JP2020044648A5 - Cable wiring method, robot manufacturing method, rotary axis cable wiring structure, and robot - Google Patents

Cable wiring method, robot manufacturing method, rotary axis cable wiring structure, and robot Download PDF

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JP2020044648A5
JP2020044648A5 JP2019222663A JP2019222663A JP2020044648A5 JP 2020044648 A5 JP2020044648 A5 JP 2020044648A5 JP 2019222663 A JP2019222663 A JP 2019222663A JP 2019222663 A JP2019222663 A JP 2019222663A JP 2020044648 A5 JP2020044648 A5 JP 2020044648A5
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cable
fixing means
bundle
shaft portion
wiring structure
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本発明は、組立時の作業性を良くすると共に、ケーブルが正しく配置されているか否かの信頼性を高めたケーブル配線方法、ロボットの製造方法、回転軸ケーブル配線構造、及びロボットを提供することを目的とする。   The present invention provides a cable wiring method, a robot manufacturing method, a rotary axis cable wiring structure, and a robot that improve workability during assembly and improve reliability of whether or not cables are correctly arranged. With the goal.

相対回転可能な第１部材及び第２部材と、前記第１部材及び前記第２部材の間に配置され、前記第１部材及び前記第２部材の少なくとも一方に対して回転可能な円筒状の回転軸部と、複数のケーブルと、互いの相対配置が維持される状態で前記複数のケーブルを束ねるケーブル集束部材と、を有する一又は複数のケーブル束と、前記ケーブル束を前記第１部材に固定するための第１ケーブル固定手段と、前記ケーブル束を前記第２部材に固定するための第２ケーブル固定手段と、を備える回転軸ケーブル配線構造のケーブル配線方法であって、前記ケーブル集束部材を、前記円筒状の回転軸部内を通過させた状態で、前記ケーブル集束部材を前記第1ケーブル固定手段に固定するステップを含むケーブル配線方法。   A relatively rotatable first member and a second member, and a cylindrical rotation 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. One or a plurality of cable bundles having a shaft portion, a plurality of cables, and a cable bundling member that bundles the plurality of cables in a state where their relative arrangement is maintained, and fixing the cable bundle to the first member A cable wiring method of a rotary shaft cable wiring structure, comprising: a first cable fixing means for fixing the cable bundle to the second member; and a second cable fixing means for fixing the cable bundle to the second member. A cable wiring method including a step of fixing the cable bundling member to the first cable fixing means in a state of being passed through the cylindrical rotary shaft portion.

相対回転可能な第１部材及び第２部材と、前記第１部材及び前記第２部材の間に配置され、前記第１部材及び前記第２部材の少なくとも一方に対して回転可能な円筒状の回転軸部と、前記回転軸部を介して、前記第１部材及び前記第２部材の一方から他方に通される一又は複数のケーブル束と、前記ケーブル束を前記第１部材に固定する第１ケーブル固定手段と、前記ケーブル束を前記第２部材に固定する第２ケーブル固定手段と、を備え、前記ケーブル束は、複数のケーブルと、前記回転軸部の内径よりも小さい外径を有し、互いの相対配置が維持される状態で前記複数のケーブルを束ねるケーブル集束部材と、を有し、
前記ケーブルは、前記ケーブルの太さよりも大きくかつ前記ケーブルの端部に固定された状態で前記回転軸部内を挿通可能なコネクタをそれぞれ端部に有し、前記ケーブル集束部材で束ねられた部分から、前記コネクタまでの長さが、前記回転軸部の軸方向の長さよりも長い、回転軸ケーブル配線構造。 A relatively rotatable first member and a second member, and a cylindrical rotation 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. A shaft portion, one or a plurality of cable bundles passed from one of the first member and the second member to the other through the rotation shaft portion, and a first portion for fixing the cable bundle to the first member. Cable fixing means and second cable fixing means for fixing the cable bundle to the second member, wherein the cable bundle has a plurality of cables and an outer diameter smaller than an inner diameter of the rotating shaft portion. A cable bundling member for bundling the plurality of cables in a state in which their relative arrangement is maintained,
The cable has a connector that is larger than the thickness of the cable and that can be inserted into the rotary shaft portion in a state of being fixed to the end portion of the cable, at each end portion, and from the portion bundled by the cable focusing member. A rotating shaft cable wiring structure in which a length to the connector is longer than an axial length of the rotating shaft portion.

組立時の作業性を良くすると共に、ケーブルが正しく配置されているか否かの信頼性を高めたケーブル配線方法、ロボットの製造方法、回転軸ケーブル配線構造、及びロボットが実現される。   (EN) A cable wiring method, a robot manufacturing method, a rotary axis cable wiring structure, and a robot that improve workability during assembly and improve reliability of whether or not cables are correctly arranged.

Claims (16)

相対回転可能な第１部材及び第２部材と、
前記第１部材及び前記第２部材の間に配置され、前記第１部材及び前記第２部材の少なくとも一方に対して回転可能な円筒状の回転軸部と、
複数のケーブルと、互いの相対配置が維持される状態で前記複数のケーブルを束ねるケーブル集束部材と、を有する一又は複数のケーブル束と、
前記ケーブル束を前記第１部材に固定するための第１ケーブル固定手段と、
前記ケーブル束を前記第２部材に固定するための第２ケーブル固定手段と、を備える
回転軸ケーブル配線構造のケーブル配線方法であって、
前記ケーブル集束部材を、前記円筒状の回転軸部内を通過させた状態で、前記ケーブル集束部材を前記第1ケーブル固定手段に固定するステップを含むケーブル配線方法。 A relatively rotatable first member and a second member,
A cylindrical rotary shaft portion 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;
One or a plurality of cable bundles having a plurality of cables and a cable bundling member that bundles the plurality of cables in a state where their relative arrangement is maintained.
First cable fixing means for fixing the cable bundle to the first member,
A cable wiring method of a rotating shaft cable wiring structure, comprising: a second cable fixing means for fixing the cable bundle to the second member,
A cable wiring method including a step of fixing the cable bundling member to the first cable fixing means in a state where the cable bundling member is passed through the cylindrical rotary shaft portion. 前記回転軸ケーブル配線構造は、前記ケーブル束の端部に設けられたコネクタを更に備え、
前記ステップは、前記コネクタに近い部位の前記ケーブル集束部材を、前記円筒状の回転軸部内を通過させた状態で、前記コネクタに近い部位の前記ケーブル集束部材を前記第１ケーブル固定手段に固定する請求項1に記載のケーブル配線方法。 The rotating shaft cable wiring structure further includes a connector provided at an end of the cable bundle,
In the step, the cable bundling member near the connector is fixed to the first cable fixing means in a state where the cable bundling member near the connector is passed through the cylindrical rotary shaft portion. The cable wiring method according to claim 1. 前記ケーブルは前記ケーブル集束部材で束ねた部分から、前記コネクタまでの長さが、前記回転軸部の軸方向の長さよりも長い状態のケーブル束を準備するステップを更に備える、請求項２に記載のケーブル配線方法。   The cable further comprises a step of preparing a cable bundle in which a length from a portion bundled by the cable bundling member to the connector is longer than an axial length of the rotating shaft portion. Cable wiring method. 前記円筒状の回転軸部を通過させない前記ケーブル集束部材の部位を前記第２ケーブル固定手段に固定するステップを更に備える、請求項１から３の何れか一項に記載のケーブル配線方法。   The cable wiring method according to any one of claims 1 to 3, further comprising a step of fixing a portion of the cable focusing member that does not pass through the cylindrical rotary shaft portion to the second cable fixing means. 前記ケーブル束として、前記第１ケーブル固定手段及び前記第２ケーブル固定手段のうちの前記ケーブル束の基端寄りに位置する一方にあらかじめ固定されるケーブルキットを準備するステップを更に備える、請求項１から４の何れか一項に記載のケーブル配線方法。   The method further comprising the step of preparing, as the cable bundle, a cable kit that is fixed in advance to one of the first cable fixing means and the second cable fixing means, which is located closer to the proximal end of the cable bundle. 5. The cable wiring method according to any one of 4 to 4. 前記ケーブル束として、前記ケーブル集束部材の全てが同一の部材であるものを準備するステップを備える、請求項１から５の何れか一項に記載のケーブル配線方法。   The cable wiring method according to any one of claims 1 to 5, comprising a step of preparing, as the cable bundle, all of the cable collecting members being the same member. 請求項１から６の何れか一項に記載のケーブル配線方法を適用する、ロボットの製造方法。   A method for manufacturing a robot, to which the cable wiring method according to claim 1 is applied. 相対回転可能な第１部材及び第２部材と、
前記第１部材及び前記第２部材の間に配置され、前記第１部材及び前記第２部材の少なくとも一方に対して回転可能な円筒状の回転軸部と、
前記回転軸部を介して、前記第１部材及び前記第２部材の一方から他方に通される一又は複数のケーブル束と、
前記ケーブル束を前記第１部材に固定する第１ケーブル固定手段と、
前記ケーブル束を前記第２部材に固定する第２ケーブル固定手段と、を備え、
前記ケーブル束は、
複数のケーブルと、
前記回転軸部の内径よりも小さい外径を有し、互いの相対配置が維持される状態で前記複数のケーブルを束ねるケーブル集束部材と、を有し、
前記ケーブルは、前記ケーブルの太さよりも大きくかつ前記ケーブルの端部に固定された状態で前記回転軸部内を挿通可能なコネクタをそれぞれ端部に有し、前記ケーブル集束部材で束ねられた部分から、前記コネクタまでの長さが、前記回転軸部の軸方向の長さよりも長い、
回転軸ケーブル配線構造。 A relatively rotatable first member and a second member,
A cylindrical rotary shaft portion 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;
One or a plurality of cable bundles passed from one of the first member and the second member to the other through the rotating shaft portion;
First cable fixing means for fixing the cable bundle to the first member,
Second cable fixing means for fixing the cable bundle to the second member,
The cable bundle is
Multiple cables,
A cable bundling member that has an outer diameter smaller than the inner diameter of the rotating shaft portion, and that bundles the plurality of cables in a state where their relative arrangement is maintained,
The cable has a connector that is larger than the thickness of the cable and that can be inserted into the rotary shaft portion in a state of being fixed to the end portion of the cable, at each end portion, and from the portion bundled by the cable focusing member. , The length to the connector is longer than the axial length of the rotary shaft portion,
Rotation axis cable wiring structure. 前記ケーブル束は、前記ケーブル集束部材を、間隔を空けた位置に二つ備え、
前記複数のケーブルは、前記第１部材及び前記第２部材が相対回転していない所定の状態において、前記ケーブル集束部材に挟まれた区間内で互いに平行に配置される、請求項８に記載の回転軸ケーブル配線構造。 The cable bundle is provided with two of the cable bundling members at spaced positions,
The said several cable is arrange | positioned mutually parallel in the area | region pinched | interposed by the said cable focusing member in the predetermined state in which the said 1st member and the said 2nd member are not rotating relative to each other. Rotation axis cable wiring structure. 前記第１部材及び前記第２部材が相対回転していない所定の状態は、前記回転軸部が基準角度に位置する状態であり、
前記回転軸部は、前記基準角度より正逆両回転方向に等しい許容最大捻じれ角度を有する、請求項９に記載の回転軸ケーブル配線構造。 The predetermined state in which the first member and the second member are not relatively rotating is a state in which the rotating shaft portion is located at a reference angle,
The rotary shaft cable wiring structure according to claim 9, wherein the rotary shaft portion has a maximum allowable twist angle equal to both the forward and reverse rotation directions from the reference angle. 前記ケーブル束の全ては、前記第１ケーブル固定手段及び前記第２ケーブル固定手段のうちの前記ケーブル束の基端寄りに位置する一方にあらかじめ固定されるケーブルキットである、請求項８から１０の何れか一項に記載の回転軸ケーブル配線構造。   11. The cable kit according to claim 8, wherein all of the cable bundles are cable kits that are fixed in advance to one of the first cable fixing means and the second cable fixing means, which is located closer to the proximal end of the cable bundle. The rotating shaft cable wiring structure according to any one of claims. 前記ケーブル集束部材は、全てが同一の部材である、請求項８から１１の何れか一項に記載の回転軸ケーブル配線構造。   The rotating shaft cable wiring structure according to claim 8, wherein all the cable focusing members are the same member. 前記ケーブル集束部材は、前記ケーブル束の幅と略同じ幅を有する板状部材であると共に、前記第１ケーブル固定手段又は前記第２ケーブル固定手段に対してボルト固定可能な構造を有する、請求項８から１２の何れか一項に記載の回転軸ケーブル配線構造。   The cable bundling member is a plate-shaped member having a width substantially the same as the width of the cable bundle, and has a structure capable of being bolted to the first cable fixing means or the second cable fixing means. The rotating shaft cable wiring structure according to any one of 8 to 12. 前記ケーブル集束部材は、テープ状部材である、請求項８から１２の何れか一項に記載の回転軸ケーブル配線構造。   The rotary shaft cable wiring structure according to claim 8, wherein the cable bundling member is a tape-shaped member. 前記ケーブルの識別手段を更に備える、請求項８から１４の何れか一項に記載の回転軸ケーブル配線構造。   15. The rotating shaft cable wiring structure according to claim 8, further comprising identification means for identifying the cable. 請求項８から１５の何れか一項に記載の回転軸ケーブル配線構造を備える、ロボット。   A robot comprising the rotating shaft cable wiring structure according to any one of claims 8 to 15.
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