending radius can be kept relatively large. For this reason, the turning mechanism 1 can relatively reliably prevent damage to the wiring while being relatively small.

[Positioning device]
A positioning device according to an embodiment of the present invention shown in FIG. 4 includes the turning mechanism 1 of FIG. 1 and a robot 20 that positions the fixed body 2 of the turning mechanism 1.

  The robot 20 may be any robot that can determine the absolute position of the fixed body 2 of the turning mechanism 1, and is one-dimensional, two-dimensional, or three-dimensional depending on the use of the positioning mechanism that is turned by the turning mechanism 1. A robot that performs dimension positioning.

  The robot 20 may be one that can determine not only the three-dimensional positioning but also the posture of the turning mechanism 1, that is, the one that can tilt the turning central axis θ in an arbitrary direction.

  As such a robot 20, an articulated robot may be used, but an orthogonal coordinate robot having a relatively small cost and occupied space can be employed.

  As shown in the figure, for example, the Cartesian coordinate type robot moves along a pair of first guides 21 extending in a position direction perpendicular to the turning central axis θ of the turning mechanism 1 and the first guide 21. A pair of first moving bodies 22, a pair of second guides 23 that extend perpendicularly to the first guide 21 between the pair of first moving bodies 22, and the second guides 23 move along the second guides 23. The second moving body 24 holding the fixed body 2 of the turning mechanism 1 can be provided.

  The robot 20 further includes an elevating device 25 that is provided on the second moving body 24 and moves the fixed body 2 of the turning mechanism 1 in the direction of the central axis θ, and positions the turning mechanism 1 in three orthogonal axes. It is preferable to be able to do it.

<Advantages>
Since the positioning device of the present invention includes the turning mechanism 1 that can relatively reliably prevent damage to the wiring while being relatively small, the load on the robot 20 is relatively small and the overall size can be reduced.

[Other Embodiments]
The said embodiment does not limit the structure of this invention. Therefore, in the above-described embodiment, components of each part of the above-described embodiment can be omitted, replaced, or added based on the description and common general knowledge of the present specification, and they are all interpreted as belonging to the scope of the present invention. Should.

  The turning mechanism may have one fixed holding member and one movable holding member, and a plurality of wires may form a single wiring row. Further, the turning mechanism may hold a plurality of wires so as to form three or more wiring rows.

  In the turning mechanism, in a state where the plurality of wiring lines extend linearly when viewed from the central axis direction of the turning at the central angle position, the plurality of wirings are asymmetrical with respect to the straight line intersecting the central axis of the turning. It may be held to form. In addition, when the odd-numbered wiring rows are arranged symmetrically with respect to a straight line intersecting with the central axis of rotation, the central fixed holding member and the movable holding member may be arranged on a straight line intersecting with the central axis of rotation. .

  When the plurality of wires are held so as to form a plurality of wiring rows, the turning mechanism holds each wiring row independently by the same number of movable holding members as the wiring row, but one or fewer than the wiring rows A plurality of wiring rows may be held by a fixed holding member. That is, one fixed holding member may hold a plurality of wiring rows at intervals, for example, hold the wiring rows on both sides of the support column.

  The swivel mechanism and the positioning device according to the present invention can be applied to any device that needs to perform a swivel motion. For example, a punch device that punches out each part from a large sheet having a plurality of part patterns having different orientations, It can be suitably used for an electrical inspection apparatus or the like in which a plurality of probes are brought into contact with a plurality of different parts in order.

DESCRIPTION OF SYMBOLS 1 Turning mechanism 2 Fixed body 3 Movable body 4 Drive part 5 Fixed holding member 6 Movable holding member 7 Circuit storage part 8 Column 9 Cover 10 Guide rail 11 Slider 12 Column 13 Cover 20 Robot 21 First guide 22 First moving body 23 First 2 guide 24 second moving body 25 lifting device B wiring line W wiring θ central axis of rotation

Claims (5)

A fixed body,
A movable body that reciprocates less than one rotation with respect to the fixed body;
A swivel mechanism comprising a plurality of wires spanned between the fixed body and the movable body,
A fixed holding member that holds the plurality of wires on the fixed body and is fixed to the fixed body;
Holding the plurality of wirings on the movable body, and having a movable holding member disposed on the movable body so as to be linearly movable in the direction of the center line of the wiring to be held;
The turning mechanism characterized in that the plurality of wires are held by the fixed holding member and the movable holding member so as to form a wiring row that overlaps when viewed in the direction of the central axis of turning. The plurality of wires are held by a plurality of movable holding members that can be linearly moved independently,
The plurality of wirings form a plurality of wiring rows in which the positions in the central axis direction of turning of the portions held by at least the fixed holding member and the movable holding member are equal,
The turning mechanism according to claim 1, wherein the lengths of the plurality of wiring rows between the fixed holding member and the movable holding member are equal.   The plurality of wiring lines are linearly symmetrical with respect to a straight line that is parallel to the wiring between the fixed holding member and the movable holding member and intersects the central axis of rotation in a state where the wiring row extends linearly between the fixed holding member and the movable holding member. The turning mechanism according to claim 2, which is disposed in The movable body has a circuit housing portion for accommodating a circuit board;
The ends on the side extending from the movable holding member of the plurality of wires are fixed to the circuit storage unit,
The plurality of wirings are arranged so that a bending radius between the movable holding member and the circuit housing portion can be held at 6 times or more of the wiring outer diameter and 33 times or more of the wire core outer diameter. The turning mechanism according to claim 2 or claim 3. The turning mechanism according to any one of claims 1 to 4,
And a robot for positioning the fixed body of the turning mechanism.

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