JP4557153B2 - Link mechanism cable routing method and link mechanism cable routing structure - Google Patents

Link mechanism cable routing method and link mechanism cable routing structure Download PDF

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JP4557153B2
JP4557153B2 JP2004349798A JP2004349798A JP4557153B2 JP 4557153 B2 JP4557153 B2 JP 4557153B2 JP 2004349798 A JP2004349798 A JP 2004349798A JP 2004349798 A JP2004349798 A JP 2004349798A JP 4557153 B2 JP4557153 B2 JP 4557153B2
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link
cable
fixing member
connecting portion
fixing
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JP2006159302A (en
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雅司 山田
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Toyota Motor Corp
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Description

本発明は、リンク機構のケーブル配索方法及びリンク機構のケーブル配索構造に関して、特に、一方のリンクから他方のリンクへ双方のリンクの関節を経由させてケーブルを配索させる際のリンク機構のケーブル配索方法及びリンク機構のケーブル配索構造に関する。   The present invention relates to a cable routing method of a link mechanism and a cable routing structure of the link mechanism, and in particular, a link mechanism when routing cables from one link to the other link via the joints of both links. The present invention relates to a cable routing method and a cable routing structure of a link mechanism.

例えば、多関節型アームロボットでは、関節（手首）が所定回動動作範囲内で回動可能なものが知られている。このようなアームロボットでは、制御装置を起点として肩から延びる各種のケーブルが、関節（手首）を経由して当該関節よりも下流の可動軸（サーボモータ等）に配索される。ここで、図５に示されるように、第１のリンク１（関節３の直上流のリンク）と第２のリンク２（関節３の直下流のリンク）とが、関節３に設けられる連結軸４によって双方のリンク１，２が相対回動動作可能に連結される場合、第２のリンク２を第１のリンク１に対して連結軸４の回りに回動させて当該第２のリンク２を第１のリンク１に対して回動動作範囲における最大角度位相となる位置に位置決めさせて、この状態で、第１のリンク１に配索させたケーブル１２を、当該第１のリンク１の連結部５の側面に設けられる第１の固定部１３と第２のリンク２の連結部７の側面に設けられる第２の固定部１４との間で、所定の張力で直線状に斜めに（連結軸４の軸心と平行な軸線に対して角度を持たせて）掛け渡すことが従来行われていた。   For example, an articulated arm robot is known in which a joint (a wrist) can rotate within a predetermined rotation operation range. In such an arm robot, various cables extending from the shoulder starting from the control device are routed to a movable shaft (servo motor or the like) downstream from the joint via the joint (wrist). Here, as shown in FIG. 5, the first link 1 (link immediately upstream of the joint 3) and the second link 2 (link immediately downstream of the joint 3) are connected to the joint 3. 4, when both links 1 and 2 are connected so as to be capable of relative rotation, the second link 2 is rotated around the connecting shaft 4 with respect to the first link 1. Is positioned at a position where the maximum angle phase in the rotation operation range is set with respect to the first link 1, and in this state, the cable 12 routed to the first link 1 is connected to the first link 1. Between the first fixing portion 13 provided on the side surface of the connecting portion 5 and the second fixing portion 14 provided on the side surface of the connecting portion 7 of the second link 2, the line is obliquely inclined with a predetermined tension ( Conventionally, it has been carried out with an angle with respect to an axis parallel to the axis of the connecting shaft 4.

このように、ケーブル１２が第１のリンク１と第２のリンク２との間で直線状に斜めに掛け渡される場合、図４に示されるように、第２のリンク２を第１のリンク１に対して角度位相が０°の位置に位置決めさせると、第１の固定部１３と第２の固定部１４との間のケーブル１２が関節３の外側に大きく撓んでしまう。そして、関節３に多数のケーブル１２が配索される場合、ケーブル１２を収容するためのスペースの確保が極めて困難であり、また、撓んだケーブル１２が関節３を覆うカバーに干渉して当該ケーブル１２が早期に劣化されるといった問題がある。さらに、第１のリンク１に対する第２のリンク２の回動動作によって、第１の固定部１３と第２の固定部１４との間のケーブル１２が緊張と弛緩とを繰返すことにより、第１の固定部１３と第２の固定部１４との間のケーブル１２の両端部に曲げ応力が繰返し作用して、ケーブル１２の劣化が早まると共にケーブル１２が断線する虞がある。   As described above, when the cable 12 is slanted linearly between the first link 1 and the second link 2, the second link 2 is connected to the first link as shown in FIG. When the angle phase is positioned at 0 ° with respect to 1, the cable 12 between the first fixing portion 13 and the second fixing portion 14 is greatly bent to the outside of the joint 3. When a large number of cables 12 are routed in the joint 3, it is extremely difficult to secure a space for accommodating the cables 12, and the bent cable 12 interferes with the cover covering the joint 3 and There is a problem that the cable 12 is deteriorated early. Further, the cable 12 between the first fixing portion 13 and the second fixing portion 14 repeats tension and relaxation by the rotation of the second link 2 with respect to the first link 1, whereby the first Bending stress repeatedly acts on both end portions of the cable 12 between the fixed portion 13 and the second fixed portion 14, so that the cable 12 may be deteriorated earlier and the cable 12 may be disconnected.

そこで本発明は、上記事情に鑑みてなされたもので、第１の目的は、省スペース化が可能で、且つケーブルの劣化が防止されるリンク機構のケーブル配索方法を提供することにある。
また、第２の目的は、省スペース化が可能で、且つケーブルの劣化が防止されるリンク機構のケーブル配索構造を提供することにある。 Accordingly, the present invention has been made in view of the above circumstances, and a first object is to provide a cable routing method for a link mechanism that can save space and prevent cable deterioration.
A second object of the present invention is to provide a cable routing structure of a link mechanism that can save space and prevent cable deterioration.

上記第１の目的を達成するために、本発明のうち請求項１に記載の発明は、第１のリンクから第２のリンクへ双方のリンクの関節を経由してケーブルを配索するリンク機構のケーブル配索方法であって、前記関節は、前記第１のリンクの一端に設けられる第１の連結部と、前記第２のリンクの一端に設けられる第２の連結部と、前記双方の連結部を相対回動動作可能に連結させる連結軸と、を有し、前記第２のリンクを前記第１のリンクに対して回動動作範囲における最大角度位相となる位置に位置決めし、この状態で、第１の固定部材によって前記第１の連結部に固定されたケーブルの下流を、前記連結軸に１回転分だけ巻付けた後、第２の固定部材によって前記第２の連結部に固定し、該固定後、前記第２のリンクを前記第１のリンクに対して回動動作範囲における最小角度位相となる位置に位置決めし、前記第１の固定部材と前記第２の固定部材との間の前記ケーブルを、弛みを持たせて前記第１の連結部と前記第２の連結部との間の空間に収容することを特徴とする。 In order to achieve the first object, the invention according to claim 1 of the present invention is a link mechanism for routing cables from a first link to a second link via joints of both links. of a cable wiring method, the joint includes a first connecting portion provided at one end of said first link, said second connecting portion provided at one end of the second link, said both a connecting shaft for relative rotation operatively link the linking portion, and positioning the second link at the position of maximum angular phase in the rotating operation range with respect to the first link, the state in the downstream of the cable fixed to the first coupling part by a first fixing member, after wound by one turn before Symbol connecting shaft, the second connecting portion by the second fixing member fixed, after the fixation, the second link to the first link And positioning the cable between the first fixing member and the second fixing member at a position where the minimum angle phase is within the rotation operation range, and loosening the cable between the first connecting portion and the first connecting portion. It accommodates in the space between said 2nd connection parts, It is characterized by the above-mentioned.

上記第２の目的を達成するために、本発明のうち請求項２に記載の発明は、第１のリンクから第２のリンクへ双方のリンクの関節を経由してケーブルを配索するリンク機構のケーブル配索構造であって、前記第１のリンクの一端に設けられる第１の連結部と、前記第２のリンクの一端に設けられる第２の連結部と、前記双方の連結部を相対回動動作可能に連結させる連結軸と、前記ケーブルを前記第１の連結部に固定する第１の固定部材と、第１の固定部材によって前記第１の連結部に固定されたケーブルの下流を前記第２の連結部に固定する第２の固定部材と、を有し、前記第２のリンクを前記第１のリンクに対して回動動作範囲における最大角度位相となる位置に位置決めし、この状態で、第１の固定部材によって前記第１の連結部に固定されたケーブルの下流が、前記連結軸に１回転分だけ巻付けられた後、第２の固定部材によって前記第２の連結部に固定され、該固定後、前記第２のリンクを前記第１のリンクに対して回動動作範囲における最小角度位相となる位置に位置決めさせることにより、前記第１の固定部材と前記第２の固定部材との間の前記ケーブルが弛みを持って前記第１の連結部と前記第２の連結部との間の空間に収容されることを特徴とする。 In order to achieve the second object, the invention according to claim 2 of the present invention is a link mechanism for routing cables from the first link to the second link via joints of both links. a cable routing structure, relative to the first coupling portion provided at one end of said first link, a second connecting portion provided at one end of the second link, the connection of the both a connecting shaft for rotating operably connected, a first fixing member for fixing the cable to the first connecting portion, a downstream cable which is fixed to the first coupling part by a first fixing member wherein the second fixing member for fixing the second coupling part has a positioning said second link to a position of maximum angular phase in the rotating operation range with respect to the first link, the state, solid to the first coupling portion by a first fixing member Is downstream of the cable, after having been wound by one turn before Symbol connecting shaft is fixed to said second coupling portion by a second fixing member, after the fixation, the said second link first By positioning the link between the first fixing member and the second fixing member at a position that is the minimum angle phase in the rotation operation range with respect to one link, the cable between the first fixing member and the second fixing member has a slack. It is accommodated in the space between this connection part and the said 2nd connection part, It is characterized by the above-mentioned.

したがって、請求項１に記載の発明では、第１のリンクと第２のリンクとの間のケーブルが、第１のリンクと第２のリンクとの関節に収容される。また、第１のリンクと第２のリンクとを相対回動動作させた時の、第１の固定部材と第２の固定部材との間のケーブルに作用する応力を調節することができる。
請求項２に記載の発明では、第１のリンクと第２のリンクとの間のケーブルが、第１のリンクと第２のリンクとの関節に収容される。また、第１のリンクと第２のリンクとを相対回動動作させた時の、第１の固定部材と第２の固定部材との間のケーブルに作用する応力を調節することができる。 Thus, the invention described in claim 1, the cable between the first link and the second link is housed in the joint between the first link and the second link. Further, the stress acting on the cable between the first fixing member and the second fixing member when the first link and the second link are relatively rotated can be adjusted.
In the invention described in claim 2, the cable between the first link and the second link is housed in the joint between the first link and the second link. Further, the stress acting on the cable between the first fixing member and the second fixing member when the first link and the second link are relatively rotated can be adjusted.

省スペース化が可能で、且つケーブルの劣化が防止されるリンク機構のケーブル配索方法及びリンク機構のケーブル配索構造を提供することができる。   It is possible to provide a cable routing method of a link mechanism and a cable routing structure of the link mechanism that can save space and prevent deterioration of the cable.

本発明の一実施の形態を図１〜図３に基づいて説明する。図１に、本ケーブル配索構造が採用されるアームロボット（リンク機構）の手首の周辺を示す。該アームロボットは、体躯の前腕に相当する第１のリンク１と掌に相当する第２のリンク２とが、手首関節３（以下、単に関節３と称する。）を介して連結される。上記関節３は、上記第１のリンク１の一端（肘関節に連結される側と反対側の端）に設けられる円板状の第１の連結部５と、該第１の連結部５の一端面６に設けられる連結軸４と、上記第２のリンク２の一端（関節３に連結される側の端）に設けられる円板状の第２の連結部７と、が同一軸心上に配置されることで構成されて、連結軸４と第２の連結部７とが当該連結軸４の軸心回りに相対回動動作可能に連結される。そして、上記アームロボットは、上記第２のリンク２にサーボモータ８が収容されており、該サーボモータ８が制御装置の制御に基づいて回転駆動されることにより、第２のリンク２が第１のリンク１に対して連結軸４の軸心回りに回動動作される構造になっている。   An embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows the vicinity of the wrist of an arm robot (link mechanism) in which this cable routing structure is adopted. In the arm robot, a first link 1 corresponding to a forearm of a body and a second link 2 corresponding to a palm are connected via a wrist joint 3 (hereinafter simply referred to as a joint 3). The joint 3 includes a disk-shaped first connecting portion 5 provided at one end of the first link 1 (the end opposite to the side connected to the elbow joint), and the first connecting portion 5 The connecting shaft 4 provided on the one end surface 6 and the disc-like second connecting portion 7 provided on one end (the end connected to the joint 3) of the second link 2 are on the same axis. The connecting shaft 4 and the second connecting portion 7 are connected to each other so as to be capable of relative rotation around the axis of the connecting shaft 4. In the arm robot, the servo motor 8 is accommodated in the second link 2, and the servo motor 8 is rotationally driven based on the control of the control device. The link 1 is rotated around the axis of the connecting shaft 4.

また、図１に示されるように、上記第２のリンク２の他端には可動軸９を介して第３のリンク１０が連結される。上記可動軸９にはサーボモータ１１が収容されており、該サーボモータ１１が制御装置の制御に基づいて回転駆動されることにより、第３のリンク１０が第２のリンク２に対して可動軸９の軸心回りに旋回動作される構造になっている。また、上記アームロボットは、上記制御装置を起点に当該アームロボットの肩関節、肘関節を経て第１のリンク１に沿わせて配索された信号ケーブル等のケーブル１２が、固定部材１３（第１の固定部材）によって第１の連結部５の側面に固定される。そして、本ケーブル１２の配索構造では、上記固定部材１３によって固定されたケーブル１２の下流（固定部材１３よりも図１における紙面視下側のケーブル１２）が、上記連結軸４に、図１におけるＡ視で時計回り方向へ（以下、順方向と称する。）１回転分だけ巻付けられて、固定部材１４（第２の固定部材）によって第２の連結部７の側面に固定される。 As shown in FIG. 1, a third link 10 is connected to the other end of the second link 2 via a movable shaft 9. A servo motor 11 is accommodated in the movable shaft 9, and the third link 10 is movable with respect to the second link 2 when the servo motor 11 is rotationally driven based on the control of the control device. It is structured to be swiveled around the 9 axis. Further, the arm robot has a cable 12 such as a signal cable routed along the first link 1 through the shoulder joint and elbow joint of the arm robot starting from the control device . 1 fixing member) to the side surface of the first connecting portion 5. In the cable 12 routing structure, the downstream side of the cable 12 fixed by the fixing member 13 (the cable 12 on the lower side in FIG. 1 in FIG. 1) is connected to the connecting shaft 4 in FIG. Is wound in the clockwise direction (hereinafter referred to as the forward direction) as viewed in A, and is fixed to the side surface of the second connecting portion 7 by the fixing member 14 (second fixing member) .

また、本ケーブル１２の配索構造では、図１及び図２に示されるように、第２のリンク２が第１のリンク１に対して連結軸４の軸心回りに０°の角度位相（最小角度位相）に位置決めされた時に、固定部材１３と固定部材１４とが連結軸４の同一軸平面上に位置されると共に、連結軸４に巻付けられたケーブル１２が所定の弛みを持った状態で、上記第１の連結部５の一端面６と上記第２の連結部７の一端面１５と関節３を覆うカバー１６とで囲繞される空間１７に収容される構造になっている。 Further, in the cable 12 routing structure, as shown in FIGS. 1 and 2, the second link 2 has an angular phase of 0 ° around the axis of the connecting shaft 4 with respect to the first link 1 ( When positioned at the minimum angle phase) , the fixing member 13 and the fixing member 14 are positioned on the same axis plane of the connecting shaft 4, and the cable 12 wound around the connecting shaft 4 has a predetermined slack. In this state, the first connecting portion 5 is housed in a space 17 surrounded by one end face 6 of the first connecting portion 5, one end face 15 of the second connecting portion 7 and a cover 16 covering the joint 3.

次に、本ケーブル１２の配索方法を説明する。まず、第２のリンク２が第１のリンク１に対して連結軸４の軸心回りに０°の角度位相に位置決めされた状態で、当該第２のリンク２を第１のリンク１に対して連結軸４の軸心回りに、順方向へ回動させて、第２のリンク２を第１のリンク１に対する回動動作範囲（本実施の形態では、０°〜４５°）における最大角度位相（本実施の形態では、４５°）に位置決めさせる。この状態で、第１のリンク１に配索されて固定部材１３（第１の固定部材）によって第１の連結部５に固定されたケーブル１２の下流を、図３に示されるように、連結軸４に順方向へ１回転だけ巻付けた後、固定部材１４（第２の固定部材）によって第２の連結部７に固定させる。この時、固定部材１３と固定部材１４との間のケーブル１２の両端部に応力が集中されないように、当該固定部材１３と固定部材１４との間のケーブル１２の張力を適正に調整する。 Next, a method for routing the cable 12 will be described. First, in a state where the second link 2 is positioned at an angular phase of 0 ° around the axis of the connecting shaft 4 with respect to the first link 1, the second link 2 is moved with respect to the first link 1. Then, the second link 2 is rotated in the forward direction around the axis of the connecting shaft 4, and the maximum angle in the rotation operation range (0 ° to 45 ° in the present embodiment) with respect to the first link 1 is established. The phase is set to 45 (45 ° in this embodiment). In this state, as shown in FIG. 3, the downstream side of the cable 12 wired to the first link 1 and fixed to the first connecting portion 5 by the fixing member 13 (first fixing member) is connected. After winding around the shaft 4 in the forward direction for one rotation, the shaft 4 is fixed to the second connecting portion 7 by the fixing member 14 (second fixing member) . At this time, the tension of the cable 12 between the fixing member 13 and the fixing member 14 is appropriately adjusted so that stress is not concentrated on both ends of the cable 12 between the fixing member 13 and the fixing member 14.

そして、図３に示されるケーブル１２が固定部材１３，１４によって連結部５，７に固定された後、第２のリンク２を第１のリンク１に対して図３におけるＡ視で反時計回り方向（以下、逆方向と称する。）へ回動させて、第２のリンク２を第１のリンク１に対して連結軸４の軸心回りに０°の角度位相に復帰させる。これにより、図２に示されるように、固定部材１３と固定部材１４との間のケーブル１２が、所定の弛みを持って第１の連結部５の一端面６と第２の連結部７の一端面１５との間に形成される空間１７に収容される。   Then, after the cable 12 shown in FIG. 3 is fixed to the connecting portions 5 and 7 by the fixing members 13 and 14, the second link 2 is rotated counterclockwise with respect to the first link 1 as viewed in FIG. The second link 2 is returned to an angle phase of 0 ° around the axis of the connecting shaft 4 with respect to the first link 1 by rotating in a direction (hereinafter referred to as a reverse direction). Thereby, as shown in FIG. 2, the cable 12 between the fixing member 13 and the fixing member 14 has a predetermined slack, and the one end surface 6 of the first connecting portion 5 and the second connecting portion 7 It is accommodated in a space 17 formed between the one end face 15.

この実施の形態では以下の効果を奏する。
本ケーブル１２の配索方法では、第２のリンク２が第１のリンク１に対して連結軸４の軸心回りに０°の角度位相に位置決めされた状態で、当該第２のリンク２を第１のリンク１に対して連結軸４の軸心回りに順方向へ回動させて、第２のリンク２を第１のリンク１に対する回動動作範囲における最大角度位相に位置決めさせる。この状態で、第１のリンク１に配索されて固定部材１３によって第１の連結部５に固定されたケーブル１２の下流を、連結軸４に順方向へ１回転だけ巻付けた後、固定部材１３と固定部材１４との間のケーブル１２の両端部に応力が集中されないように当該固定部材１３と固定部材１４との間のケーブル１２の張力を適正に調整しつつ固定部材１４によって第２の連結部７に固定させた。 This embodiment has the following effects.
In the cable 12 routing method, the second link 2 is positioned with an angle phase of 0 ° around the axis of the connecting shaft 4 with respect to the first link 1. By rotating the first link 1 in the forward direction around the axis of the connecting shaft 4, the second link 2 is positioned at the maximum angle phase in the rotation operation range with respect to the first link 1. In this state, the downstream side of the cable 12 wired to the first link 1 and fixed to the first connecting portion 5 by the fixing member 13 is wound around the connecting shaft 4 by one turn in the forward direction, and then fixed. The second fixing member 14 adjusts the tension of the cable 12 between the fixing member 13 and the fixing member 14 so that stress is not concentrated on both ends of the cable 12 between the member 13 and the fixing member 14. The connection part 7 was fixed.

そして、本ケーブル１２の配索方法では、ケーブル１２を固定部材１３，１４によって各リンク１，２の各連結部５，７に固定させた後、第２のリンク２を第１のリンク１に対して逆方向へ回動させて、第２のリンク２を第１のリンク１に対して連結軸４の軸心回りに０°の角度位相に復帰させると、固定部材１３と固定部材１４との間のケーブル１２が、所定の弛みを持って第１の連結部５の一端面６と第２の連結部７の一端面１５との間に形成される空間１７に収容される。
したがって、本ケーブル１２の配索方法では、従来の配索方法（図４参照）のように関節３に配索されるケーブル１２の逃がし部分が当該関節３の外側に突出されることがないため、関節３を覆うカバー１６に突出されたケーブル１２を収容させるスペースを設ける必要がない。
これにより、本ケーブル１２の配索方法では、従来の配索方法と比較して関節３が小型化される。また、本ケーブル１２の配索方法では、関節３に配索されたケーブル１２が当該関節３を覆うカバー１６に干渉しないため、ケーブル１２とカバー１６が擦れてケーブル１２が損傷することが防止されて、装置の信頼性を向上させることができると共にメンテナンスの頻度を延長させることが可能になる。 In this cable 12 routing method, the cable 12 is fixed to the connecting portions 5 and 7 of the links 1 and 2 by the fixing members 13 and 14, and then the second link 2 is changed to the first link 1. When the second link 2 is returned to the angle phase of 0 ° around the axis of the connecting shaft 4 with respect to the first link 1 by rotating in the opposite direction, the fixing member 13 and the fixing member 14 Is accommodated in a space 17 formed between the one end surface 6 of the first connecting portion 5 and the one end surface 15 of the second connecting portion 7 with a predetermined slack.
Therefore, in this cable 12 routing method, the escape portion of the cable 12 routed in the joint 3 is not projected to the outside of the joint 3 as in the conventional routing method (see FIG. 4). There is no need to provide a space for accommodating the protruding cable 12 in the cover 16 that covers the joint 3.
Thereby, in the routing method of this cable 12, the joint 3 is reduced in size compared with the conventional routing method. Further, in the cable 12 routing method, the cable 12 routed in the joint 3 does not interfere with the cover 16 that covers the joint 3, so that the cable 12 and the cover 16 are prevented from being rubbed and damaged. Thus, the reliability of the apparatus can be improved and the frequency of maintenance can be extended.

また、第２のリンク２を第１のリンク１に対して回動させて最大角度位相に位置決めさせた場合、従来の配索方法（図５参照）では、固定部材１３と固定部材１４との間のケーブル１２の長さが比較的短いため、当該固定部材１３と固定部材１４との間のケーブル１２の両端部に比較的大きい曲げ応力が作用されてケーブル１２が早期に劣化されるといった問題があったが、本ケーブル１２の配索方法では、固定部材１３と固定部材１４との間のケーブル１２の長さを比較的長くとることができるため、固定部材１３と固定部材１４との間のケーブル１２には引張り応力が作用される。
これにより、固定部材１３と固定部材１４との間のケーブル１２の両端部に作用される曲げ応力が軽減されて、ケーブル１２の劣化を防止することができる。 Further, when the second link 2 is rotated with respect to the first link 1 and positioned at the maximum angle phase, in the conventional routing method (see FIG. 5), the fixing member 13 and the fixing member 14 Since the length of the cable 12 between them is relatively short, a relatively large bending stress is applied to both ends of the cable 12 between the fixing member 13 and the fixing member 14, and the cable 12 is deteriorated at an early stage. However, in the cable 12 routing method, the length of the cable 12 between the fixing member 13 and the fixing member 14 can be relatively long. The cable 12 is subjected to a tensile stress.
Thereby, the bending stress which acts on the both ends of the cable 12 between the fixing member 13 and the fixing member 14 is reduced, and the deterioration of the cable 12 can be prevented.

なお、実施の形態は上記に限定されるものではなく、例えば次のように構成してもよい。
本実施の形態では、関節３に設けられる連結軸４にケーブル１２が１回転だけ巻付けられるが、必要に応じて、連結軸４にケーブル１２を複数回転（例えば、２回転。）巻付けるように構成してもよい。
本実施の形態では、第２のリンク２が第１のリンク１に対して回転されるリンク機構の関節３にケーブル１２が配索される場合を説明したが、本リンク機構の配索方法及び配索構造を、第２のリンク２が第１のリンク１に対して旋回されるリンク機構の関節３にケーブル１２が配索される場合に用いてもよい。 In addition, embodiment is not limited above, For example, you may comprise as follows.
In the present embodiment, the cable 12 is wound around the connection shaft 4 provided in the joint 3 only once, but the cable 12 is wound around the connection shaft 4 a plurality of times (for example, two rotations) as necessary. You may comprise.
In the present embodiment, the case where the cable 12 is routed to the joint 3 of the link mechanism in which the second link 2 is rotated with respect to the first link 1 has been described. The routing structure may be used when the cable 12 is routed to the joint 3 of the link mechanism in which the second link 2 is turned with respect to the first link 1.

本実施の形態の説明図であって、アームロボット（リンク機構）の手首周辺を示す図である。It is explanatory drawing of this Embodiment, Comprising: It is a figure which shows the wrist periphery of an arm robot (link mechanism). 本実施の形態の説明図であって、第２のリンクが第１のリンクに対して連結軸の軸心回りに０°の角度位相に位置決めされた状態を示す図である。It is explanatory drawing of this Embodiment, Comprising: It is a figure which shows the state by which the 2nd link was positioned by the angle phase of 0 degree around the axial center of the connection shaft with respect to the 1st link. 本実施の形態の説明図であって、第２のリンクが第１のリンクに対して連結軸の軸心回りに最大角度位相に位置決めされた状態を示す図である。It is explanatory drawing of this Embodiment, Comprising: It is a figure which shows the state by which the 2nd link was positioned by the maximum angle phase around the axial center of the connecting shaft with respect to the 1st link. 従来の実施の形態の説明図であって、第２のリンクが第１のリンクに対して連結軸の軸心回りに０°の角度位相に位置決めされた状態を示す図である。It is explanatory drawing of conventional embodiment, Comprising: It is a figure which shows the state by which the 2nd link was positioned by the angle phase of 0 degrees around the axial center of the connection shaft with respect to the 1st link. 従来の実施の形態の説明図であって、第２のリンクが第１のリンクに対して連結軸の軸心回りに最大角度位相に位置決めされた状態を示す図である。It is explanatory drawing of conventional embodiment, Comprising: It is a figure which shows the state by which the 2nd link was positioned by the maximum angle phase around the axial center of the connecting shaft with respect to the 1st link.

符号の説明Explanation of symbols

１ 第１のリンク、２ 第２のリンク、３ 関節、４ 連結軸、５ 第１の連結部、７ 第２の連結部、１２ ケーブル、１３ 第１の固定部材、１４ 第２の固定部材 1 1st link 2nd link 3 joint 4 connecting shaft 5 first connecting portion 7 second connecting portion 12 cable 13 first fixing member 14 second fixing member

Claims (2)

第１のリンクから第２のリンクへ双方のリンクの関節を経由してケーブルを配索するリンク機構のケーブル配索方法であって、
前記関節は、前記第１のリンクの一端に設けられる第１の連結部と、前記第２のリンクの一端に設けられる第２の連結部と、前記双方の連結部を相対回動動作可能に連結させる連結軸と、を有し、
前記第２のリンクを前記第１のリンクに対して回動動作範囲における最大角度位相となる位置に位置決めし、この状態で、第１の固定部材によって前記第１の連結部に固定されたケーブルの下流を、前記連結軸に１回転分だけ巻付けた後、第２の固定部材によって前記第２の連結部に固定し、該固定後、前記第２のリンクを前記第１のリンクに対して回動動作範囲における最小角度位相となる位置に位置決めし、前記第１の固定部材と前記第２の固定部材との間の前記ケーブルを、弛みを持たせて前記第１の連結部と前記第２の連結部との間の空間に収容することを特徴とするリンク機構のケーブル配索方法。 A cable routing method of a link mechanism for routing a cable from a first link to a second link via joints of both links,
The joint has a first connecting portion provided at one end of the first link, a second connecting portion provided at one end of the second link, and both the connecting portions can be relatively rotated. A coupling shaft to be coupled,
The cable in which the second link is positioned at a position having a maximum angle phase in the rotational operation range with respect to the first link, and in this state, is fixed to the first connecting portion by the first fixing member. downstream, after wound by one turn before Symbol connecting shaft, by a second fixing member fixed to the second connecting portion, after the fixing, the second link to the first link The cable between the first fixing member and the second fixing member is positioned at a position that is the minimum angle phase in the rotation operation range, and the cable between the first fixing member and the second connecting member is slackened. A cable routing method for a link mechanism, wherein the cable is housed in a space between the second connecting portion . 第１のリンクから第２のリンクへ双方のリンクの関節を経由してケーブルを配索するリンク機構のケーブル配索構造であって、
前記第１のリンクの一端に設けられる第１の連結部と、
前記第２のリンクの一端に設けられる第２の連結部と、
前記双方の連結部を相対回動動作可能に連結させる連結軸と、
前記ケーブルを前記第１の連結部に固定する第１の固定部材と、
第１の固定部材によって前記第１の連結部に固定されたケーブルの下流を前記第２の連結部に固定する第２の固定部材と、
を有し、
前記第２のリンクを前記第１のリンクに対して回動動作範囲における最大角度位相となる位置に位置決めさせた状態で、第１の固定部材によって前記第１の連結部に固定されたケーブルの下流が、前記連結軸に１回転分だけ巻付けられた後、第２の固定部材によって前記第２の連結部に固定され、該固定後、前記第２のリンクを前記第１のリンクに対して回動動作範囲における最小角度位相となる位置に位置決めさせることにより、前記第１の固定部材と前記第２の固定部材との間の前記ケーブルが弛みを持って前記第１の連結部と前記第２の連結部との間の空間に収容されることを特徴とするリンク機構のケーブル配索構造。 A cable routing structure of a link mechanism that routes cables from the first link to the second link via the joints of both links,
A first connecting portion provided at one end of the first link;
A second connecting portion provided at one end of the second link;
A connecting shaft for connecting both the connecting portions so as to be capable of relative rotation; and
A first fixing member for fixing the cable to the first connecting portion;
A second fixing member for fixing the downstream of the cable fixed to the first connecting portion by the first fixing member to the second connecting portion;
Have
A cable fixed to the first connecting portion by a first fixing member in a state in which the second link is positioned at a position having a maximum angular phase in the rotation operation range with respect to the first link. downstream, after wound by one turn before Symbol connecting shaft is fixed to said second coupling portion by a second fixing member after the fixing, the second link to the first link On the other hand, the cable between the first fixing member and the second fixing member is loosened by positioning at a position that is the minimum angle phase in the rotation operation range. A cable routing structure for a link mechanism, wherein the cable routing structure is accommodated in a space between the second connecting portion and the second connecting portion .
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