JP5709813B2 - Cable protection guide device - Google Patents

Description

  The present invention is, for example, an industrial cable, an electric cable for transmitting an electric signal and supplying electric power by connecting a moving part and a stationary part such as a vehicle, and a flexible cable such as a hose for supplying hydraulic pressure or air pressure. The present invention relates to a cable protection and guide device for safely and reliably protecting and guiding cables.

Conventionally, a plurality of link members are connected in the longitudinal direction of the cable to form an articulated link, and the cables are guided from the cable fixed end toward the cable moving end to come into contact with the support surface of the support body from the linear posture and the support surface. 2. Description of the Related Art Cable protection guide devices that exhibit a separated bending posture are known (for example, Patent Document 1 and Patent Document 2).
Conventional cable protection and guide devices are configured to accommodate and guide cables in a state having flexibility.

JP-A-5-38034 Japanese Patent No. 4658221

  However, since the conventional cable protection guide device described above has a structure in which the cables are accommodated inside with a degree of freedom, when the cable moving end moves, the cable and the cable protection guide device are not connected. The cable moving end moves as a result of relative sliding and abrasion of the cable skin and generation of abrasion powder, and the need to increase the size of the cables to accommodate the cables. There is a problem that the inertial force at the time of the operation becomes large and the vehicle cannot be stopped with high position accuracy.

  Therefore, the present invention solves the problems of the prior art as described above. That is, the object of the present invention is to prevent wear of the skin of cables and to stop the articulated link with high positional accuracy. It is to provide a cable protection guide device.

  In the invention according to claim 1, a plurality of link members are connected in the longitudinal direction of the cable to form an articulated link, and the cables are guided from the cable fixed end toward the cable moving end to come into contact with the support surface of the support body. In the cable protection guide device that exhibits a straight line posture and a bending posture separated from the support surface, the multi-joint link is attached to at least a part of the plurality of link members and the plurality of link members. And at least a part of the plurality of link members is formed on one end side in the cable longitudinal direction, and is formed on the other end side in the cable longitudinal direction and is rotatable with the connection pin. A pin hole to be engaged, and a through hole penetrating in the width direction of the articulated link between the connecting pin and the pin hole in the longitudinal direction of the cable. A base portion that engages with the through-hole, and a clamping portion that extends from the base portion to both outer sides in the articulated link width direction and is provided in a bifurcated manner to clamp cables from both the inside and outside of the articulated link bend. By having it integrally, the above-described problems are solved.

  The invention according to claim 2 further solves the above-described problem by the fact that the holding member is formed of a flexible material in addition to the configuration of the cable protection guide device according to claim 1. To do.

  According to the third aspect of the present invention, in addition to the configuration of the cable protection guide device according to the first or second aspect, the base portion of the clamping member intersects the penetration direction of the through hole of the link member. In the state where the claw elastically deforms in the direction to be attached and the clamping member is attached to the link member, the claw is in contact with the peripheral portion of the through-hole from the outside in the articulated link width direction. The problem is further solved.

  According to a fourth aspect of the present invention, in addition to the configuration of the cable protection guide device according to the third aspect, in the state where the clamping member is attached to the link member, the claw is a through hole in the base portion. The above-described problems are further solved by being disposed on both sides in the through direction.

  In addition to the configuration of the cable protection guide device according to any one of claims 1 to 4, the invention according to claim 5 is characterized in that the bifurcated sandwiching portion includes the articulated link. By having a plurality of locking holes provided at predetermined intervals in the width direction and penetrating through a bifurcated part, the locking holes are provided so as to be freely engageable with the pin of the clamping member and another member, The above-described problems are further solved.

  According to the sixth aspect of the present invention, in addition to the configuration of the cable protection and guide device according to any one of the first to fourth aspects, one of the bifurcated sandwiching portions is the multiple A plurality of locking holes are provided at predetermined intervals in the joint link width direction, and the other of the bifurcated clamping portions is provided at predetermined intervals in the multi-joint link width direction and can be engaged with the locking holes. By having a plurality of projections, the above-described problem is further solved.

  According to the seventh aspect of the present invention, in addition to the configuration of the cable protection and guide device according to any one of the first to sixth aspects, the support portion that supports the clamping member includes: The above-described problem is further solved by extending from the through hole to at least one of the multi-joint link bending inner side and the outer side toward both outer sides in the multi-joint link width direction.

  The cable protection guide device of the present invention forms a multi-joint link by connecting a plurality of link members in the longitudinal direction of the cable, guides the cables from the cable fixed end to the cable moving end, and the support surface of the support. By exhibiting the contacted linear posture and the bent posture separated from the support surface, it is possible not only to guide the cables while protecting them but also to obtain the following specific effects.

According to the cable protection and guide device of the invention of claim 1, the multi-joint link includes a plurality of link members, and a clamping member that is attached to at least a part of the plurality of link members and clamps the cables. A link pin formed on one end side in the cable longitudinal direction, a pin hole formed on the other end side in the cable longitudinal direction and rotatably engaged with the connection pin, and a cable length And a through hole penetrating in the width direction of the articulated link between the connecting pin and the pin hole in the direction, and the clamping member engages with the through hole, and the outer side of the articulated link width direction from the base portion The holding member is a cable that is provided in a bifurcated manner and is integrally provided with a holding portion that holds the cables from both the inner and outer sides of the articulated link. The order cables sandwiching does not slide relative to the clamping member, can prevent wear of the skin of the cable.
Furthermore, the link member itself is more compact and the mass of the link member itself is smaller and the inertial force at the time of the stop is smaller than the configuration in which the inside of the link member of the prior art is hollow and the cables are inserted inside. Therefore, the articulated link can be stopped with high positional accuracy as compared with the configuration in which the inside of the link member of the prior art is hollow and the cables are inserted through the inside.
Similarly, since the link member itself is compact and the mass of the link member itself is reduced and the inertial force during movement is reduced, the output of the power source of the apparatus can be reduced.
That is, the motor as a power source can be reduced in size.
Further, since the parts are small and the number of parts is small, the manufacturing cost can be greatly reduced.

Furthermore, compared with the configuration in which the inside of the link member of the prior art is hollow and the cables are inserted through the inside, the link member itself is compact and the collision part between the link members during movement is reduced, so that the collision sound is reduced. Can be reduced.
Also, even when there are multiple cables, the bending radius of each of the plurality of cables when the cables are curved in the articulated link width direction and the plurality of cables are bent is substantially the same. If the cable is different, problems such as disconnection of cables due to excessive force applied to the cables can be prevented.
Furthermore, when there are multiple cables and the cables are clamped on both sides of the multi-joint link width direction, the repulsive force due to the bending resistance of the cables generated by clamping the cables on one side of the multi-joint link width direction and the other side in the width direction Since the repulsive force generated in the same manner is canceled or reduced, the force in the direction in which the articulated link is twisted can be almost eliminated.
That is, the force balance on both sides in the width direction of the multi-joint link is good, and the twist of the multi-joint link can be prevented and the flex of the multi-joint link can be made smoothly.

  According to the cable protection guide device of the invention according to claim 2, in addition to the effect of the invention according to claim 1, the holding member is moved by being formed of a flexible material. Even when the support surface of the support, which is the reference surface, is sometimes hit, the clamping member is bent and the impact is absorbed, so that the noise can be reduced compared to a configuration in which the clamping member is formed of a material that does not flex. .

According to the cable protection guide device of the invention according to claim 3, in addition to the effect of the invention according to claim 1 or claim 2, the base portion of the clamping member is connected to the through direction of the through hole of the link member. With the claw elastically deforming in the intersecting direction and the clamping member attached to the link member, the claw is in contact with the peripheral portion of the through hole from the outer side in the width direction of the articulated link. Since the claw of the holding member can be inserted into the through hole of the link member simply by elastically deforming from the peripheral portion side to the through hole side, the holding member can be easily attached to and removed from the link member.
In addition, in the attached state, the claw is in contact with the peripheral portion of the through hole and the movement of the clamping member to the side further entering the through hole of the link member is restricted. The positional relationship can be regulated.

  According to the cable protection guide device of the invention according to claim 4, in addition to the effect of the invention according to claim 3, the claw is a through hole in the base portion in a state where the clamping member is attached to the link member. Since the claws are in contact with the peripheral edge of the through hole on both sides of the penetrating direction in the attached state, the clamping member moves to the side further entering the through hole of the link member. Therefore, the relative positional relationship on both sides of the articulated link width direction can be restricted.

According to the cable protection and guide device of the invention according to claim 5, in addition to the effect exhibited by the invention according to any one of claims 1 to 4, the bifurcated clamping portion is a multi-joint By having a plurality of locking holes provided at predetermined intervals in the link width direction and penetrating through a bifurcated portion, this locking hole is provided so as to be freely engageable with the pin of the clamping member and another member, By selecting the locking hole according to the size of the cable diameter, the useless gap between the forked portion of the clamping member and the cables is reduced and the clamping force for the cables is increased. It is possible to more reliably prevent the skin of the cables from being worn.
In addition, since the pins are positioned between the plurality of cables in the articulated link width direction, the plurality of cables are arranged in the articulated link width direction without contacting each other. Wear can be prevented.

According to the cable protection and guide device of the invention according to claim 6, in addition to the effect exerted by the invention according to any one of claims 1 to 4, one of the sandwiched portions divided into two forks, There are a plurality of locking holes provided at predetermined intervals in the multi-joint link width direction, and the other of the bifurcated clamping parts is provided at predetermined intervals in the multi-joint link width direction and can be engaged with the locking holes. By having a plurality of protrusions, selecting a locking hole according to the size of the diameter of the cables reduces the useless gap between the forked portion of the clamping member and the cables. Since the clamping force with respect to the cables is increased, it is possible to obtain the same effect as the effect of the invention according to claim 5.
Further, since the other protrusion is engaged with one of the locking holes of the bifurcated clamping portion, it is not necessary to provide a separate member pin, and the number of parts can be reduced as compared with the configuration according to claim 5.

  According to the cable protection and guide device of the invention according to claim 7, in addition to the effect exerted by the invention according to any one of claims 1 to 6, the support portion for supporting the holding member is a link member. When the posture changes from the bent state to the straight state or from the straight state to the bent state by extending from at least one of the inner and outer sides of the multi-joint link to the both outer sides in the width direction of the multi-joint link Even when the clamping member receives a repulsive force due to bending resistance from the cables and tries to bend, a part of the repulsive force acts on the support portion in contact with the clamping member, and the support portion becomes a part of the repulsive force. Therefore, the bending of the clamping member can be eliminated or reduced.

BRIEF DESCRIPTION OF THE DRAWINGS Schematic which shows the cables protection guide apparatus of 1st Example of this invention. The perspective view which shows the 1st link member and clamping member of 1st Example of this invention. The figure which shows the articulated link and cables of 1st Example of this invention. The figure which shows the 1st link member of 1st Example of this invention. The figure which shows the clamping member and pin of 1st Example of this invention. The figure which shows the 1st link member of the 2nd Example of this invention, an articulated link, and cables. The figure which shows the 1st link member, the articulated link, and cables of 3rd Example of this invention.

  The present invention forms a multi-joint link by connecting a plurality of link members in the longitudinal direction of the cable, guides the cables from the cable fixed end to the cable moving end, and makes contact with the support surface of the support and the linear posture. In a cable protection guide device that exhibits a bending posture separated from a surface, a multi-joint link includes a plurality of link members and a clamping member that is attached to at least a part of the plurality of link members and clamps the cables. And at least a part of the plurality of link members, a connection pin formed on one end side in the cable longitudinal direction, a pin hole formed on the other end side in the cable longitudinal direction and rotatably engaged with the connection pin, and the cable longitudinal direction A connecting hole and a through hole penetrating in the width direction of the multi-joint link between the connecting pin and the pin hole. By extending the outer side of the multi-joint link in the width direction and being divided into two forks, it has a clamping part that clamps the cables from both the inner and outer sides of the articulated link. As long as the multi-joint link stops with high positional accuracy while preventing wear, the specific embodiment may be any.

For example, the specific material of the link member used in the cable protection guide device of the present invention may be either a synthetic resin such as an engineering resin or a metal such as aluminum. The shape may be any shape as long as it can be connected in the longitudinal direction of the cable and the cables can be bent and moved relatively between the cable fixing end and the cable moving end in the longitudinal direction of the cable. It does n’t matter.
The cables may be any flexible linear body, for example, an electric cable for supplying power or transmitting a signal and a hose for guiding a substance containing fluid in a machine. Including.

Below, the cable protection guide apparatus 100 which is 1st Example of this invention is demonstrated based on FIG. 1 thru | or FIG.
Here, FIG. 1 is a schematic view of the cable protection and guide device 100 according to the first embodiment of the present invention as viewed from the multi-joint link width direction X, and FIG. 2 is the first embodiment of the present invention. FIG. 3A is a perspective view showing one link member 110 and a clamping member 120, and FIG. 3A is a view of the multi-joint link 100A and the cables C of the first embodiment of the present invention viewed from the outside of the multi-joint link bend. 3 (B) is a view as seen from the reference numeral 3B shown in FIG. 3 (A), and FIG. 4 (A) shows the first link member 110 of the first embodiment of the present invention outside the articulated link bend. 4 (B) is a diagram viewed from the reference numeral 4B shown in FIG. 4 (A), and FIG. 4 (C) is a diagram viewed from the reference numeral 4C shown in FIG. 4 (A). FIG. 5A is a view of the holding member 120 of the first embodiment of the present invention as viewed from the outside of the articulated link. B) is a view seen from the code 5B shown in FIG. 5 (A), FIG. 5 (C) is a diagram showing the pin 130.
3 (A) and 3 (B) show the cables C, but in FIG. 2, the cables C are not shown in order to facilitate understanding of the shape of the clamping member 120. To do.

As shown in FIGS. 1 to 5, the cable protection guide device 100 according to the first embodiment of the present invention is provided in a machine (not shown) provided with a cable C and protects the cable C. Used to guide with.
The machine is, for example, a semiconductor manufacturing apparatus, a drug discovery test apparatus, a vehicle door opening / closing apparatus, or a machine tool.
The cable protection guide device 100 configures an articulated link 100A by connecting a plurality of link members (110, 140) in the cable longitudinal direction Y, and guides the cables C from the cable fixed end E2 toward the cable moving end E1. Thus, the support body 150 is provided so as to exhibit a linear posture in contact with the support surface 151 and a bending posture separated from the support surface 151.

Furthermore, the articulated link 100A is attached to the first link member 110 and the second link member 140 as a plurality of link members, and the first link member 110 which is at least a part of the plurality of link members, and the cables C And a clamping member 120 that clamps.
Here, the 1st link member 110 means the thing to which the clamping member 120 is attached.
On the other hand, the 2nd link member 140 means the thing to which the clamping member 120 is not attached.

And the structure of the 2nd link member 140 is the same as that of the 1st link member 110 fundamentally, and the difference only by which the clamping member 120 is not attached even if there is no through-hole 113 mentioned later or there is a through-hole 113. Therefore, description of the specific structure of the second link member 140 is omitted.
In the present invention, the multi-joint link 100A may be configured by connecting a large number in the cable longitudinal direction Y using at least the first link member 110 as a part.
That is, the second link member 140 may be connected between the first link member 110 and the first link member 110, or a large number of the first link members 110 may be connected without being inserted.

The first link member 110 includes a connection pin 111 formed on one end side in the cable longitudinal direction, a pin hole 112 formed on the other end side in the cable longitudinal direction and rotatably engaged with the connection pin 111, and the cable longitudinal direction. Y has a through hole 113 penetrating in the articulated link width direction X between the connecting pin 111 and the pin hole 112.
In addition, the clamping member 120 is provided with a base portion 121 that engages with the through hole 113, and extends from the base portion 121 to both outer sides in the width direction of the multi-joint link and is divided into two forks. And it has integrally the clamping part 122 clamped from the outer both sides.

Thereby, the clamping member 120 clamps the cables C and the cables C do not slide with respect to the clamping member 120.
Furthermore, the link member (110, 140) itself is more compact and the weight of the link member (110, 140) itself is smaller than the configuration in which the inside of the link member of the prior art is made hollow and the cables C are inserted inside. It becomes smaller and the inertial force at the time of stop becomes smaller.
Similarly, the link member (110, 140) itself becomes compact, the mass of the link member (110, 140) itself becomes small, and the inertial force during movement becomes small.
That is, the motor as a power source can be reduced in size.
Further, since the parts are small and the number of parts is small, the manufacturing cost can be greatly reduced.

Furthermore, the link member (110, 140) itself is compact compared to the configuration in which the inside of the link member of the prior art is hollow and the cables C are inserted therethrough, so that the link members (110, 140) during movement are compact. The collision part of becomes smaller.
Further, even when there are a plurality of cables C, the bending radii of the plurality of cables C when the cables C are aligned in the articulated link width direction X and the plurality of cables C are bent are substantially the same. Become.
Furthermore, when there are a plurality of cables C and the cables C are clamped on both sides of the multi-joint link width direction, the repulsive force due to the bending resistance of the cables C generated by clamping the cables C on one side of the multi-joint link width direction The repulsive force that similarly occurs on the other side in the width direction is offset or reduced.
That is, the force balance on both sides of the multi-joint link width direction is good, the twist of the multi-joint link 100A can be prevented, and the multi-joint link 100A can be bent smoothly.

Specifically, as shown in FIGS. 4A to 4C, the first link member 110 includes a connection pin 111, a pin hole 112, a through hole 113, and a first linear posture holding surface 114. The second straight posture holding surface 115, the first bent posture restricting surface 116, and the second bent posture restricting surface 117 are provided.
Among these, the connection pin 111 is arrange | positioned so that it may protrude in the articulated link width direction both sides by the cable longitudinal direction one end side in the 1st link member 110. FIG.

Further, the pin hole 112 is disposed on the other end side in the cable longitudinal direction of the first link member 110 and is rotatably engaged with the connecting pin 111 of the adjacent first link member 110 in the cable longitudinal direction Y. Is provided.
Further, the through hole 113 is disposed so as to penetrate in the articulated link width direction X between the connecting pin 111 and the pin hole 112 in the first link member 110 in the cable longitudinal direction Y.

The first linear posture holding surface 114 is disposed on one end side in the cable longitudinal direction of the first link member 110, and the second straight posture holding surface 115 is on the other end side in the cable longitudinal direction of the first link member 110. It is arranged.
When the multi-joint link 100A is in the straight posture, the first straight posture holding surface 114 of one first link member 110 is adjacent to the second link member 140 (or the first link member 110) adjacent in the cable longitudinal direction Y. The second linear posture holding surface 115 is configured to be in surface contact.

Similarly, the first bending posture regulating surface 116 is disposed on one end side in the cable longitudinal direction of the first link member 110, and the second bending posture regulating surface 117 is the other end in the cable longitudinal direction on the first link member 110. It is arranged on the side.
When the multi-joint link 100A is in the bending posture, the first bending posture regulating surface 116 of one first link member 110 is adjacent to the second link member 140 (or the first link member 110) adjacent in the cable longitudinal direction Y. The second bending posture regulating surface 117 is configured to be in surface contact.
That is, one of the first link members 110 and the adjacent second link member 140 (or the first link member 110) bend at an obtuse angle and bend so that a part of the multi-joint link 100A draws an arc. .
As a result, the cables C are bent so as to draw an arc without being bent.

Further, as shown in FIGS. 5A and 5B, the sandwiching member 120 has a base portion 121 and a sandwiching portion 122 integrally.
Here, the clamping member 120 is formed of a flexible material.
As a result, even when the clamping member 120 strikes the support surface 151 of the support 150 serving as a reference surface during movement, the clamping member 120 is bent and the impact is absorbed.
That is, noise can be reduced.

Further, the base portion 121 has a claw 121a that is elastically deformed in a direction intersecting with the through direction of the through hole 113 of the first link member 110.
As shown in FIGS. 2 to 3B, the claw 121 a contacts the peripheral portion 113 a of the through hole 113 from the outer side in the articulated link width direction with the clamping member 120 attached to the first link member 110. It touches.
Thereby, the claw 121a of the holding member 120 can be inserted into the through hole 113 of the first link member 110 only by elastically deforming the claw 121a from the peripheral edge 113a side of the through hole 113 to the through hole 113 side.
That is, the clamping member 120 can be easily attached to the first link member 110.
Further, in the attached state, the claw 121 a abuts on the peripheral portion 113 a of the through hole 113 to restrict the movement of the holding member 120 to the side further entering the through hole 113 of the first link member 110.

Further, in the present embodiment, the claws 121a are disposed on both sides of the through-hole 113 in the base portion 121 in the penetration direction (multi-joint link width direction X).
Thereby, in the attached state, the claw 121a abuts the peripheral portion 113a of the through hole 113 on both sides of the through direction (multi-joint link width direction X), and the sandwiching member 120 further contacts the through hole 113 of the first link member 110. Restrict movement to the entry side.
That is, the relative positional relationship to both sides in the articulated link width direction is regulated.

In the present embodiment, the claws 121a are provided on both sides of the penetrating direction (multi-joint link width direction X). However, the claws 121a may be provided only on one side and the other side may be a contact portion that does not elastically deform.
In this embodiment, two claws 121a are provided on both sides in the longitudinal direction of the cable.
Furthermore, the position of the nail | claw 121a may be provided in any position, as long as it can contact | abut with the peripheral part 113a of the through-hole 113. FIG.

Further, the sandwiching portion 122 is divided into a bifurcated shape of the bent inner sandwiching portion 122a and the bent outer sandwiching portion 122b from the base portion 121 and extends to both outer sides in the multi-joint link width direction.
The bent inner holding portion 122a and the bent outer holding portion 122b are configured to hold the cables C from both the inner and outer sides of the articulated link.
In the present embodiment, the bent inner clamping portion 122a and the bent outer clamping portion 122b of the bifurcated clamping portion 122 are provided at predetermined intervals in the multi-joint link width direction X, and penetrate the bifurcated segment. Each has a plurality of locking holes 122aa, 122ba.

The locking holes 122aa and 122ba are provided so as to be engageable with a pin 130 which is a member different from the holding member 120.
As a result, by selecting the locking holes 122aa and 122ba corresponding to the diameter of the cables C, the useless gap between the bifurcated clamping portion 122 of the clamping member 120 and the cables C is reduced. The clamping force with respect to the cables C increases.
Furthermore, since the pin 130 is positioned between the plurality of cables C in the multi-joint link width direction X, the plurality of cables C are arranged in the multi-joint link width direction X without contacting each other.
That is, the abrasion of the skin due to the contact between the plurality of cables C is prevented.

Specifically, the pin 130 includes a large diameter portion 131, a small diameter portion 132, and a medium diameter portion 133.
Among these, the diameter of the large diameter part 131 and the diameter of the medium diameter part 133 are larger than the diameters of the locking holes 122aa and 122ba, and the diameter of the small diameter part 132 is smaller than the diameters of the locking holes 122aa and 122ba. .
Then, when the medium diameter portion 133 is pushed into the locking holes 122aa and 122ba, the locking holes 122aa and 122ba are widened and the medium diameter portion 133 passes, and the large diameter portion 131 and the medium diameter portion 133 are bent between the bent inner sandwiching portion 122a and The bent outer clamping portion 122b is sandwiched.
Thereby, the clamping force with respect to the cables C increases.

In addition, for example, one bent inner clamping portion 122a of the bifurcated clamping portion 122 has a plurality of locking holes 122aa and 122ba provided at predetermined intervals in the multi-joint link width direction X, and is bifurcated. The other bent outer holding portion 122b of the holding portion 122 may have a plurality of protrusions that are provided at predetermined intervals in the multi-joint link width direction X and can be engaged with the locking holes 122aa and 122ba. .
Thereby, since it is not necessary to provide the pin 130 of another member, the number of parts can be reduced by that much.

In this embodiment, the pin 130 is used to increase the clamping force for the cables C. However, the pin 130 does not necessarily have to be fastened.
As a technical idea, the gap between the bent inner holding portion 122a and the bent outer holding portion 122b of the holding portion 122 is made smaller than the diameter of the cables C, and the bent inner holding portion 122a and the bent outer holding portion 122b are hardened. By providing, sufficient pinching force may be generated without being pinned by the pin 130, and the bent inner holding portion 122a and the bent outer holding portion 122b of the holding portion 122 may be configured to hold the cables C.

Further, if necessary, the multi-joint link 100A may be arranged in two or three or more rows in the multi-joint link width direction.
Thereby, even if the number of cables C increases, it can support firmly.
Further, a plurality of multi-joint links 100A may be arranged in a multi-joint link bending inner / outer direction.
Thereby, even if the space is limited in the articulated link width direction, a large number of cables C can be supported.

  In the cable protection guide device 100 according to the first embodiment of the present invention obtained in this way, the multi-joint link 100A includes the first link member 110 and the second link member 140 as a plurality of link members, A coupling member 120 that is attached to the first link member 110 that is at least a part of the plurality of link members and clamps the cables C, and the first link member 110 is formed on one end side in the cable longitudinal direction. A pin 111, a pin hole 112 formed on the other end side in the cable longitudinal direction and rotatably engaged with the connection pin 111, and a multi-joint link width direction X between the connection pin 111 and the pin hole 112 in the cable longitudinal direction Y A base portion 121 that has a through-hole 113 penetrating through it, and the clamping member 120 engages with the through-hole 113, and a width of the multi-joint link from the base portion 121 The outer surface of the cable C is worn by integrally having a clamping portion 122 that extends to both outer sides and is provided in a bifurcated manner and clamps the cables C from both the inside and outside of the articulated link. The articulated link 100A can be stopped with high positional accuracy compared to the configuration in which the inside of the link member of the prior art is hollow and the cables C are inserted through the inside of the link member. The size can be reduced, the impact noise can be reduced, and the cable C can be prevented from being broken due to an excessive force applied to the cables C due to different bending radii, and the articulated link 100A can be twisted. The effect of this force can be almost eliminated.

Furthermore, since the clamping member 120 is formed of a flexible material, noise can be reduced compared to a configuration in which the clamping member 120 is formed of a material that does not bend.
In addition, the base portion 121 of the clamping member 120 has a claw 121a that is elastically deformed in a direction intersecting the penetration direction of the through hole 113 of the first link member 110, and the clamping member 120 is attached to the first link member 110. Thus, since the claw 121a is in contact with the peripheral edge portion 113a of the through hole 113 from the outer side in the width direction of the multi-joint link, the clamping member 120 can be easily attached to and detached from the first link member 110, and The relative positional relationship of the joint link 100A in one width direction can be restricted.

  Further, with the clamping member 120 attached to the first link member 110, the claws 121 a are disposed on both sides of the through hole 113 in the base portion 121 in the penetration direction, so that both sides of the multi-joint link width direction are provided. The relative positional relationship of can be regulated.

  Further, the bifurcated sandwiching portion 122 has a plurality of locking holes 122aa, 122ba that are provided at predetermined intervals in the multi-joint link width direction X and penetrate the bifurcated portions, and the locking holes 122aa, Since 122ba is provided to be freely engageable with the pinching member 120 and another pin 130, the outer skin of the cables C can be more reliably prevented from being worn, and by contact between the plurality of cables C. The effect is enormous, such as preventing the skin from being worn.

Next, a cable protection guide device 200 according to the second embodiment of the present invention will be described with reference to FIG.
Here, FIG. 6 (A) is a view of the first link member 210 of the second embodiment of the present invention viewed from the articulated link width direction X, and FIG. 6 (B) is shown in FIG. 6 (A). FIG. 6C is a view of the multi-joint link 200A and the cables C of the second embodiment of the present invention viewed from the cable longitudinal direction Y. FIG.

  The cable protection guide device 200 of the second embodiment is obtained by adding a bent inner support portion 218 as a support portion to the first link member 110 of the cable protection guide device 100 of the first embodiment. Is common to the cable protection and guide device 100 of the first embodiment, detailed description of common matters is omitted, and only the reference numerals in the 200s are shared by the last two digits.

The first link member 210 of the cable protection guide device 200 according to the second embodiment of the present invention is bent as a support portion for supporting the holding member 220 as shown in FIGS. 6 (A) to 6 (C). It has an inner support portion 218.
The bent inner support portion 218 is extended from the through-hole 213 of the first link member 210 toward the outer side in the articulated link width direction from the bent inner side of the bent joint link.

As a result, even when the holding member 220 tries to bend due to the repulsive force due to the bending resistance from the cables C when the posture changes from the bent state to the straight state or from the straight state to the bent state, A part of the repulsive force acts on the bent inner support part 218 in contact with the bent inner support part 218, and the bent inner support part 218 receives a part of the repulsive force.
That is, the bending of the clamping member 220 is eliminated or reduced.
In addition, although the support part (bending inner side support part 218) was provided in the articulated link bend inner side as one of the articulated link bend inner side and the outer side of the through-hole 213, the same effect can be obtained also outside. Needless to say.

  In the cable protection guide device 200 according to the second embodiment of the present invention thus obtained, the bent inner support portion 218 as a support portion for supporting the holding member 220 has a through hole 213 in the first link member 210. By extending from the inner side of the multi-joint link to the outer side in the multi-joint link width direction, the effect of the holding member 220 can be eliminated or reduced.

Subsequently, a cable protection guide device 300 according to a third embodiment of the present invention will be described with reference to FIG.
Here, FIG. 7A is a view of the first link member 310 of the third embodiment of the present invention viewed from the multi-joint link width direction X, and FIG. 7B is the same as FIG. It is sectional drawing seen by the code | symbol 7B-7B shown, and FIG.7 (C) is the figure which looked at the articulated link 300A and the cables C of 3rd Example of this invention from the cable longitudinal direction Y. FIG.

  The cable protection guide device 300 of the third embodiment is obtained by adding a bent outer support portion 319 as a support portion to the first link member 210 of the cable protection guide device 200 of the second embodiment. Is common to the cable protection and guide device 200 of the second embodiment, detailed description of common items is omitted, and only the reference numbers in the 300 series are shared by the last two digits.

The first link member 310 of the cable protection guide device 300 according to the third embodiment of the present invention is bent as a support portion for supporting the holding member 320 as shown in FIGS. It has an inner support portion 318 and a bent outer support portion 319.
Among these, the bending inner side support part 318 is extended from the through-hole 313 of the first link member 310 toward both outer sides in the multi-joint link width direction from the inner side of the multi-joint link bending.
On the other hand, the bent outer support portion 319 is extended from the through-hole 313 of the first link member 310 toward the both outer sides in the multi-joint link width direction from the bent outer side of the multi-joint link.

  As a result, even when the holding member 320 attempts to bend due to the repulsive force due to the bending resistance from the cables C when the posture changes from the bent state to the straight state or from the straight state to the bent state, A part of the repulsive force acts on the bent inner support part 318 and the bent outer support part 319 that are in contact with each other, and the bent inner support part 318 and the bent outer support part 319 receive a part of the repulsive force.

  In the cable protection guide device 300 according to the third embodiment of the present invention thus obtained, the bent inner support portion 318 as a support portion for supporting the holding member 320 has the through hole 313 of the first link member 310. Further extending from the inside of the multi-joint link to the both sides in the width direction of the multi-joint link, the bent outside support portion 319 as a support portion is also formed from the outside of the multi-joint link bend from the through hole 313 of the first link member 310. By extending toward both outer sides in the width direction of the multi-joint link, the effect of the holding member 320 can be eliminated or reduced, and the effect is enormous.

100, 200, 300 ... Cables protection guide devices 100A, 200A, 300A ... Articulated links 110, 210, 310 ... First link members 111, 211, 311 ... Connecting pins 112, 212, 312 ... Pin holes 113, 213, 313 ... Through holes 113a, 213a, 313a ... Peripheral portion 114 ... First linear posture holding surface 115 ... Second linear posture holding surface 116 ... 1st bending attitude | position control surface 117 ... 2nd bending attitude | position control surface
218, 318 ・ ・ ・ Bent inner support part
319... Bent outer support portions 120, 220, 320... Holding members 121, 221, 321... Base portions 121a, 221a, 321a .. Claws 122, 222, 322. 322a ... bent inner clamping part 122aa ... locking holes 122b, 222b, 322b ... bent outer clamping part 122ba ... locking holes 130, 230, 330 ... pin 131 ... large diameter Part 132 ... Small diameter part 133 ... Medium diameter part 140 ... Second link member 150 ... Support body 151 ... Support surface C ... Cables E1 ... Cable moving end E2 ...・ Cable fixed end X ... Articulated link width direction Y ... Cable longitudinal direction

Claims (7)

A plurality of link members are connected in the longitudinal direction of the cable to form an articulated link, and the cables are guided from the cable fixed end toward the cable moving end to be in contact with the support surface of the support and separated from the support surface. In the cable protection guide device that exhibits a bending posture,
The articulated link includes the plurality of link members, and a clamping member that is attached to at least a part of the plurality of link members and clamps cables.
At least a part of the plurality of link members includes a connecting pin formed on one end side in the cable longitudinal direction, a pin hole formed on the other end side in the cable longitudinal direction and rotatably engaged with the connecting pin, and the cable Having a through hole penetrating in the articulated link width direction between the connecting pin and the pin hole in the longitudinal direction;
The clamping member is provided with a base portion that engages with the through-hole, and extends from the base portion to both outer sides in the articulated link width direction and is divided into two forks. A multi-joint type cable protection and guide device characterized by integrally having a clamping portion for clamping.   2. The cable protection guide device according to claim 1, wherein the clamping member is made of a flexible material. The base portion of the clamping member has a claw that elastically deforms in a direction intersecting with the through direction of the through hole of the link member,
3. The cable according to claim 1, wherein the claw is in contact with a peripheral portion of a through hole from an outer side in the width direction of the articulated link in a state where the clamping member is attached to the link member. Kind protection guide device.   4. The cable protection and guide device according to claim 3, wherein the claws are respectively disposed on both sides of the through hole in the base portion in the penetration direction in a state where the clamping member is attached to the link member. .   The bifurcated clamping part has a plurality of locking holes provided at predetermined intervals in the articulated link width direction and penetrating the bifurcated part, and the locking holes are separated from the clamping member. 5. The cable protection guide device according to claim 1, wherein the cable protection guide device is provided so as to be freely engageable with a pin of a member.   One of the bifurcated clamping parts has a plurality of locking holes provided at predetermined intervals in the articulated link width direction, and the other of the bifurcated clamping parts has the articulated link width direction 5. The cable protection guide device according to claim 1, wherein the cable protection guide device includes a plurality of protrusions that are provided at predetermined intervals and are engageable with the locking holes.   The support portion for supporting the clamping member is extended from at least one of the inside and outside of the articulated link from the through hole of the link member toward both outer sides in the articulated link width direction. The cable protection guide device according to any one of claims 1 to 6.

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