JP5219796B2 - Cable handling structure and industrial machinery turning device - Google Patents

Description

  The present invention relates to a routing structure for cables and the like, and an industrial machine turning device using the routing structure.

  Many industrial machines such as robots and machine tools perform rotation (rotating reciprocating motion with a fixed range). In this type of rotating device, a hollow portion (hollow portion) that penetrates the rotating device is formed in the rotating device, and a power cable, other control wiring, a cooling water pipe, etc. Designed to pass through cables (called cables etc.). In such a design, for example, a power supply disposed on a first member of an industrial machine and a second member that rotates relative to the first member (a reciprocating motion with a fixed range). In many cases, the inserted cable or the like is fixed to a member that rotates relative to each other on one side and the other side thereof, such as a power cable connecting between the motor and the motor.

  In Patent Document 1 or 2, in the rotating device used in such a situation, the “expanding” is performed such that the end surface of the member constituting the hollow portion expands as the inner peripheral surface approaches the end portion. A technique has been disclosed in which a “region” or an “expanded portion” is formed to reduce damage to a cable or the like inserted through the hollow portion.

International Publication WO2006-075752 A1 (FIGS. 1 and 3) JP 2008-89157 (FIGS. 1, 2, and 4)

  However, even with the technique disclosed in Patent Document 1 or 2, if the work of rotating the members constituting the hollow portion relative to the cable or the like is performed for a long time, the cable or the like is damaged. The actual situation is that it is unavoidable that the number of cables will increase, and that cables may be replaced.

  The present invention has been made to solve such a conventional problem, such as a cable that passes through a through hole and is fixed to a member that rotates relative to each other. The challenge is to reduce damage as much as possible.

The present invention is a cable or the like that penetrates the hollow portion of the speed reducer, and is fixed to the first member of the counterpart machine on one axial side of the hollow portion of the speed reducer. In a routing structure of a cable or the like fixed to a second member of a counterpart machine that rotates relative to the first member on the other side in the axial direction, a member that constitutes a hollow portion of the speed reducer, One end member including one end portion in the axial direction is fixed to the first member, and is a member constituting the hollow portion of the reduction gear, and the end portion on the other side in the axial direction of the hollow portion. The other side end member is fixed to the second member, and the speed reducer includes an external gear, an internal gear that meshes with the external gear, an eccentric body shaft that swings and rotates the external gear, The eccentric body shaft is supported and the hollow portion is configured. And a carrier, is connected to the carrier and an intermediate member constituting the hollow portion together with the carrier, by the inner diameter of the hollow portion of the inner diameter and the intermediate member of the hollow portion of the carrier are equal, the above-mentioned problems It has been solved.

  According to the present invention, the one side end member constituting the hollow portion of the speed reducer is fixed to the first member. Moreover, the other side end member which comprises a hollow part is fixed to the 2nd member. For this reason, the cable or the like does not rotate relative to the one end member or the other end member at both ends of the hollow portion. Since most of the damage to cables etc. is caused by sliding contact at the end of the hollow part, the cable and the hollow part should not be rotated relative to each other at both ends of the hollow part. As a result, damage to cables and the like can be drastically reduced.

  Further, in the present invention, the connecting portion where the one side end member and the other side end member rotate relative to each other at the positions other than the both ends of the hollow portion is disposed. Even if relative rotation occurs between the side end member and the cable or the like, the cable or the like is not easily damaged because the sliding contact hardly applies (or not at all) the sliding contact torque.

  In addition, the one side end member and other side end member in this invention do not necessarily need to be comprised with the single member, and the several member integrated in the rotation direction of the one side end member or the other side end member You may be comprised from.

  ADVANTAGE OF THE INVENTION According to this invention, while piercing a through-hole and damaging a cable etc. which are fixed to the member which both ends of itself rotate relatively, it can reduce as much as possible.

  Hereinafter, an example of an embodiment of the present invention will be described in detail based on the drawings.

  FIG. 1 is a cross-sectional view of a speed reduction mechanism portion of a joint driving device (rotating device) of a robot (industrial machine) to which an example of an embodiment of the present invention is applied. 2 is an overall cross-sectional view, and FIGS. 3 and 4 are cross-sectional views taken along arrows III-III and IV-IV in FIG. 2, respectively.

  Referring to FIG. 2, this joint driving device 10 constitutes another part of the robot while being fixed to a base member (first member) 12 constituting a part of the robot (the whole is not shown). The rotating member (second member) 14 to be supported is rotatably supported. In the case where the joint driving device 10 is used for joint driving in the second and subsequent stages, the base member (first member) 12 corresponds to the movable member in the previous stage. Therefore, in this case, the base member 12 itself can also move, and the rotating member 14 rotates relative to the movable base member 12.

  The joint drive device 10 includes a power source (not shown) fixed and arranged on the base member 12, a motor 16 fixed and arranged on the rotating member 14 with bolts 15, and supplies electric power from the power source to the motor 16. Cable 17 and a reduction mechanism 18 having an intermeshing planetary gear structure. The casing 20 of the speed reduction mechanism unit 18 is connected to the base member 12 via bolts 22.

  A pinion 26 is formed at the tip of the motor shaft 24 of the motor 16 and meshes with the gear 28. The gear 28 is integrated with the transmission shaft 32 via the spline 30. A transmission pinion 34 is formed on the transmission shaft 32. The transmission pinion 34 meshes with the center gear 36. The center gear 36 is rotatably fitted and supported on the outer periphery of an intermediate member 90 described later via rollers 38.

  1-4, this center gear 36 meshes with the transmission pinion 34 and also meshes with a plurality of eccentric body shaft gears 42A-42C at the same time. The eccentric body shaft gears 42A to 42C are integrated with the eccentric body shafts 44A to 44C, respectively. The eccentric body shafts 44A to 44C are rotatably supported by first and second carriers 46 and 48 (output members) described later (tapered roller bearings 50A to 50C and 52A to 52C) (tapered roller bearings). 50B, 50C, 52B, 52C are not shown). The eccentric body shaft 44A includes eccentric bodies 60A and 62A that are eccentric from the axis of the eccentric body shaft 44A. The eccentric body shaft 44B includes eccentric bodies 60B and 62B (the eccentric body 62B is not shown). The eccentric body shaft 44C includes eccentric bodies 60C and 62C (the eccentric body 62C is not shown). An external gear 66 is fitted to the eccentric bodies 60A to 60C via rollers 64A to 64C. Further, the eccentric bodies 62A to 62C are also fitted to the external gear 68 via rollers 70A to 70C (rollers 70B and 70C are not shown) in the same manner as in FIG. The eccentric phase difference of the external gears 66 and 68 is 180 °.

  The external gears 66 and 68 are in mesh with the internal gear 72 while swinging. The number of teeth of the external gears 66 and 68 is 118 in this example. The internal gear 72 is integrated with the casing 20. In this embodiment, the internal teeth of the internal gear 72 are constituted by roller-shaped outer pins 74. There should be 120 internal teeth (outer pins 74) of the internal gear 72 originally, but two of them are formed (arranged) alternately thinned out.

  As shown in FIG. 2, first and second carriers (output members) 46 and 48 are rotatably supported on the casing 20 via bearings 78 and 80 on both sides in the axial direction of the external gears 66 and 68. Has been. The casing 20 is integrated with a base member (first member) 12 via bolts 22. The first and second carriers 46 and 48 are connected and integrated by carrier pins 82A to 82F. The aforementioned rotating member (second member) 14 is connected to the first carrier 46 via a bolt 84.

  Here, the joint driving device 10 has a hollow portion H1 penetrating in the axial direction at the center in the radial direction. A cable 17 for supplying electric power from the power source (not shown) to the motor 16 passes through the hollow portion H1. In this joint drive device 10, since the power source is disposed on the base member 12 side and the motor 16 is disposed on the rotating member 14 side, the cable 17 is eventually the shaft of the hollow portion H <b> 1 of the joint drive device 10. One side in the direction is fixed to the base member (first member) 12 of the robot (industrial machine) and is rotated relative to the base member 12 on the other side in the axial direction of the hollow portion H1 of the joint driving device 10 (range). Is fixed to a rotating member (second member) 14 that rotates and reciprocates. In this state, regardless of the structure of the hollow portion H1, the cable 17 always rotates relative to any part of the members constituting the hollow portion H1.

  In this embodiment, in order to reduce the substantial influence of the relative rotation as much as possible, the hollow portion H1 of the joint driving device 10 is connected to the power source side including the end portion H1A on the axial power source side (one side) of the hollow portion H1. A member (one side end member) 86, a motor side member (other side end member) 88 including an end H1B on the axial motor side (other side) of the hollow portion H1, and further (the other side end member) The intermediate member (other side end member) 90 and the first carrier 46 (other side end member) integrated with the motor side member 88 are constituted by a total of four members.

  The power source member 86 constitutes an axial power source end H1A of the hollow portion H1, and is fixed and integrated with the casing 20 fixed to the base member 12 via a bolt 92. For this reason, the power supply side member 86 does not rotate relative to the base member 12.

  The motor side member 88 constitutes a motor side (other side) end portion H1B of the hollow portion H1. In this embodiment, the rotating member 14 itself also serves as the motor side member 88. In other words, the motor side member 88 is integrated with the rotating member 14 (as one member), and naturally does not rotate relative to the rotating member 14.

  The intermediate member 90 is configured between the power source side member 86 and the motor side member 88 of the hollow portion H1, and in this embodiment, the end portion of the intermediate member 90 is press-fitted into the end portion of the first carrier 46. The first carrier 46 is integrated. Since the first carrier 46 is integrated with the motor side member 88 by the bolt 84, the intermediate member 90 does not rotate relative to the motor side member 88, but eventually rotates relative to the power source side member 86. It has become. That is, in this embodiment, between the power source side member 86 and the intermediate member 90 of the hollow portion H1 (at any position other than the one end H1A and the other end H1B), The connecting portion C1 in which the motor side member 88 (the intermediate member 90 integrated with the first carrier body 46) is relatively rotated is arranged.

  An inner diameter of the hollow portion H1 is formed on a portion constituting the axial power source side end portion H1A of the hollow portion H1 in the power source side member 86 and on a portion constituting the axial motor side end portion H1B of the hollow portion H1 in the motor side member. Are formed so as to gradually expand outward in the axial direction. In this embodiment, as shown in FIG. 5, a connecting portion C1 (relative rotation occurs) is disposed at the end portion H1A on the axial power source side. Further, at the end portion H1A on the axial power supply side, a slight straight line portion SL1 is continuous in the tangential direction of the rounded portion 86R, and the intermediate member 90 is connected to the straight line portion SL1 via the connecting portion C1. The inner diameter D1 on the axial power supply side and the inner diameter D2 on the motor side of the inner peripheral surface of the hollow portion sandwiching the connecting portion C1 are equal (D1 = D2), and between the power supply side end H1A and the motor side end H2A. The inner circumference has a uniform inner diameter D3 (there is only irregularities for processing errors). That is, the inner circumference D1 = D2 = D3.

  Two oil seals 93 and 94 are connected and arranged between the power supply side member 86 and the intermediate member 90 (between the members that rotate relative to each other at the connecting portion C1). The oil seals 93 and 94 are for sealing between the second carrier 48 as the output member and the power source side member 86 integrated with the base member 12 as the first member. 1 and FIG. 2 is an oil seal disposed between the outer periphery of the first carrier 46 and the inner periphery of the casing 20, and reference numeral 97 is between the intermediate member 90 and the first carrier 46. It is an arranged O-ring.

  Next, the operation of the joint drive device 10 will be described.

  The power of the motor 16 reaches a transmission pinion 34 via a pinion 26 formed on the motor shaft 24, a gear 28 that meshes with the pinion 26, and a transmission shaft 32 that is connected to the gear 28 by a spline 30. When the transmission pinion 34 is rotated, the center gear 36 meshed with the transmission pinion 34 is rotated, and the rotation is distributed to the three eccentric shaft gears 42A to 42C meshed simultaneously with the center gear 36. The shafts 44A to 44C rotate in the same direction at the same rotation speed. As a result, the external gear 66 is oscillated and rotated while being inscribed in the internal gear 72 by the eccentric bodies 60A to 60C on the eccentric body shafts 44A to 44C. At the same time, the eccentric gears 68A to 62C of the eccentric shafts 44A to 44C are similarly inscribed in mesh with the external gear 66 with a phase difference of 180 ° from the external gear 66. Oscillates and rotates.

  The difference in the number of teeth between the internal gear 72 and the external gears 66 and 68 (the difference between the original number of teeth 120 of the internal gear 72 and the number of teeth 118 of the external gears 66 and 68) is 2, respectively. When the external gears 66 and 68 swing once, the external gears 66 and 68 rotate by the difference in the number of teeth. This rotation component is transmitted to the first and second carriers 46 and 48 via the eccentric body shafts 44A to 44C.

  Since the first carrier 46 is integrated with the rotating member 14 via the bolt 84, the rotating member 14 rotates at a rotational speed reduced with the motor 16 disposed on the rotating member 14. .

  Here, in this embodiment, the power supply side member 86 constituting the power supply side end H1A of the hollow portion H1 is fixed to the casing 20 fixed to the base member 12. Further, the motor side member 88 constituting the motor side end H1B of the hollow portion H1 is integrated (also used) with the rotating member 14. For this reason, the end H1A on the power supply side of the hollow portion H1 does not rotate relative to the power supply side member 86, and the end H1B on the motor side of the hollow portion H1 does not rotate relative to the motor side member 88. The cable 17 is mostly damaged because the cable 17 is caused by sliding contact at both ends H1A and H1B of the hollow portion H1, and therefore the cable 17 and the hollow portion at both ends H1A and H1B of the hollow portion H1. Since the relative rotation with respect to H1 does not occur, damage to the cable 17 can be drastically reduced.

  Further, the power source side member 86 and the motor side member 88 are located between the power source side member 86 and the intermediate member 90, that is, in the hollow portion H1 "at any position other than the one end H1A and the other end H1B". Since the connecting portion C1 with the intermediate member 90 integrated with the first carrier body 46 is disposed, even if the power source side member 86 or the intermediate member (the hollow portion H1 is connected to the connecting portion C1). Even if relative rotation occurs between the component 90) and the cable 17, the cable 17 is hardly damaged because the relative rotation is such that little (or no) sliding contact torque is applied.

  In particular, in this embodiment, the inner diameter D1 on the axial power source side and the inner diameter D2 on the motor side of the inner peripheral surface of the hollow portion H1 sandwiching the connecting portion C1 are set equal, and the axial power source of the hollow portion H1 is set. The inner circumference between the end H1A on the side and the end H1B on the motor side is a uniform inner diameter D3 (which has only irregularities for machining errors) (D1 = D2 = D3). Actually, since the cable 17 has almost no possibility of coming into contact with both ends H1A and H1B of the hollow portion H1 due to its bending deformation resistance, the cable 17 and the hollow portion H1 come into contact with each other due to this configuration. The damage factor due to can be reduced to almost zero.

  Furthermore, in this embodiment, rounded portions 86R and 88R that gradually widen the inner diameter of the hollow portion H1 are formed, and the axially inner end 86R1 of the rounded portion 86R is connected to the connecting portion C1. In addition, since both sides of the connecting portion C1 are connected by a straight line and a straight line due to the presence of the straight line SL1, even if the hollow portion H1 and the cable 17 come into contact for some reason and slide at the contacted portion, the hollow portion The portion H1 and the cable 17 do not slide with high contact stress in a narrow contact area, and the possibility that the cable 17 is damaged is minimal.

  In this embodiment, since the oil seals 93 and 94 are disposed between the power supply side member 86 and the intermediate member 90 that rotate relative to each other at the connecting portion C1, lubrication is performed from the relatively rotating portion. Since the oil seals 93 and 94 are arranged at radial positions near the innermost peripheral portion of the joint drive device 10 without any risk of leakage of the agent, the oil seals 93 and 94 can be made small and at low cost. Good sealing performance can be secured.

  In this embodiment, the pinion 26 and the gear 28 of the motor 16 may be helical to achieve low vibration and low noise. This is possible because the pinion 26 and the gear 28 are not meshed with other gears. Incidentally, it cannot be adopted when the gear 130A meshes with the center gear 136 other than the pinion 126 of the motor 116 as in the embodiment of FIG. This is because the three-phase distribution is shifted due to the axial assembly error of the three gears 130A to 130C.

In this embodiment, the rotation of the motor shaft 24 of the motor 16 is transmitted to the center gear 36 once, and the driving force of the motor 16 is evenly distributed from the center gear 36 via the three eccentric shaft gears 42A to 42C. It had as to swing the external gears 66 and 68 by dispensing the 44A-44C, in the present invention, the configuration of the speed reducing mechanism portion, but the present invention is not particularly limited thereto, for example, FIG. 6 to 8 may be used as a reduction mechanism that eccentrically swings the external gear. 6 to 8 are not included in the present invention, but will be described below as another reference example of the speed reduction mechanism that swings the external gear.

  In this joint drive device 110, the motor 116 is fixed to the rotating member 114 of the robot via a bolt 115. A pinion 126 is formed at the tip of the motor shaft 124 of the motor 116. The pinion 126 meshes with the drive distribution gear 130A among the three distribution gears 130A to 130C. That is, when the drive distribution gear 130A is engaged with the center gear 136, the remaining driven distribution gears 130B and 130C are rotated through the center gear 136.

  Each distribution gear 130A-130C is integrated with three eccentric body shafts 144A-144C.

  The eccentric body shaft 144A includes eccentric bodies 160A and 162A that are eccentric from the axis of the eccentric body shaft 144A (see FIGS. 6 and 7). Eccentric body shaft 144B is shown with eccentric bodies 160B and 162B (the eccentric body 162B is shown in a developed cross section. Eccentric body 144B is arranged at a position shifted by 120 degrees in the circumferential direction with respect to eccentric body shaft 144A. .). The eccentric body shaft 144C includes eccentric bodies 160C and 162C (the eccentric bodies 160C and 162C are not shown). External gears 166 are fitted to the eccentric bodies 160A to 160C via rollers 164A to 164C (the rollers 164C are not shown). The eccentric bodies 162A to 162C are also fitted to the external gear 168 via rollers 170A to 170C (170C is not shown), respectively.

  The eccentric bodies at the same position in the axial direction of the eccentric body shafts 142A to 142C, for example, the eccentric body 160A of the eccentric body shaft 142A, the eccentric body 160B of the eccentric body shaft 142B, and the eccentric body 160C of the eccentric body shaft 142C are the same. Built in with an eccentric phase of. The eccentric body 162A of the eccentric body shaft 144A, the eccentric body 162B of the eccentric body shaft 144B, and the eccentric body 162C of the eccentric body shaft 144C are also incorporated with the same eccentric phase.

  With these configurations, each of the eccentric body shafts 144A to 144C can rotate integrally with the respective sorting gears 130A to 130C in the same direction at the same speed, and the eccentric body shafts 144A to 144C can be rotated by the rotation of the eccentric body shafts 144A to 144C. 160A, 160B, and 160C rotate in the same phase as a set, and similarly, the set of eccentric bodies 162A, 162B, and 162C rotate in the same phase. The eccentric phase of the set of eccentric bodies 160A, 160B, 160C and the eccentric phase of the set of eccentric bodies 162A, 162B, 162C are shifted from each other by 180 degrees, and the eccentric phase difference of the external gears 166, 168 is 180 °. It is.

  The two external gears 166 and 168 are in mesh with the internal gear 172. The internal gear 172 is integrated with the casing 120. The casing 120 is fixed to the base member (first member) 112 of the robot via bolts 122. The speed reduction structure with the internal gear 172 by the inward oscillation of the external gears 166 and 168 is basically the same as in the previous embodiment.

  First and second carriers (output members) 146 and 148 are rotatably supported on the casing 120 via bearings 178 and 180 on both sides of the external gears 166 and 168 in the axial direction. The casing 120 is integrated with a base member (first member) 112 and a bolt 122. The first and second carriers 146 and 148 are connected and integrated by carrier pins (not shown). The aforementioned rotating member (second member) 114 is connected to the first carrier 146 via a bolt 184.

  Here, the joint driving device 110 has a hollow portion H2 penetrating in the axial direction at the center in the radial direction. A cable 117 for supplying electric power from the power source (not shown) to the motor 116 passes through the hollow portion H2. In this joint drive device 110, since the power source is arranged on the base member 112 side and the motor 116 is arranged on the rotating member 114 side, the cable 117 eventually becomes the shaft of the hollow portion H2 of the joint drive device 110. One side in the direction is fixed to the base member (first member) 112 of the robot (industrial machine) and is rotated (rotated) relative to the base member 112 on the other side in the axial direction of the hollow portion H2 of the joint driving device 110. It is fixed to a rotating member (second member) 114 that reciprocates. Therefore, even if the hollow portion H2 is configured in any structure, the situation that the cable 117 always rotates relative to any part of the members constituting the hollow portion H2 is the same as in the previous embodiment. .

  In this joint drive device 110, the hollow portion H2 of the joint drive device 110 is connected to a power source side member (one side end member) 186 including an end H2A on the axial power source side (one side) of the hollow portion H2. It is comprised by two members with the motor side member (other side end member) 188 including the edge part H2B of the axial direction motor side (other side) of the hollow part H2.

  The power supply side member 186 is fixed and integrated via a bolt 192 to a flange portion 112 </ b> A that integrally extends radially inward from the base member 112. For this reason, the power supply side member 186 does not rotate relative to the base member 112.

The motor side member 188 constitutes a motor side (other side) end portion H2B of the hollow portion H2, and the rotating member 114 itself also serves as the motor side member 188 in this reference example . In other words, the motor side member 188 is integrated with the rotating member 114 and, of course, does not rotate relative to the rotating member 114.

In this reference example , there is no intermediate member that constitutes the hollow portion H2, and the power source side member 186 extends integrally to the vicinity of the motor side member 188. That is, in this reference example , the power supply side member 186 and the motor are disposed between the power supply side member 186 and the motor side member 188 of the hollow portion H2 (any position other than the one end and the other end). The connecting portion C2 that rotates relative to the side member 188 is disposed.

The axial power source side end H2A of the power source side member 186 and the axial direction motor side end H2B of the motor side member 188 are rounded to gradually expand the inner diameter of the hollow portion H2, respectively, continuously with a slight straight portion SL2. Portions 186R and 188R are formed. Also in this reference example , as shown in an enlarged view in FIG. 8, the connecting portion C2 is disposed at the axially inner end portion 188R1 of the rounded portion 188R, and the connecting portion C2 is linear and straight due to the presence of the straight portion SL2. The two sides are connected. Further, the inner diameter D4 on the axial power supply side and the inner diameter D5 on the motor side on the inner peripheral surface of the hollow portion sandwiching the connecting portion C2 are equal (D4 = D5), and the inner circumference of the power supply side member 186 (the end on the power supply side and the motor) The inner circumference (between the end portions on the side) is a uniform inner diameter D6 (there is only irregularities for processing errors). That is, inner circumference D4 = D5 = D6.

  An oil seal 193 is disposed between the power supply side member 186 and the motor side member 188 (between the one side end member and the other side end member). An oil seal 196 is disposed between the outer periphery of the first carrier 146 and the inner periphery of the casing 120.

Also in this reference example , the cable 117 does not rotate relative to the power source side member 186 and the motor side member 188 at both end portions H2A and H2B of the hollow portion H2. Therefore, damage to the cable 117 can be drastically reduced.

  Further, a connecting portion between the power supply side member 186 and the motor side member 188, that is, a connecting portion in which the power supply side member 186 and the motor side member 188 are relatively rotated at a position other than “both axial end portions H2A and H2B” of the hollow portion H2. Since C2 is arranged, even if relative rotation occurs between the power source side member 186 or the motor side member 188 and the cable 117 in the vicinity of the connecting portion C2, the sliding contact torque is almost (or not) applied. Since there is no relative rotation, the cable 117 is not easily damaged.

Also in this reference example , the inner diameter D4 on the axial power source side and the inner diameter D5 on the motor side of the inner peripheral surface of the hollow portion sandwiching the connecting portion C2 are set to be equal, and the axial power source side end of the hollow portion H2 The inner circumference between H2A and the motor side end H2B is a uniform inner diameter D6 (which has only irregularities for machining errors) (D4 = D5 = D6). As a result, the cable 117 has almost no possibility of contact with other than the both end portions H2A and H2B of the hollow portion H2 due to its bending deformation resistance. Therefore, the cable 117 and the hollow portion H2 are hardly damaged. Can be zero.

Further, also in this reference example , round portions 186R and 188R that gradually expand the inner diameter of the hollow portion H2 through the straight portion SL2 are formed as in the previous embodiment, and the shaft of the round portion 188R is formed. The direction inner end portion 188R1 serves as the connecting portion C2, and due to the presence of the straight portion SL2, both sides of the connecting portion C2 are connected by a straight line and a straight line. Therefore, even if the hollow portion H2 and the cable 117 are in contact with each other for some reason and slide at the contacted portion, the hollow portion H2 and the cable 117 slide with high contact stress in a narrow contact area. The cable 117 is unlikely to be damaged.

In this reference example , since the power supply side member 186 is extended to form the direct connection portion C2 with the motor side member 188, the intermediate member (90), the O-ring (97), etc. can be omitted. The number of parts can be reduced and the number of assembly steps can be simplified .

  Further, the application object of the present invention is not limited to the above example, and the present invention is also applied to objects other than motors or objects other than power supply cables, such as air hoses for air cylinders and wiring of sensors of various machines. Can be applied.

  For example, the present invention can be applied as a rotation device for industrial machines such as robots and machine tools.

The principal part expanded sectional view of the joint drive device of the robot to which an example of embodiment of this invention was applied. Overall cross-sectional view of FIG. Sectional view along arrow III-III in FIG. Sectional drawing which follows the arrow IV-IV line of FIG. Partial expanded sectional view of the vicinity of the power supply side member of the embodiment of FIG. Vertical sectional view showing an example of a joint driving device engagement Carlo bot reference example of the present invention Sectional drawing which follows the arrow VII-VII line of FIG. Partial enlarged sectional view of the vicinity of the motor side member of the reference example of FIG.

Explanation of symbols

12 ... Base member (first member)
14 ... Rotating member (second member)
DESCRIPTION OF SYMBOLS 16 ... Motor 17 ... Cable 28 ... Gear 30 ... Spline 32 ... Transmission shaft 34 ... Transmission pinion 36 ... Center gear 36A ... Shaft part 44A-44C ... Eccentric body shaft 46, 48 ... 1st, 2nd carrier 60A-60C, 62A 62C ... eccentric body 86 ... power source side member 88 ... motor side member 90 ... intermediate member H1 ... hollow part H1A ... power source side end H1B ... motor side end C1 ... connecting part

Claims (6)

A cable or the like that penetrates the hollow portion of the reduction gear, and is fixed to the first member of the counterpart machine on one side in the axial direction of the hollow portion of the reduction device, and the other axial side of the hollow portion of the reduction device In the routing structure such as a cable fixed to the second member of the counterpart machine that rotates relative to the first member in
A member constituting the hollow portion of the speed reducer and including one end in the axial direction of the hollow portion is fixed to the first member,
A member constituting the hollow portion of the reduction gear and including an end portion on the other axial side of the hollow portion is fixed to the second member;
The reduction gear includes an external gear, an internal gear meshing with the external gear, an eccentric body shaft that swings and rotates the external gear, and a carrier that supports the eccentric body shaft and forms the hollow portion. And an intermediate member connected to the carrier and constituting the hollow portion together with the carrier,
The cable or the like routing structure, wherein an inner diameter of the hollow portion of the carrier is equal to an inner diameter of the hollow portion of the intermediate member. In claim 1,
A connecting portion where the one side end member and the other side end member are relatively rotated is arranged at any position other than the one end and the other end of the hollow portion,
A cable or the like handling structure, characterized in that an inner diameter on one side in the axial direction and an inner diameter on the other side of the inner peripheral surface of the hollow portion sandwiching the connecting portion are equal. In claim 1 or 2,
A cable or the like routing structure characterized in that the inner periphery of the hollow portion between the end portion on one side in the axial direction and the end portion on the other side has a uniform inner diameter. In any one of Claims 1-3,
A routing structure for a cable or the like, characterized in that at least one of the one side end member and the other side end member is formed with a rounded portion that gradually expands the inner diameter of the hollow portion toward the outside in the axial direction. In claim 4,
An oil seal is disposed between the one side end member and the intermediate member. A power source disposed on the first member of the industrial machine;
A motor disposed on a second member that rotates relative to the first member;
A cable that passes through the hollow portion of the reduction gear and supplies power from the power source to the motor;
A member including an end portion on the power source side of the hollow portion of the reduction gear, wherein the power source side member is fixed to the first member;
A member including an end portion on the motor side of the hollow portion of the speed reducer, the motor side member fixed to the second member, and
The reduction gear includes an external gear, an internal gear meshing with the external gear, an eccentric body shaft that swings and rotates the external gear, and a carrier that supports the eccentric body shaft and forms the hollow portion. And an intermediate member connected to the carrier and constituting the hollow portion together with the carrier,
The rotating device for an industrial machine, wherein an inner diameter of the hollow portion of the carrier is equal to an inner diameter of the hollow portion of the intermediate member.

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