JP2020044648A - Rotary shaft cable wiring structure - Google Patents

Abstract

To provide rotary shaft cable wiring structure which materializes improvement of work efficiency upon assembly and in which cables are correctly arranged with improved reliability, and to provide a robot.SOLUTION: Rotary shaft cable wiring structure 2 comprises: a fixing member 3 and a movable member 4 which are rotatable relative to each other; a cylindrical hollow pipe member 5 disposed between the fixing member 3 and the movable member 4 and rotatable with respect to the movable member 4; a plurality of cable bundles 6 inserted from one of the fixing member 3 and the movable member 4 to the other of them via the hollow pipe member 5; first cable fixing means 7 fixing the cable bundles 6 to the fixing member 3; and second cable fixing means 8 fixing the cable bundles 6 to the movable member 4. Each cable bundle 6 has: a plurality of cables 60; and a cable bundling member 61 having an outside diameter smaller than the inside diameter of the hollow pipe member 5 and bundling the plurality of cables 60 while mutual relative arrangement of the cables is maintained.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a rotating shaft cable wiring structure in which a cable is inserted through a cylindrical rotating shaft portion, and a robot provided with the rotating shaft cable wiring structure.

  2. Description of the Related Art Conventionally, in an industrial robot, there is an example in which a hollow pipe is used to protect a cable arranged from one side of a relatively rotating member to the other side (for example, see Patent Documents 1 and 2). In such an industrial robot, the number of cables passing therethrough tends to increase in order to cope with a vision or a sensor.

JP-A-2015-168037 JP-A-2003-305684

  However, there is a case where a cable assembly in which a large number of cables are bundled by a cable clamp cannot be entirely passed through the hollow pipe together with the cable clamp because the diameter of the hollow pipe is small or the degree of filling of the cable is high.

  After passing the cable through the hollow pipe, it is necessary to fix the cable. In this case, care must be taken to prevent the cables from crossing (crossing) in the hollow pipe. However, when the degree of filling of the cable in the hollow pipe is high, it may be difficult to confirm the cable itself. As a result, there is a problem that it takes a long time to assemble, and the reliability of whether or not the cable is correctly arranged is low.

  SUMMARY OF THE INVENTION It is an object of the present invention to provide a rotary shaft cable wiring structure and a robot that improve the workability at the time of assembling and increase the reliability of whether or not cables are correctly arranged.

  (1) A rotating shaft cable wiring structure (for example, a rotating shaft cable wiring structure 2 described later) according to the present invention includes a first member (for example, a fixed member 3 described later) and a second member (for example, a later described) that are relatively rotatable. Movable member 4), and a cylindrical rotating shaft portion (for example, described later) that is disposed between the first member and the second member and is rotatable with respect to at least one of the first member and the second member. A hollow pipe member 5), one or a plurality of cable bundles (for example, a cable bundle 6 to be described later) passed from one of the first member and the second member to the other via the rotation shaft portion, First cable fixing means for fixing the cable bundle to the first member (for example, first cable fixing means 7 described later), and second cable fixing means for fixing the cable bundle to the second member (for example, described later) Second Cable fixing means 8), and the cable bundle has a plurality of cables (for example, a cable 60 described later) and an outer diameter smaller than the inner diameter of the rotating shaft portion, and the relative arrangement with each other is maintained. A cable bundling member (for example, a cable bundling member 61 to be described later) that bundles the plurality of cables in a state in which the cables are bundled.

  (2) In the rotating shaft cable wiring structure of (1), the cable has a length (for example, a length from a part bundled by the cable bundling member to a connector (for example, a connector 60a described later) provided at an end part). , A length L1 described later) may be longer than an axial length of the rotating shaft portion (for example, a length L2 described later).

  (3) In the rotating shaft cable wiring structure according to (1) or (2), the cable bundle includes two of the cable bundling members at spaced positions, and the plurality of cables include the first member and the first member. In a predetermined state in which the second member is not relatively rotated, the second members may be arranged parallel to each other within a section sandwiched by the cable focusing members.

  (4) In the rotating shaft cable wiring structure according to any one of (1) to (3), the predetermined state in which the first member and the second member are not relatively rotating is such that the rotating shaft portion is positioned at a reference angle. The rotation shaft portion may have an allowable maximum twist angle equal to the forward and reverse rotation directions from the reference angle.

  (5) The cable kit according to any one of (1) to (4), wherein the cable bundle is fixed in advance to one of the first cable fixing means and the second cable fixing means. It may be.

  (6) In the rotating shaft cable wiring structure according to any one of (1) to (5), all of the cable focusing members may be the same member.

  (7) In the rotating shaft cable wiring structure according to any one of (1) to (6), the cable convergence member is a plate-like member having substantially the same width as the width of the cable bundle, and the first cable fixing member is fixed. It may have a structure capable of being bolted to the means or the second cable fixing means.

  (8) In the rotating shaft cable wiring structure according to any one of (1) to (6), the cable focusing member may be a tape-shaped member.

  (9) In the rotating shaft cable wiring structure according to any one of (1) to (8), the cable identification means may be further provided.

  (10) A robot according to the present invention (for example, a robot 1 to be described later) includes any one of the rotary shaft cable wiring structures (1) to (9).

  ADVANTAGE OF THE INVENTION According to this invention, while improving the workability | operativity at the time of an assembly, the rotating shaft cable wiring structure and the robot which improved the reliability whether the cable is arrange | positioned correctly can be provided.

FIG. 2 is a schematic diagram illustrating a rotating shaft cable wiring structure of the robot according to the embodiment of the present invention. It is the schematic which shows the cable bundle which comprises the rotating shaft cable wiring structure shown in FIG. FIG. 3 is a sectional view taken along line III-III of the rotating shaft cable wiring structure shown in FIG. 1.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. FIG. 1 is a schematic diagram showing a rotating shaft cable wiring structure 2 of the robot 1. FIG. 2 is a schematic diagram showing a cable bundle 6 constituting the rotating shaft cable wiring structure 2 shown in FIG.

  As shown in FIG. 1, the rotating shaft cable wiring structure 2 of the robot 1 is a structure that protects a plurality of cables 60 arranged from one of the members 3 and 4 that rotate relatively to the other, and twists (twists). Prevents breakage such as disconnection caused by it.

  Specifically, the rotating shaft cable wiring structure 2 includes a fixed member (first member) 3, a movable member (second member) 4, a hollow pipe member (rotating shaft portion) 5, a plurality of cable bundles 6, A first cable fixing means 7 and a second cable fixing means 8 are provided.

  The fixing member 3 is a member having a space therein, and supports the one end of the hollow pipe member 5 so as to be fixed, and communicates with the hollow pipe member 5. The fixing member 3 fixes the cable 60 passed from the movable member 4 through the hollow pipe member 5 by the first cable fixing means 7.

  The movable member 4 is a member having a space inside, and rotatably supports the other end of the hollow pipe member 5 and communicates with the hollow pipe member 5. The movable member 4 fixes the cable 60 passed through the fixing member 3 via the hollow pipe member 5 by the second cable fixing means 8.

  The hollow pipe member 5 is a cylindrical member constituting the wrist of the robot 1, one end of which is supported so as to be fixed to the fixed member 3 and communicates with the fixed member 3, and the other end of which is a movable member 4. And rotatably supported by the movable member 4.

  The cable bundle 6 is passed from the movable member 4 to the fixed member 3 via the hollow pipe member 5. As shown in FIGS. 1 and 2, the cable bundle 6 includes a plurality of cables 60 and two cable focusing members 61.

  Each of the plurality of cables 60 has a connector 60a at an end. The plurality of cables 60 are bundled by the two cable bundling members 61 in a state where the relative arrangement of the cable bundling members 61 is maintained, and provided at the ends from the portion bundled by the cable bundling members 61 near the connector 60a. The length L1 to the connector 60a is longer than the length L2 of the hollow pipe member 5 in the axial direction. Further, the plurality of cables 60 are arranged in parallel with each other in a section sandwiched by the cable focusing members 61 in a predetermined state (the initial reference state) in which the fixed member 3 and the movable member 4 are not relatively rotated. .

  Such a plurality of cables 60 have a structure in which the angle that can be twisted to the maximum in one direction and the angle that can be twisted to the maximum in the other direction are equal. For this reason, the angle at which the fixed member 3 and the movable member 4 are rotatable in one direction and the angle at which the rotatable member 4 is rotatable from the initial state in which the relative rotation is not performed are the same. Therefore, the above-mentioned predetermined state in which the fixed member 3 and the movable member 4 are not relatively rotating (an initial reference state) means a state in which the hollow pipe member 5 is located at the reference angle. At this time, the hollow pipe member 5 has an allowable maximum twist angle equal to the forward and reverse rotation directions from the reference angle.

  The two cable bundling members 61 bundle the plurality of cables 60 at the spaced positions in a state where the relative arrangement of the cable bundling members 61 is maintained. This cable focusing member 61 has an outer diameter smaller than that of the hollow pipe member 5, and can be inserted through the hollow pipe member 5. Specifically, the cable bundle member 61 is a plate-like member slightly larger than the width W1 of the cable bundle 6 and having a width W2 substantially equal to the width W1 of the cable bundle 6. Alternatively, it has a structure that can be bolted to the second cable fixing means 8. The plurality of cable bundle members 61 constituting all the cable bundles 6 are all the same member.

  All of such cable bundles 6 are one of the first cable fixing means 7 and the second cable fixing means 8, the second cable being located closer to the base end of the cable bundle 6 (closer to the connector 60 a). The cable kit is fixed to the fixing means 8 in advance. That is, the cable focusing member 61 is fixed to the second cable fixing means 8 in advance, and the cable focusing member 61 is fixed to the first cable fixing means 7 by a subsequent operation. In this case, the first cable fixing means 7 and the second cable fixing means 8 need to have a structure that can be attached to and detached from the fixing member 3 and the movable member 4.

  Returning to FIG. The first cable fixing means 7 is provided inside the fixing member 3, and fixes the entire cable bundle 6 to the fixing member 3 by fixing the cable collecting member 61 with bolts. That is, the first cable fixing means 7 fixes the cable 60 near the hollow pipe member 5, and when the fixing member 3 and the movable member 4 rotate relative to each other, the cable 60 moves with respect to the first cable fixing means 7. The cable 60 does not relatively move in the longitudinal direction of the cable 60 or in the rotation direction in which the cable 60 is twisted.

  The second cable fixing means 8 is provided inside the movable member 4, and fixes the entire cable bundle 6 to the movable member 4 by fixing the cable focusing member 61 with bolts. That is, the second cable fixing means 8 fixes the cable 60 in the vicinity of the hollow pipe member 5, and when the fixing member 3 and the movable member 4 rotate relatively, the cable 60 moves with respect to the second cable fixing means 8. The cable 60 does not relatively move in the longitudinal direction of the cable 60 or in the rotation direction in which the cable 60 is twisted.

  Next, an example of the inside of the hollow pipe member 5 will be described with reference to FIG. FIG. 3 is a sectional view taken along line III-III of the cable arrangement 2 shown in FIG.

  As shown in FIG. 3, a plurality of cables 60 are arranged inside the hollow pipe member 5. The hollow pipe member 5 has a hollow hole diameter (inner diameter) of 40 mm, and inside the hollow pipe member 5, four cables 60 having a diameter of 9 mm, four cables 60 having a diameter of 8 mm, and four cables 60 having a diameter of 6 mm are provided. In this arrangement, the ratio of the total sectional area of the cable 60 to the sectional area of the hollow hole is 54.3%. However, since a gap is formed between the cables 60, the ratio of the portion occupied by the cable 60 (the portion shown by hatching) to the cross-sectional area of the hollow hole (hollow hole occupancy ratio) is 75.7%.

  As described above, even when the cable occupation ratio (filling degree) in the hollow pipe member 5 is high, the workability at the time of assembly is improved according to the rotating shaft cable wiring structure 2 of the robot 1 according to the present embodiment. In addition, the reliability of whether or not the cable 60 is correctly arranged can be improved.

  Also, even when the occupation ratio of the hollow hole to the hollow hole cross-sectional area is high, the plurality of cables 60 are passed through the inside of the hollow pipe member 5 so that the plurality of cables 60 do not cross inside the hollow pipe member 5. Also, even if the arrangement of many cables 60 is not checked in detail, the arrangement order is ensured at the time of assembly, the workability is good, and the reliability is high.

  Since the length L1 of the cable 60 from the portion bundled by the cable bundling member 61 to the connector 60a provided at the end is longer than the axial length L2 of the hollow pipe member 5, the hollow pipe member 5, it is possible to pass one connector 60a larger than the thickness of the cable 60 one by one. After the connector 60a passes through the hollow pipe member 5, the connector 60a passes through the hollow pipe member 5 as a cable bundle 6. Therefore, workability is further improved.

  Further, by providing the cable focusing member 61 also on the side that does not pass through the inside of the hollow pipe member 5 (the side of the movable member 4), the positional relationship between the two cable focusing members 61 is defined, and the workability can be further improved.

  Further, the hollow pipe member 5 has a certain reference angle (for example, 0 °), and has a specification that the maximum angle equal to the clockwise direction and the counterclockwise direction can be twisted from the reference angle. When the hollow pipe member 5 is positioned at the reference angle, the fixed member 3 and the movable member 4 are configured not to rotate relative to each other. Accordingly, the cables 60 can be wired so as to be parallel in a state where the stress does not act on the cables 60 at the maximum, and a structure in which the same maximum stress acts at the maximum angle in the clockwise direction and the counterclockwise direction can be obtained. The life of the cable 60 can be extended.

  All of the cable bundles 6 are located closer to the base end of the cable bundle 6 (closer to the connector 60a) among the first cable fixing means 7 and the second cable fixing means 8. Since the cable kit is fixed to the means 8 in advance, the positional relationship of the cables 60 of all the cable bundles 6 is defined, and the assembly workability can be further improved.

  In addition, since all the cable bundle members 61 of all the cable bundles 6 are the same member, the cost can be reduced, and misassembly of parts can be prevented.

  Further, by making the cable focusing member 61 a simple and non-bulky plate-shaped member, further improvement in workability and cost reduction can be achieved.

  The embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments. Further, the effects described in the present embodiment merely enumerate the most preferable effects resulting from the present invention, and the effects according to the present invention are not limited to those described in the present embodiment.

  In the above embodiment, an example in which the fixed member 3 fixed to the hollow pipe member 5 and the movable member 4 rotatable with respect to the hollow pipe member 5 are provided as members that can be relatively rotated. However, the present invention is not limited to this. In the present invention, a member rotatable with respect to the hollow pipe member 5 may be provided instead of the fixed member 3 as a relatively rotatable member.

  Further, in the above-described embodiment, the case where a plurality of cable bundles 6 are provided has been described as an example, but the present invention is not limited to this. The present invention may include one cable bundle 6.

  Further, in the above-described embodiment, the case where the plurality of cables 60 are bundled by the cable bundling member 61 which is a plate-shaped member has been described as an example, but the present invention is not limited to this. In the present invention, a plurality of cables 60 may be bundled by a cable convergence member that is a tape-shaped member instead of or together with the cable convergence member 61. The cable convergence member, which is a tape-shaped member, may be wound at a position farther from the hollow pipe member 5 than the first cable fixing means 7 or the second cable fixing means 8, or the first cable fixing means 7 may be wound. Alternatively, the outer periphery of the portion where the plurality of cables 60 are fixed may be directly wound on the second cable fixing means 8. That is, it is necessary to wind and fix the non-movable portion of the cable 60. If the movable side area is fixed, the movement of the cable 60 is restricted, and as a result, the cable 60 may be disconnected at an early stage.

  Further, in the above-described embodiment, an identification means for the cable 60 may be provided near the cable focusing member 61. Since the plurality of cables 60 are passed through the cable bundle 6 at the time of assembly, the positional relationship of the cables 60 may not be known. However, the provision of the identification means for the cables 60 can solve such a problem.

  Further, the cable 60 may further be composed of a plurality of cables, for example, two cables in the longitudinal direction of the focusing member 61 and two cables in the thickness (height) direction of the focusing member 61, that is, a total of four cables. In such a case, the four cables constituting the cable 60 come in the same phase in the rotation (twisting the cable 60) with respect to the two focusing members 61 with respect to the focusing member 61. It is also possible to confirm whether or not the cable 60 is twisted, and it is possible to avoid the cable 60 from being arranged in a slightly twisted state in the section sandwiched between the two focusing members 61. Of course, there is a possibility that the cable 60 cannot be identified if it is twisted by one turn (360 °). However, it is not easy to fix the cable 60 to the focusing member 61 in a state where the twist is intentionally made one turn in a short section. . Therefore, there is actually no problem if slight twisting can be avoided.

  In the above embodiment, the hollow pipe member 5 has one end supported by the fixed member 3 and the other end supported by the movable member 4 so as to be rotatable with respect to at least one of the fixed member 3 and the movable member 4. However, the present invention is not limited to this. For example, the hollow pipe member 5 may be integrated with the fixed member 3 or the movable member 4.

  Further, in the above embodiment, the first cable fixing means 7 fixes all of the cable bundle 6 to the fixing member 3, but may fix a part of the cable bundle 6 to the fixing member 3. Similarly, the second cable fixing means 8 fixes all of the cable bundle 6 to the movable member 4, but may fix a part of the cable bundle 6 to the movable member 4. That is, the cable 6 not fixed in the hollow pipe member 5 may be passed through an appropriate portion.

  In the above embodiment, all of the cable bundles 6 are located closer to the base end of the cable bundle 6 (closer to the connector 60a) among the first cable fixing means 7 and the second cable fixing means 8. Although the cable kit is fixed to the second cable fixing means 8 in advance, the present invention is not limited to this. The cable bundle 6 may be fixed to one of the first cable fixing means 7 and the second cable fixing means 8 in advance.

DESCRIPTION OF SYMBOLS 1 Robot 2 Rotation axis cable wiring structure 3 Fixed member (1st member)
4 movable member (second member)
5 Hollow pipe member (rotary shaft)
Reference Signs List 6 cable bundle 60 cable 60a connector 61 cable bundling member 7 first cable fixing means 8 second cable fixing means

Claims (9)

A first member and a second member that are relatively rotatable;
A cylindrical rotating shaft portion disposed between the first member and the second member and rotatable with respect to at least one of the first member and the second member;
Via the rotation shaft portion, one or more cable bundles passed from one of the first member and the second member to the other,
First cable fixing means for fixing the cable bundle to the first member;
A second cable fixing means for fixing the cable bundle to the second member,
The cable bundle is
Multiple cables,
A cable bundling member having an outer diameter smaller than the inner diameter of the rotating shaft portion, and bundling the plurality of cables in a state where the relative arrangement is maintained;
The cable has a length from a portion bundled by the cable bundling member to a connector provided at an end portion, which is longer than an axial length of the rotating shaft portion.
Rotating axis cable wiring structure. The cable bundle includes two cable focusing members at spaced positions,
The cable according to claim 1, wherein the plurality of cables are arranged in parallel with each other within a section sandwiched by the cable focusing members in a predetermined state in which the first member and the second member are not relatively rotated. Rotating axis cable wiring structure. The predetermined state in which the first member and the second member are not relatively rotating is a state in which the rotation shaft is located at a reference angle,
The rotating shaft cable wiring structure according to claim 2, wherein the rotating shaft portion has an allowable maximum torsion angle equal to the forward and reverse rotation directions from the reference angle. 4. The cable kit according to claim 1, wherein all of the cable bundles are cable kits that are previously fixed to one of the first cable fixing unit and the second cable fixing unit that is located near a base end of the cable bundle. 5. The rotating shaft cable wiring structure according to any of the above. The rotating shaft cable wiring structure according to any one of claims 1 to 4, wherein all of the cable focusing members are the same member. The said cable bundle member is a plate-shaped member which has substantially the same width as the width of the said cable bundle, and has a structure which can be bolt-fixed with respect to the said 1st cable fixing means or the said 2nd cable fixing means. The rotating shaft cable wiring structure according to any one of claims 1 to 5. The rotating shaft cable wiring structure according to claim 1, wherein the cable focusing member is a tape-shaped member. The rotating shaft cable wiring structure according to claim 1, further comprising a cable identification unit.   A robot comprising the rotating shaft cable wiring structure according to claim 1.

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