JP6458116B1 - Retrofit connector - Google Patents

Abstract

Provided is a retrofit connector having a novel structure capable of realizing wiring that does not hinder torsional movement between links of a robot arm by a structure that can be retrofitted.
SOLUTION: First and second exterior members 16 and 18 are combined with each other in an axial direction so that openings of concave grooves 20 and 44 face each other. 18 is allowed relative rotation in the circumferential direction, and an accommodation space 62 extending in the circumferential direction is formed by the concave grooves 20 and 44, and the first connecting portion 64 and the second connecting portion 64 of the first exterior member 16 are formed. The connecting wiring 14 extending between the outer connecting member 18 and the second connecting portion 66 is accommodated in the accommodating space 62, while the first and second exterior members 16, 18 are divided in the circumferential direction. In 22b and 46b, a mounting object insertion portion is configured, and the first and second exterior members 16 and 18 are extrapolated to one of the first and second mounting objects 70 and 72, respectively. It can be installed with.
[Selection] Figure 1

Description

  The present invention relates to a retrofit connector that can be retrofitted with a wiring straddling between links of a robot arm that is allowed a relative torsional displacement.

  Conventionally, a robot arm has a structure in which a plurality of links are connected by joints, and relative displacement of the plurality of links is allowed. The joint portion of the robot arm includes a torsional joint that allows relative torsional displacement of the link in addition to a member that allows relative tilting of the link.

  By the way, for example, the wiring connected to the end effector provided at the distal end of the robot arm may extend from the proximal end side of the robot arm and straddle the joint. In this case, it is necessary that the wiring is not excessively pulled when the joint portion is driven and disconnected, and the movement of the robot arm in the joint portion, such as bending and stretching or torsion, is not hindered by the wiring.

  Therefore, Japanese Patent Laying-Open No. 2015-54357 (Patent Document 1) proposes a joint driving device in which a linear member such as a wiring is folded and arranged in a U-shape at a joint portion that connects the links so as to be relatively displaceable. In particular, in a torsional joint, it is possible to arrange the linear body in a state in which relative torsional displacement of the link is allowed.

  However, since Patent Document 1 includes a linear body incorporated in a joint drive device of a robot, it has been difficult to apply it to an existing robot provided with a joint drive device in advance. Therefore, when a new wiring straddling the joint is provided for the purpose of adding a function to an existing robot or the like, the robot itself needs a significant design change, and the structure of Patent Document 1 is adopted. There was a need for a new structure that was difficult to do and could be easily applied to existing robots.

Japanese Patent Laying-Open No. 2015-54357

  The present invention has been made in the background of the above-described circumstances, and the problem to be solved is that even if the links are arranged between links of robot arms capable of relative rotation, the twisting operation of these links is hindered. It is an object of the present invention to provide a retrofit connector having a novel structure capable of realizing wiring without any trouble by a structure that can be retrofitted to an existing robot arm or the like.

  Hereinafter, the aspect of this invention made | formed in order to solve such a subject is described. In addition, the component employ | adopted in each aspect as described below is employable by arbitrary combinations as much as possible.

  That is, the first aspect of the present invention includes an annular first exterior member that is mounted in an extrapolated state on each of the first mounting object and the second mounting object that are allowed to have a relative torsional displacement. An annular second exterior member is provided, and concave grooves extending in the circumferential direction are formed in the axial direction of the first exterior member and the second exterior member, respectively. The first exterior member and the second exterior member are combined with each other in the axial direction so that the direction opening portions face each other, and the first exterior member and the second exterior member are relative to each other in the circumferential direction. An accommodation space that is allowed to rotate and extends in the circumferential direction between the first exterior member and the second exterior member is formed by the concave groove, and is provided in the first exterior member. A connection arrangement extending between the first connection portion and the second connection portion provided on the second exterior member. Is accommodated in the accommodation space, and the first exterior member and the second exterior member are divided in the circumferential direction at least in part in the circumferential direction, so that the first exterior member and the second exterior member are divided. A mounting target insertion portion is formed in the divided portion of the exterior member, and the first exterior member and the second exterior member are extrapolated to each of the first attachment target and the second attachment target. It is characterized by being able to be mounted in a state.

  According to such a retrofit connector having the structure according to the first aspect, the first exterior member is mounted on the first mounting target in an extrapolated state, and the second mounting member is mounted on the second mounting target. Is mounted in an extrapolated state and extends between the first mounting object and the second mounting object while allowing relative torsional displacement between the first mounting object and the second mounting object. Wiring can be provided.

  Moreover, since the first exterior member attached to the first attachment member and the second exterior member attached to the second attachment member are divided in the circumferential direction by at least part of the circumferential direction, It is possible to insert the mounting target into the exterior member at the divided portion constituting the mounting target insertion portion. Therefore, the first exterior member and the second exterior member can be easily retrofitted to the first attachment member and the second attachment member. The straddling wiring can be provided later.

  Furthermore, since the first exterior member and the second exterior member are each provided with a recessed groove that opens in the axial direction, the first exterior member and the second exterior member are arranged so that the axial openings of the recessed grooves face each other. By combining these exterior members, a large accommodation space is formed between the first exterior member and the second exterior member, and an arrangement space for the connection wiring can be efficiently obtained.

  Furthermore, since the first exterior member and the second exterior member each have an axial length capable of forming a concave groove, the inner peripheral surfaces of the first exterior member and the second exterior member Aiming to improve the mounting strength by ensuring a large axial length and obtaining a large surface to be mounted on the first mounting target and the second mounting target of the first exterior member and the second exterior member. Can do.

  According to a second aspect of the present invention, in the retrofit connector described in the first aspect, an outer peripheral wall portion of the concave groove in the first outer member and an outer peripheral wall of the concave groove in the second outer member. The portion is provided with an axial connection portion that connects the first exterior member and the second exterior member in the axial direction in a manner that allows relative rotation in the circumferential direction.

  According to the second aspect, since the first exterior member and the second exterior member are connected to each other by the axial connection portion, it is easy to handle the first exterior member and the second exterior member integrally. Thus, storage and transportation can be facilitated, and the mounting work on the first mounting target and the second mounting target can be simplified.

  According to a third aspect of the present invention, in the retrofit connector described in the first or second aspect, at least one of the first exterior member and the second exterior member has the divided portion in the circumferential direction. The circumferential direction connection part connected to is provided.

  According to the third aspect, after the mounting target is inserted into the exterior member through the split portion, the split portion is connected and closed by the circumferential connecting portion, thereby preventing the rear connector from falling off the mounting target. .

  According to a fourth aspect of the present invention, in the retrofit connector described in any one of the first to third aspects, the connection wiring is folded back in the circumferential direction at an intermediate portion in the accommodation space. is there.

  According to the fourth aspect, the circumferential position of the folded portion in the connection wiring is changed according to the relative torsional displacement of the first mounting target and the second mounting target, whereby the first mounting target and The torsional displacement of the second mounting object can be allowed on both sides in the circumferential direction.

  According to a fifth aspect of the present invention, in the retrofit connector described in any one of the first to fourth aspects, the connection wiring is wound so as to extend in one circumferential direction within the accommodation space. Is.

  According to the fifth aspect, relative torsional displacement between the first mounting object and the second mounting object is allowed with a simple wiring structure by winding and loosening the connection wiring.

  According to a sixth aspect of the present invention, in the retrofit connector according to any one of the first to fifth aspects, an axial perpendicular direction width dimension of the accommodating space is larger than an outer dimension of the connection wiring. It is smaller than twice the outer dimension of the connection wiring.

  According to the sixth aspect, the sliding resistance between the connection wiring and the inner wall surface of the housing space is reduced, and the relative torsional displacement between the first mounting object and the second mounting object is allowed smoothly. In addition, it is possible to prevent the connection wiring from being entangled in the accommodation space even when the connection wiring is folded in the accommodation space or a plurality of connection wirings are arranged in the accommodation space.

  According to a seventh aspect of the present invention, in the retrofit connector described in any one of the first to sixth aspects, the amount of relative rotation between the first exterior member and the second exterior member in the circumferential direction is set. A rotation restricting portion for restricting is provided.

  According to the seventh aspect, the relative amount of torsional displacement (relative rotation amount) between the first exterior member and the second exterior member is limited by the rotation limiting unit, whereby the first exterior member and the second exterior member are limited. Damage to the connection wiring due to excessive relative rotation of the exterior member is prevented, and reliability is improved.

  According to an eighth aspect of the present invention, in the retrofit connector described in any one of the first to seventh aspects, the divided portion is at least one of the first exterior member and the second exterior member. It is provided at two locations in the circumferential direction, and any one of these divided portions is connected by a hinge portion.

  According to the 8th aspect, the exterior member provided with a hinge part is not divided into two by the two division | segmentation parts, but the said exterior member can be handled as one component. Further, in the exterior member provided with a hinge portion in one divided portion, the circumferential opening size of the other divided portion is variable depending on the hinge portion, and therefore, by increasing the circumferential opening size of the other divided portion, While the mounting target can be inserted into the exterior member through the divided portion of the outer member, the exterior member can be easily attached to the mounting target in an extrapolated state by reducing the circumferential opening size of the other divided portion. .

  According to a ninth aspect of the present invention, in the retrofit connector described in any one of the first to seventh aspects, the divided portion is provided in at least one of the first exterior member and the second exterior member. Are provided at two locations in the circumferential direction and can be divided into two halves.

  According to the ninth aspect, at least one of the first exterior member and the second exterior member has a simple structure in which two halves that are independent of each other are combined. By being attached so as to sandwich the mounting target, the exterior member can be easily mounted on the mounting target in an extrapolated state.

  According to a tenth aspect of the present invention, in the retrofit connector described in any one of the first to ninth aspects, the concave groove of the first exterior member and the second exterior member is formed in the groove width direction. The partition wall is divided into a plurality of sections, and the accommodation cavities are formed on both sides of the partition wall, and the connection wirings are accommodated in the plurality of accommodation cavities, respectively. It is.

  According to the tenth aspect, in the case where a plurality of connection wires are provided in the retrofit connector, the connection wires are accommodated by disposing the plurality of connection wires in the accommodation spaces separated by the partition wall portion. It can prevent tangling in the office.

  According to the present invention, the first mounting object and the second mounting object that are torsionally displaceable when the mounting target is inserted into the first exterior member and the second exterior member through the divided portions constituting the mounting target insertion portion. The connection wiring over the mounting target can be easily provided later. Furthermore, since the first exterior member and the second exterior member are each provided with a groove that opens in the axial direction, a large space for connecting wiring formed by facing the grooves is ensured. And the axial dimension of the inner peripheral surface of the first exterior member and the second exterior member, which are the attachment surfaces to the first attachment object and the second attachment object, can be obtained, and the attachment strength Is also improved.

The perspective view which shows the retrofit connector as 1st embodiment of this invention. The front view of the retrofit connector shown in FIG. The left view of the retrofit connector shown in FIG. The bottom view of the retrofit connector shown in FIG. Sectional drawing which expands and shows the principal part of the retrofit connector of FIG. The disassembled perspective view of the retrofit connector shown in FIG. It is a perspective view of the case member which comprises the retrofit connector shown in FIG. 1, Comprising: The figure which shows the state which opened the division part. The top view which shows the retrofit connector as 2nd embodiment of this invention. The bottom view of the retrofit connector shown in FIG. XX sectional drawing of FIG. The disassembled perspective view of the retrofit connector shown in FIG. The bottom view which expands and shows the principal part of the retrofit connector of FIG. The top view which shows the retrofit connector as 3rd embodiment of this invention. The left view of the retrofit connector shown in FIG. XV-XV sectional drawing of FIG. The disassembled perspective view of the retrofit connector shown in FIG. The bottom view which expands and shows the principal part of the retrofit connector of FIG. The perspective view which shows the retrofit connector as another one Embodiment of this invention. Sectional drawing which expands and shows the principal part of the retrofit connector as another one Embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings.

  1 to 4 show a retrofit connector 10 as a first embodiment of the present invention. The retrofit connector 10 has a structure in which a covered electric wire 14 as a connection wiring is disposed on the case member 12, and the case member 12 includes a first exterior member 16 and a second exterior member 18. It has a combined structure in the axial direction. In the following description, the vertical direction means the vertical direction in FIG. 3 in principle.

  More specifically, the first exterior member 16 has a substantially annular shape as a whole, and includes a concave groove 20 that opens to the axial end surface and extends over the entire circumference in the circumferential direction. Further, the first exterior member 16 of the present embodiment is divided at two places in the circumferential direction, and a structure in which two halves 24a and 24b divided at the two divided parts 22a and 22b are combined. It is said that.

  Further, one divided portion 22a of the first exterior member 16 is connected by a hinge portion 26, and the two halves 24a and 24b can be relatively tilted about the pin 28 of the hinge portion 26. The opening width dimension in the circumferential direction of the other divided portion 22b of the first exterior member 16 is made variable by tilting the two halves 24a and 24b connected by the hinge portion 26.

  Furthermore, the other divided portion 22b of the first exterior member 16 is provided with a circumferential connecting portion 30 that connects the circumferential ends of the two halves 24a and 24b to each other. The circumferential direction connection part 30 is comprised by the latch part 32 provided in the circumferential direction edge part of the half body 24a, and the protrusion 34 provided in the circumferential direction edge part of the half body 24b. The latching portion 32 has a substantially rectangular plate shape that protrudes outward in the circumferential direction from the circumferential end portion of the half body 24a, and includes a substantially rectangular hole 36 that penetrates in the radial direction. The protrusion 34 has a substantially triangular cross section and protrudes from the outer peripheral surface of the halved body 24b. The protrusion 34 gradually decreases in height toward the divided portion 22b, and the protrusion 34 is opposite to the divided portion 22b. The surface is a locking surface 37 that is substantially orthogonal to the circumferential direction.

  Then, when the end portions of the halves 24a and 24b on the divided portion 22b side are brought close to each other, the projection 34 is inserted into the hole 36 of the latching portion 32, and the latching portion 32 is inserted into the projection 34 in the circumferential direction. Locked. Thereby, the edge part by the side of the division | segmentation part 22b of the halves 24a and 24b is mutually connected by the circumferential direction connection part 30 comprised by the latching | locking part 32 and the protrusion 34, and the cyclic | annular 1st The exterior member 16 is composed of halves 24a and 24b. The protrusion 34 is held in a state of being inserted into the hole 36 due to the elasticity of the latching portion 32, and is divided by the divided portion 22 b of the halves 24 a and 24 b by the latching portion 32 and the projection 34. The connection state is maintained.

  Further, a connecting claw portion 38 is integrally formed on the outer peripheral wall portion of the groove 20 in the first exterior member 16. As shown in FIG. 5, the connecting claw portion 38 protrudes outward in the axial direction from the outer peripheral wall portion of the groove 20 in the first exterior member 16, and protrudes toward the inner peripheral side at the protruding tip portion. A stop 40 is integrally formed.

  Furthermore, a rotation restricting portion 42 is provided on the first exterior member 16 of the present embodiment. The rotation restricting portion 42 protrudes further outward in the axial direction (lower side in FIG. 5) from the coupling claw portion 38 in a part in the circumferential direction, and the first exterior member 16 and the second exterior member 18 described later. In the connected state, it extends to the outer peripheral surface of the second exterior member 18.

  On the other hand, the second exterior member 18 has a substantially annular shape as a whole, and includes a concave groove 44 that opens to the axial end surface and extends over the entire circumference in the circumferential direction. Further, the second exterior member 18 of the present embodiment is divided at two locations in the circumferential direction, and a structure in which two halves 48a and 48b divided at the two divided portions 46a and 46b are combined. It is said that.

  Further, one divided portion 46 a of the second exterior member 18 is connected by the hinge portion 49, and the two halves 48 a and 48 b can be relatively tilted about the pin 28 of the hinge portion 49. At the same time, the opening width dimension in the circumferential direction of the other divided portion 46 b of the second exterior member 18 is made variable by the tilting of the two halves 48 a and 48 b connected by the hinge portion 49.

  Furthermore, the other divided portion 46b of the second exterior member 18 is provided with a circumferential connecting portion 50 that connects the circumferential ends of the two halves 48a and 48b to each other. The circumferential direction connection part 50 is comprised by the latching | locking part 52 provided in the circumferential direction edge part of the half body 48a, and the protrusion 54 provided in the circumferential direction edge part of the half body 48b. The latching portion 52 is formed in a substantially rectangular plate shape that protrudes outward in the circumferential direction from the circumferential end portion of the half body 48a, and includes a substantially rectangular hole 56 that penetrates in the radial direction. The protrusion 54 has a substantially triangular cross section and protrudes from the outer peripheral surface of the halved body 48b. The protrusion 54 gradually decreases in height toward the divided portion 46b, and the protrusion 54 is opposite to the divided portion 46. The surface is a locking surface 57 that is substantially orthogonal to the circumferential direction. In short, in the present embodiment, the circumferential connecting portion 30 of the first exterior member 16 and the circumferential connecting portion 50 of the second exterior member 18 have substantially the same structure.

  When the end portions of the halves 48a and 48b on the divided portion 46b side are approached, the projection 54 is inserted into the hole 56 of the latching portion 52, and the latching portion 52 is locked to the projection 54 in the circumferential direction. As a result, the circumferential connecting portion 50 is configured. Thereby, the edge part by the side of the division | segmentation part 46b of the half parts 48a and 48b is mutually connected by the circumferential direction, and the cyclic | annular 2nd exterior member 18 is comprised by the half parts 48a and 48b. The protrusion 54 is held in a state of being inserted into the hole 56 due to the elasticity of the latching portion 52, and is divided by a divided portion 46 b of the halves 48 a and 48 b by the latching portion 52 and the projection 54. The connection state is maintained.

  Further, a connecting groove portion 58 is integrally formed on the outer peripheral wall portion of the concave groove 44 in the second exterior member 18. As shown in FIG. 5, the connecting groove 58 opens in the outer peripheral surface of the outer peripheral wall of the concave groove 44 in the second exterior member 18 and extends in the circumferential direction.

  And the case member 12 is comprised by combining the 1st exterior member 16 and the 2nd exterior member 18 mutually in an axial direction so that the axial direction opening of the ditch | grooves 20 and 44 may face each other. In the present embodiment, the first exterior member 16 and the second exterior member 18 are connected to each other in the axial direction by the connection claw portion 38 of the first exterior member 16 and the connection groove portion 58 of the second exterior member 18. Has been. That is, the locking portion 40 of the connection claw portion 38 of the first exterior member 16 is inserted into the connection groove portion 58 of the second exterior member 18, and the locking portion 40 is locked to the groove width inner surface of the connection groove portion 58. Thus, the first exterior member 16 and the second exterior member 18 are connected without being separated in the axial direction. Thus, in this embodiment, the axial connection part which connects the 1st exterior member 16 and the 2nd exterior member 18 in the axial direction is comprised by the connection nail | claw part 38 and the connection groove part 58. As shown in FIG.

  The engaging portion 40 of the connecting claw portion 38 can be inserted into the connecting groove portion 58 in the axial direction, but the engaging portion 40 of the connecting claw portion 38 is inserted into the connecting groove portion 58 in the direction perpendicular to the axis. You can also That is, with the divided portions 22b and 46b of the first and second exterior members 16 and 18 being separated in the circumferential direction, the first exterior member 16 and the second exterior member 18 approach each other in the direction perpendicular to the axis. After the engaging portion 40 of the connecting claw portion 38 is inserted in the direction perpendicular to the connecting groove 58, the divided portions 22b and 46b of the first and second exterior members 16 and 18 are connected to the circumferential connecting portion. It can also be closed by 30, 50.

  Furthermore, relative torsional displacement (relative rotation) in the circumferential direction is allowed for the first exterior member 16 and the second exterior member 18 connected by the connection claw portion 38 and the connection groove portion 58. That is, the first exterior member 16 and the second exterior member 18 are connected in the axial direction by sliding in the circumferential direction with the engaging portion 40 of the connection claw portion 38 being inserted into the connection groove portion 58. Relative rotation is possible in the circumferential direction. In addition, in a state where the divided portions 22b and 46b are connected in the circumferential direction and the first and second exterior members 16 and 18 are annular, the engaging portion 40 of the connecting claw portion 38 is inserted into the connecting groove portion 58. In this state, the connected state between the first exterior member 16 and the second exterior member 18 is maintained.

  In the present embodiment, the torsional displacement amount (rotation amount) of the first exterior member 16 and the second exterior member 18 in the circumferential direction is such that the rotation restricting portion 42 of the first exterior member 16 and the second exterior member 18. This is limited by contact with the tip of the latching portion 52. Further, the other torsional displacement amount in the circumferential direction of the first exterior member 16 and the second exterior member 18 is based on the rotation limiting portion 42 of the first exterior member 16 and the latching portion 52 of the second exterior member 18. Limited by contact with end portion. Accordingly, the relative torsional displacement amount in the circumferential direction of the first exterior member 16 and the second exterior member 18 is limited to a size that does not reach one circumference on both sides in the circumferential direction in the present embodiment. . In the present embodiment, the receiving portion 60 that contacts the rotation limiting portion 42 is provided so as to protrude from the proximal end portion of the latching portion 52 of the second exterior member 18, and the rotation limiting portion 42 is the latching portion. It is difficult to get over 52.

  An annular housing space 62 extending in the circumferential direction is formed inside the case member 12 by the recessed groove 20 of the first exterior member 16 and the recessed groove 44 of the second exterior member 18. The accommodation space 62 of the present embodiment extends with a substantially constant cross-sectional shape over the entire circumference in the circumferential direction, and thus the case member 12 has a hollow structure.

  Further, the linear covered electric wire 14 is accommodated in the accommodation space 62. The covered wire 14 is an insulated wire or cable in which the outer periphery of a linear conductor formed of a metal such as copper or aluminum alloy is covered with an insulator such as a resin, as shown in FIG. The middle portion in the length direction extends in the circumferential direction, and is folded back at the middle portion in the circumferential direction so as to extend with a length exceeding one circumference of the accommodation space 62.

  The covered electric wire 14 is disposed in an accommodation space 62 formed between the first exterior member 16 and the second exterior member 18 in the axial direction. That is, the covered electric wire 14 is disposed so as to extend in the circumferential direction in the accommodation space 62, and is folded back in the circumferential direction at an intermediate portion in the length direction, and one end portion is the first exterior member 16. The first extension hole 64 provided as a first connection portion extends to the outside from the accommodation space 62, and the other end portion is provided in the second exterior member 18. Through the second extraction hole 66 serving as a connecting portion, the outside extends from the accommodation space 62 to the outside. Thereby, the covered electric wire 14 extends between the first extraction hole 64 of the first exterior member 16 and the second extraction hole 66 of the second exterior member 18. In addition, although the 1st, 2nd extraction holes 64 and 66 of this embodiment are formed so that it may penetrate each one wall part of the axial direction of the accommodation cavity 62, for example, the outer periphery of the accommodation cavity 62 It can also be formed so as to penetrate the wall.

  In the present embodiment, as shown in FIG. 5, the radial width w of the housing space 62 is set to be larger than the diameter R which is the outer dimension of the covered electric wire 14, and is 2 of the diameter R of the covered electric wire 14. Has been smaller than twice. Since the radial width dimension w of the accommodation space 62 is larger than the diameter R of the covered electric wire 14, the covered electric wire 14 can be prevented from being restrained by the case member 12. In addition, since the radial width w of the accommodation space 62 is smaller than twice the diameter R of the covered wire 14, the covered wire is folded inside the accommodation space 62 and arranged on both sides in the axial direction. 14 can be prevented from passing in the axial direction in the accommodation space 62, and problems such as the tangled wire 14 being entangled in the accommodation space 62 can be prevented.

  The retrofit connector 10 having such a structure is attached to first and second links 70 and 72 of a robot arm 68 as a mounting target, for example, as shown in FIG. The first link 70 and the second link 72 of the robot arm 68 are connected to each other in a state where relative torsional displacement is allowed. And while the 1st link 70 which is the 1st attachment object is inserted through division part 22b with respect to the 1st exterior member 16, the 2nd link 72 which is the 2nd attachment object is the 2nd exterior member. The first exterior member 16 and the second exterior member 18 are attached to one of the first and second links 70 and 72 in an extrapolated state by being inserted through the divided portion 46b. . In the present embodiment, the mounting target insertion portion is configured by the divided portion 22b and the divided portion 46b, and the first and second links 70 and 72 that are the mounting targets pass through the divided portions 22b and 46b. The outer members 16 and 18 are inserted into the inner periphery.

  The first link 70 and the second link 72 are inserted into the inner circumferences of the first and second exterior members 16 and 18 through one of the divided portion 22b and the divided portion 46b constituting the attachment target insertion portion. You may be allowed to. On the other hand, after any one of the first link 70 and the second link 72 is inserted into the inner periphery of the first and second exterior members 16 and 18 through the divided portion 22b and the divided portion 46b, By moving the second exterior members 16, 18 in the axial direction, the first and second exterior members 16, 18 are extrapolated to one of the first and second links 70, 72. Also good.

  The covered wire 14 of the retrofit connector 10 attached to the first and second links 70 and 72 of the robot arm 68 has an end portion taken out from the first extraction hole 64 connected to the first link 70 side. In addition, when the end portion taken out from the second extraction hole 66 is connected to the second link 72 side, the wiring straddling between the first and second links 70 and 72 becomes the first and second. This is realized in a state where relative torsional displacement of the links 70 and 72 is allowed. In addition, as long as the covered wire 14 extends across the first and second links 70 and 72, the object to be connected is not particularly limited. For example, a sensor provided on the first link 70 side, A control device or a power supply device provided on the second link 72 side can be connected.

  Thus, according to the retrofit connector 10 of the present embodiment, the wiring straddling between the first and second links 70 and 72 connected so as to be relatively rotatable is connected to the first and second links 70 and 72. It can be easily realized by a retrofitting structure. Moreover, since the covered electric wire 14, which is a wiring straddling between the first and second links 70 and 72, is arranged in a state of being accommodated in the accommodating space 62 of the case member 12, the first and second Even if the covered wire 14 is deformed or displaced due to the relative rotation of the links 70 and 72, the covered wire 14 does not interfere with other external members.

  Further, in the case member 12 of the present embodiment, since the pin 28 of the hinge part 26 and the pin 28 of the hinge part 49 are arranged on substantially the same straight line, the first exterior member 16 and the second exterior member 18 are arranged. Even in a state where they are connected to each other in the axial direction, as shown in FIG. 7, the divided portion 22 b of the first exterior member 16 and the divided portion 46 b of the second exterior member 18 are integrally opened by the hinge portions 26 and 49. be able to. In addition, the covered electric wire 14 is folded back at a part in the circumferential direction, and both ends of the covered electric wire 14 extend to the outside through first and second extraction holes 64 and 66 formed in the halves 24b and 48b. In addition, since the folded portion of the covered electric wire 14 is located on the halved body 24a, 48a side in the accommodation space 62, the case member 12 can be removed even when the covered electric wire 14 is arranged in the accommodation space 62. The dividing portions 22b and 46b can be opened in the circumferential direction.

  Thus, when the robot arm 68 is inserted into the case member 12 through the divided portions 22b and 46b, the covered electric wire 14 is placed between the first exterior member 16 and the second exterior member 18 combined in the axial direction. The assembled retrofit connector 10 can be attached to the robot arm 68 in an extrapolated state. In this way, the retrofit connector 10 that can be attached to the robot arm 68 in a pre-assembled state can be easily attached to and detached from the robot arm 68, and the wiring straddling between the first and second links 70 and 72 can be provided. It can be easily provided.

  The first exterior member 16 and the second exterior member 18 may be fitted to the first and second links 70 and 72 of the robot arm 68 and fixed without being bonded, but preferably The overlapping surfaces of the first and second exterior members 16 and 18 and the first and second links 70 and 72 are bonded together. Thereby, the 1st, 2nd exterior members 16 and 18 and the 1st and 2nd links 70 and 72 can be positioned more reliably. Further, by providing a rubber layer on the inner peripheral surfaces of the first exterior member 16 and the second exterior member 18, adhesion to the first and second links 70 and 72 can be enhanced.

  In the present embodiment, the first exterior member 16 and the second exterior member are provided with the recessed groove 20 and the second exterior member 18 includes the recessed groove 44. The axial dimension of 18 is increased. Therefore, a large area is secured on the inner peripheral surfaces of the first exterior member 16 and the second exterior member 18 that are overlapped and fixed to the first and second links 70 and 72, and the rear connector 10. Can be firmly fixed to the first and second links 70 and 72.

  Further, since the accommodation space 62 that accommodates the covered electric wire 14 has a structure in which the concave groove 20 of the first exterior member 16 and the concave groove 44 of the second exterior member 18 are abutted with each other, The volume can be increased efficiently. Therefore, free displacement and deformation of the covered electric wire 14 disposed in the accommodation space 62 are allowed, and disconnection due to the restraint of the covered electric wire 14 in the accommodation space 62 can be avoided.

  Further, in the present embodiment, since the covered electric wire 14 is disposed in the accommodation space 62 in a state where the covered electric wire 14 is folded back in the circumferential direction, the first exterior member 16 and the second outer member 16 are not pulled without pulling the covered electric wire 14. The relative torsional displacement of the exterior member 18 can be allowed on both sides in the circumferential direction. In addition, since the covered electric wire 14 is accommodated in the accommodation space 62, even if the covered electric wire 14 is folded back and slack occurs, there is no interference such as being caught by another member.

  In addition, in this embodiment, the relative torsional displacement between the first exterior member 16 and the second exterior member 18 is such that the rotation limiting portion 42 of the first exterior member 16 and the second exterior member 18 are latched. It is limited by contact with the portion 52. Therefore, excessive torsional displacement of the first exterior member 16 and the second exterior member 18 is prevented, and problems such as damage to the covered electric wire 14 due to tension due to excessive torsional displacement can be avoided.

  In addition, when the torsional displacement amount (rotation angle due to torsional displacement) to be allowed in the first and second links 70 and 72 is large, for example, the first outer casing is not provided by not providing the rotation limiting portion 42. The relative torsional displacement between the member 16 and the second exterior member 18 can be allowed to exceed one round. In particular, in the present embodiment, since the covered electric wire 14 is folded and disposed so as to extend in the circumferential direction with a length of slightly less than two rounds, the first outer member 16 and the first outer member 16 are eliminated by eliminating the rotation limiting portion 42. The relative torsional displacement of the second exterior member 18 can be greatly allowed.

  Next, FIGS. 8 to 10 show a retrofit connector 80 as a second embodiment of the present invention. The retrofit connector 80 has a structure in which a flexible flat cable (hereinafter referred to as FFC) 84 as a connection wiring is accommodated in a case member 82, and the case member 82 includes a first exterior member 86 and a second exterior member. 88. In the following description, members and portions that are substantially the same as those in the first embodiment are denoted by the same reference numerals in the drawings, and the description thereof is omitted.

  More specifically, the first exterior member 86 has a substantially annular shape as a whole, and includes a concave groove 20 that extends in the circumferential direction while opening downward. Further, as shown in FIG. 11, the first exterior member 86 is provided with divided portions 22a and 22b at two locations in the circumferential direction, and has a structure in which two halves 90a and 90b are combined. . In the present embodiment, the latching portion 32 is formed at the circumferential end of the half 90a on the divided portion 22a side, and the projection 34 is formed at the circumferential end of the half 90a on the divided portion 22b side. On the other hand, a protrusion 34 is formed at the circumferential end of the half 90b on the divided portion 22a side, and a hook 32 is formed at the circumferential end of the half 90b on the divided portion 22b side. Has been. In short, the two halves 90a and 90b of the present embodiment are independent of each other without being connected by the hinge portion, and the circumferential connecting portions 30 are provided at both ends in the circumferential direction.

  Furthermore, a locking claw portion 92 protruding from the lower end portion toward the outer peripheral side is formed on the outer peripheral wall portion of the concave groove 20 in the first exterior member 86 over the entire periphery. The locking claw 92 is an inclined surface in which the lower end surface is gradually inclined upward toward the outer peripheral side. In addition, as shown in FIG. 12, the inner peripheral wall portion of the groove 20 in the first exterior member 86 has a protruding height smaller than that of the outer peripheral wall portion of the groove 20 in the first exterior member 86. ing. However, a substantially cylindrical mounting tube portion 94 that protrudes toward the side opposite to the inner peripheral wall portion of the groove 20 is integrally formed at the inner peripheral end portion of the first exterior member 86. The axial dimension of the inner peripheral surface of one exterior member 86 is sufficiently large.

  As shown in FIG. 8, the first exterior member 86 is provided with a window portion 96 penetrating vertically in a part of the circumferential direction, and the FFC 84 in the accommodation space 62 described later through the window portion 96. Can be visually recognized. The window 96 may be an open through-hole. For example, if the window 96 is covered with a transparent resin or the like, it is possible to prevent the entry of foreign matter into the accommodation space 62 while preventing the accommodation space 62. The inside can be made visible.

  On the other hand, the second exterior member 88 has a substantially annular shape as a whole, and includes a concave groove 44 that extends in the circumferential direction while opening upward. Further, as shown in FIG. 11, the second exterior member 88 is provided with divided portions 46a and 46b at two locations in the circumferential direction, and has a structure in which two halves 98a and 98b are combined. . In the second exterior member 88, circumferential ends on the divided portion 46a side of the halves 98a and 98b are connected to each other by a hinge portion 49, and the periphery on the divided portion 46b side of the halves 98a and 98b. The distance between the direction end portions is variable by the hinge portion 49. In addition, the circumferential direction connection part 50 comprised by the latching | locking part 52 and the processus | protrusion 54 is provided in the circumferential direction edge part by the side of the division | segmentation part 46b of the halves 98a and 98b. It is possible to connect the end portions in the circumferential direction on the divided portion 46b side in the circumferential direction.

  Further, a locking portion 100 protruding from the upper end portion toward the inner peripheral side is formed on the outer peripheral wall portion of the concave groove 44 in the second exterior member 88 over the entire periphery. The second exterior member 88 has an inner diameter that is substantially the same as the inner diameter of the first exterior member 86 and an outer diameter that is larger than the outer diameter of the first exterior member 86.

  And the case member 82 is comprised by combining the 1st exterior member 86 and the 2nd exterior member 88 in an axial direction so that the axial direction opening of the ditch | groove 20 and 44 may face | abut. In the present embodiment, since the outer diameter of the first exterior member 86 is smaller than the outer diameter of the second exterior member 88, the outer peripheral wall portion of the groove 20 in the first exterior member 86 is The second exterior member 88 is fitted into the outer peripheral wall portion of the groove 44. In addition, the inner peripheral wall portion of the groove 20 in the first exterior member 86 is abutted in the axial direction with the inner peripheral wall portion of the groove 44 in the second exterior member 88.

  Further, as shown in FIG. 12, the locking claws 92 of the first exterior member 86 are axially locked with the locking portions 100 of the second exterior member 88, whereby the first exterior member 86. And the second exterior member 88 are connected in the axial direction in a state where the torsional displacement in the circumferential direction is allowed. In addition, since the lower surface (left side surface in FIG. 12) of the locking claw portion 92 is an inclined surface, by bringing the first exterior member 86 and the second exterior member 88 closer in the axial direction, The locking part 100 and the locking claw part 92 are locked in the axial direction by overcoming the locking claw part 92 while the locking part 100 is pushed and spread to the outer periphery.

  Further, an accommodation space 62 extending in the circumferential direction is formed between the first exterior member 86 and the second exterior member 88 by the concave grooves 20 and 44, and the FFC 84 is formed in the accommodation space 62. Contained. The FFC 84 extends in one circumferential direction so as to bend in the thickness direction. In the present embodiment, the FFC 84 is accommodated in the accommodating space 62 in a state of being wound in multiple layers so as to overlap in the radial direction. A first terminal portion 102 extending upward is provided at one end in the circumferential direction of the FFC 84, and a second terminal portion extending downward is provided at the other end in the circumferential direction of the FFC 84. 104 is provided. The first terminal portion 102 of the FFC 84 extends to the outside of the accommodation space 62 through the first extraction hole 64 as a connection portion provided in the first exterior member 86, and the second terminal portion of the FFC 84 The terminal portion 104 extends to the outside of the accommodation space 62 through a second extraction hole 66 as a connection portion provided in the second exterior member 88.

  In the retrofit connector 80 having such a structure, as shown in FIG. 10, the first and second exterior members 86 and 88 are attached to one of the first and second links 70 and 72 of the robot arm 68. It is attached in an extrapolated state. In the present embodiment, the first exterior member 86 and the second exterior member 88 are mounted on the first link 70 and the second link 72 in an extrapolated state, respectively. Then, after the FFC 84 is inserted into the concave groove 44 of the second exterior member 88, the first exterior member 86 and the second exterior member 88 are connected to the first and second links 70 and 72. By being combined with each other in an extrapolated state, the retrofit connector 80 is configured to be attached to the first and second links 70 and 72. The first and second terminal portions 102 and 104 of the FFC 84 are connected to the sensor or the like on each one side of the first and second links 70 and 72 in the same manner as the both ends of the covered wire 14 of the first embodiment. Connected to a control device.

  The first exterior member 86 includes half halves 90 a and 90 b that are fitted to the first link 70 from both sides in the direction perpendicular to the axis, so that both ends of the halves 90 a and 90 b in the circumferential direction. The parts are connected to the first link 70 by being connected by the circumferential connecting parts 30, 30. On the other hand, in the second exterior member 88, the divided portion 46b is closed by the hinge portion 49 in a state where the second link 72 is inserted through the divided portion 46b. The circumferential ends are connected to the second link 72 by being connected by the circumferential connecting portion 50.

  Further, in the present embodiment, the positioning protrusions 106 projecting in the circumferential direction and the positioning holes 108 opening in the circumferential end surface are formed in the inner peripheral portions of both end portions in the circumferential direction of the halves 90a and 90b of the first exterior member 86. Are formed, and the inner peripheral portions of the circumferential ends of the halves 90a and 90b are positioned by fitting the positioning projections 106 and the positioning holes 108 together. Similarly, each of the positioning projections 106 and the positioning holes 108 is also formed on the inner peripheral portion of the end portion in the circumferential direction on the divided portion 46b side in the halves 98a and 98b of the second exterior member 88. The circumferential ends of the split members 98a and 98b on the divided portion 46b side are positioned by fitting the positioning protrusions 106 and the positioning holes 108 in the inner peripheral portion.

  According to such a retrofit connector 80 of the present embodiment, as in the first embodiment, the wiring straddling between the first and second links 70 and 72 that is allowed to be subjected to relative torsional displacement is retrofitted. Can be easily realized. In addition, when the first and second links 70 and 72 are torsionally displaced, the FFC 84 is tightened or loosened in the accommodation space 62 to follow, so the first and second links 70 and 72 are followed. Smooth torsional displacement is allowed. In addition, since the FFC 84 that is the connection wiring is accommodated in the accommodating space 62 of the case member 82, even if the FFC 84 is loosened due to the relative torsional displacement of the first and second links 70 and 72, It is possible to prevent the FFC 84 from interfering with other members.

  Further, in the present embodiment, since the FFC 84 is disposed in the accommodation space 62 in a state of being wound in a multiple manner so as to extend in one direction in the circumferential direction, the first is more than in the case of being wound in a single layer. The relative torsional displacement of the one exterior member 86 and the second exterior member 88 is greatly allowed in the circumferential direction. Note that the relative circumferential displacement of the first exterior member 86 and the second exterior member 88 is caused by the position of one twisted end where the multiple wound FFC 84 is wound around the inner peripheral surface of the accommodation space 62. On the contrary, the FFC 84 is loosened and can be freely allowed between the other torsion end position pressed against the outer peripheral surface of the accommodation space 62. Therefore, for example, in the initial position where the retrofit connector 80 is attached to the robot arm 68, the first exterior member 86 and the second exterior member 88 are arranged so that the FFC 84 is in a state of being tightened at the center of both torsion end positions. If the relative circumferential twist position is set, substantially the same relative rotation amount (torsion displacement amount) from the initial position toward both sides in the circumferential direction can be allowed. In addition, if the relative circumferential twist position of the first exterior member 86 and the second exterior member 88 is set so that the FFC 84 is in a tightened state close to any of the twist end positions at the initial position. It is also possible to allow a relative rotation amount (torsional displacement amount) larger (or smaller) than the other side on one side in the circumferential direction from the initial position.

  Note that the amount of relative torsional displacement between the first exterior member 86 and the second exterior member 88 can be grasped by visually confirming the FFC 84 through the window 96 formed in the first exterior member 86. Is possible. That is, as the relative amount of torsional displacement between the first exterior member 86 and the second exterior member 88 increases, the FFC 84 is slackened, so that the FFC 84 moves to the outer peripheral side in the accommodation space 62. Therefore, it is possible to confirm the relative torsional displacement amount of the first exterior member 86 and the second exterior member 88 by confirming the radial position of the FFC 84 in the accommodation space 62 through the window portion 96. it can. Therefore, for example, when the first exterior member 86 and the second exterior member 88 are assembled, the FFC 84 is prevented from being damaged due to excessive torsional displacement of the first exterior member 86 and the second exterior member 88. Can do.

  Further, in the present embodiment, the protruding height of the inner peripheral wall portion of the groove 20 in the first exterior member 86 is made small, and the accommodation space 62 is formed biased toward the second exterior member 88 side. In addition, an inner peripheral surface of the first exterior member 86 is formed by forming a mounting cylinder portion 94 projecting to the opposite side of the inner peripheral wall portion of the groove 20 at the inner peripheral end portion of the first exterior member 86. The axial dimension is secured. According to this, the axial direction position of the accommodation space 62 is adjusted while ensuring the area of the mounting surface of the first exterior member 86 and the second exterior member 88 to the first and second links 70 and 72. can do.

  In addition, the first exterior member 86 of the present embodiment is formed by connecting the circumferential ends of the halves 90a and 90b independent of each other by the circumferential connecting portions 30 and 30. Thus, the first exterior member 86 has a smaller outer diameter than the second exterior member 88, and the first exterior member 86 is fitted into the inner periphery of the second exterior member 88. In addition, since the hinge portion does not protrude from the outer peripheral surface of the first exterior member 86, an increase in the diameter of the retrofit connector 80 is prevented.

  Particularly in the present embodiment, the circumferential connecting portions 30 and 30 that connect the halves 90 a and 90 b of the first exterior member 86 in the circumferential direction are more than the outer peripheral wall portion of the concave groove 20 in the first exterior member 86. It is provided on the outer peripheral surface of the mounting cylinder portion 94 having a small diameter, and is arranged on the inner peripheral side of the outer peripheral wall portion of the concave groove 20. Thereby, the diameter increase of the 1st exterior member 86 by providing the circumferential direction connection parts 30 and 30 is avoided, and size reduction of the retrofit connector 80 is achieved.

  13 to 15 show a rear connector 110 as a third embodiment of the present invention. The retrofit connector 110 has a structure in which the FFC 84 is disposed in the accommodation space 62 of the case member 112. As shown in FIG. 16, the case member 112 has a structure in which a first exterior member 114 and a second exterior member 116 are combined in the axial direction.

  The first exterior member 114 has a substantially annular shape as a whole, and is divided at two locations in the circumferential direction. The hinge portion 26 is provided in one divided portion 22a, and the other A circumferential connecting portion 30 is provided in the divided portion 22b. Further, a locking portion 100 that protrudes toward the inner peripheral side is integrally formed at the lower end portion of the outer peripheral wall portion of the concave groove 20 in the first exterior member 114.

  The second exterior member 116 has a substantially annular shape as a whole, and is divided at two locations in the circumferential direction. A hinge portion 49 is provided in one divided portion 46a, and the other A circumferential connecting portion 50 is provided in the divided portion 46b. A connecting groove 58 extending in the circumferential direction is formed on the outer peripheral surface of the second exterior member 116.

  And as shown in FIG. 17, the 1st exterior member 114 and the 2nd exterior member 116 are piled up in the axial direction so that the axial direction opening of the ditch | groove 20 and 44 mutually faces, and is accommodated in an inside. A case member 112 having a void 62 is constituted by a first exterior member 114 and a second exterior member 116. In the present embodiment, the locking portion 100 of the first exterior member 114 is inserted into the connecting groove portion 58 of the second exterior member 116, and the locking portion 100 is axially formed on the groove inner surface of the connecting groove portion 58. By being locked, the first exterior member 114 and the second exterior member 116 are positioned in the axial direction. In the present embodiment, the outer peripheral wall portion of the groove 20 in the first exterior member 114 overlaps the outer peripheral wall portion of the groove 44 in the second exterior member 116 in an extrapolated state, whereas the first The inner peripheral wall portion of the groove 20 in the exterior member 114 is abutted in the axial direction with the inner peripheral wall portion of the groove 44 in the second exterior member 116.

  As described above, even when the first exterior member 114 and the second exterior member 116 having different outer diameters are employed, both the first exterior member 114 and the second exterior member 116 are hinge portions 26. , 49. In the structure of the present embodiment, the first exterior member 114 and the second exterior member 116 are separately attached to one of the first and second links 70 and 72, respectively, The exterior connector 114 and the second exterior member 116 are combined with each other in the axial direction to form the rear connector 110 attached to the first and second links 70 and 72.

  However, the first exterior member 114 and the second exterior member 116 do not necessarily have to be combined in the axial direction so that the locking portion 100 rides over the side wall of the coupling groove portion 58 almost simultaneously on the entire circumference. Specifically, for example, in a state where the divided portions 22b and 46b of the first exterior member 114 and the second exterior member 116 are not connected by the circumferential connecting portions 30 and 50, the peripheral portions on the divided portions 22b and 46b side are arranged. The lower end portion of the outer peripheral wall portion of the groove 20 provided with the locking portion 100 is moved from the hinge portions 26 and 49 to the upper end portion of the outer peripheral wall portion of the groove 44 while the end portions in the direction approach each other. The engaging portion 100 is gradually inserted in the circumferential direction in the circumferential direction, and the divided portions 22b and 46b of the first and second exterior members 114 and 116 are circumferentially connected. By connecting the portions 30 and 50 in the circumferential direction, the rear connector 110 can be formed in a state of being attached to the first and second links 70 and 72.

  As mentioned above, although embodiment of this invention was explained in full detail, this invention is not limited by the specific description. For example, a plurality of connection wires (covered wire 14 or FFC 84) may be provided in the accommodation space 62 of the case member 12. Specifically, for example, as shown in FIG. 18, the two covered electric wires 14 and 14 can be disposed in one accommodation space not shown. In this case, in order to prevent the two covered wires 14 and 14 from being entangled in the accommodation space, the radial width dimension of the accommodation space is more than the sum of the diameters of the two covered wires 14 and 14. It is desirable to be small. When a plurality of covered electric wires 14 are arranged in the accommodation space, the diameters of the plurality of covered electric wires 14 are not necessarily the same and may be different from each other. When a plurality of covered electric wires 14 having different diameters are employed as described above, the radial width dimension of the accommodation space is larger than the diameter of the thickest covered electric wire 14 and twice the diameter of the thinnest covered electric wire 14. It is desirable that it is made smaller. In the case where the connecting wiring has a flat cross-sectional shape in which the width dimension is larger than the thickness dimension, such as FFC84, the rigidity varies depending on the bending direction, so that a favorable bending deformation characteristic is obtained in the folded portion. Therefore, it is preferable to arrange the width direction having a large dimension in the direction perpendicular to the axis of the housing space. Even in such a case, it is desirable that the width dimension in the direction perpendicular to the axis of the accommodation space is larger than the width dimension of the FFC 84 which is the outer dimension of the connection wiring and smaller than twice the width dimension.

  Further, as shown in FIG. 19, a partition wall 120 is provided that divides the groove 20 of the first exterior member 16 and the groove 44 of the second exterior member 18 into two in the radial direction, and both sides of the partition wall 120 are provided. By forming the accommodation cavities 62 in the two, it is possible to provide two accommodation cavities 62 and 62 in the radial direction. The partition 120 shown in FIG. 19 is not limited to a material, but is formed of a synthetic resin such as polyethylene terephthalate. Then, by disposing the covered electric wires 14 in the respective accommodation cavities 62, a plurality of the covered electric wires 14 can be arranged in a state where they are separated from each other by the partition wall 120 and do not contact each other. It should be noted that a plurality of partition walls 120 may be provided to form three or more housing cavities 62. Further, in FIG. 19, a structure in which two covered electric wires 14 are respectively arranged in each accommodation space 62 is illustrated, but for example, even if one covered electric wire 14 is arranged in each accommodation space 62, It may be good, and three or more may be arranged.

  The connection wiring may be an FPC (Flexible Printed Circuit), an optical fiber, or the like in addition to the covered electric wire 14 and the FFC 84. Also, a plurality of types of connection wiring can be arranged in the accommodation space. Furthermore, as the connection wiring, in addition to a conductor whose periphery is covered with an insulating synthetic resin layer or the like, a conductor whose surface is coated with an electrical insulating paint can be employed.

  Furthermore, when the connection wiring is arranged in the housing space 62 of the case member 12, the covered electric wire 14 as the connection wiring may be arranged so as to be wound in one circumferential direction, or the FFC 84 as the connection wiring is arranged in the circumferential direction. It is also possible to fold it in the thickness direction in the middle. In addition, when the connection wiring is folded, the position of the folding is not particularly limited because it moves due to the relative rotation of the first exterior member 16 and the second exterior member 18. It can also be set near the end in the length direction. Further, the connection wiring may be folded back in the axial direction of the case member 12 as shown in the first embodiment, or may be folded back in the radial direction of the case member 12.

  In the above-described embodiment, the first and second connection holes 64 and 66 are exemplified as the first and second connection portions. However, the first and second connection portions are holes for taking out the end portions of the connection wiring to the outside. It is not limited to. Specifically, for example, terminals as first and second connection portions are provided so as to penetrate through the wall portion of the accommodation space 62 in the first and second exterior members 16 and 18, respectively. These terminals may be electrically connected to one end of each connection wiring. In this case, the wiring on the first link 70 side is connected to the terminal of the first exterior member 16 and the wiring on the second link 72 side is connected to the terminal of the second exterior member 18. Thus, wiring over the first and second links 70 and 72 is realized.

  The cross-sectional shape of the concave grooves 20 and 44 formed in the first exterior member 16 and the second exterior member 18 is not particularly limited, and may be, for example, a semicircular cross section, a semi-oval circular cross section, or an irregular cross section. Further, the first exterior member 16 and the second exterior member 18 are not necessarily limited to a substantially annular shape, and are rectangular or irregularly shaped according to the outer peripheral surface shape of the first and second links 70 and 72. Etc. can also be employed. Furthermore, if the 1st exterior member 16 and the 2nd exterior member 18 are cyclic | annular, the inner peripheral shape and outer peripheral shape may mutually differ. For example, the first outer member 16 and the second outer member 18 may have an annular shape in which one of the inner periphery and the outer periphery is substantially circular and the other of the inner periphery and the outer periphery is substantially polygonal.

  Further, the first exterior member 16 and the second exterior member 18 do not necessarily have to be provided with two divided portions in the circumferential direction, for example, may have three or more divided portions, It is possible to provide the divided part only at one place and to make the part that is separated from the divided part in the circumferential direction elastically deformable.

  In addition, the specific structure of the circumferential connecting portion that connects the two halves in the circumferential direction at the divided portion is merely an example, and is always due to the engagement of the latching portions 32 and 52 and the protrusions 34 and 54. It is not limited to. Specifically, for example, a locking projection is provided on the inner peripheral surface of the plate-like portion that extends outward in the circumferential direction from the circumferential end of one half, and is locked to the outer peripheral surface of the other half. A recess may be formed, and the locking projection may be inserted into the locking recess to form a circumferential connecting portion so that the circumferential ends of the two halves are connected to each other.

  Furthermore, the hinge part that connects the two halves at one of the divided parts is not limited to the rotation part around one axis shown in the above embodiment, but the first exterior member and the second exterior part. Any mechanical connection structure that allows relative opening and closing movement so that the member opens at the other divided portion may be used. For example, the hinge part is constituted by a flexible coupling body such as a bellows structure that is allowed to deform such as bending or bending, or an elastic coupling body formed of rubber or the like, and a multi-axis coupled by a plurality of rotating shafts. A hinge part can also be comprised by the surrounding rotation part.

  Further, the mounting target to which the retrofit connector is mounted is not limited to the robot arm 68 including the first and second links 70 and 72. For example, when a joint (waist joint) that allows torsion is provided at the waist of the humanoid robot and a cable is wired so as to straddle the waist joint, the first exterior member 16 and the second exterior member 18 are provided. Is attached to each of the upper side and the lower side of the torso of the humanoid robot with the hip joint interposed therebetween, so the mounting target is the first link and the lower side of the torso that constitute the upper side of the torso of the humanoid robot It is comprised including the 2nd link which comprises.

  Furthermore, the mounting target to which the retrofit connector is mounted may be, for example, a rotational drive facility other than a robot in a factory such as a turntable or a handle. Furthermore, for example, a retrofit connector according to the present invention can be attached to a steering column that constitutes a steering device of an automobile.

10, 80, 110: Retrofit connector, 14: Covered electric wire (connection wiring), 16, 86, 114: First exterior member, 18, 88, 116: Second exterior member, 20, 44: Concave groove, 22, 46: division part, 26, 49: hinge part, 30, 50: circumferential connection part, 32, 52: latching part (circumferential connection part), 34, 54: protrusion (circumferential connection part), 38 : Connection claw part (axial direction connection part), 42: rotation restricting part, 58: connection groove part (axial direction connection part), 62: accommodation space, 64: first extraction hole (first connection part), 66 : Second extraction hole (second connection portion), 70: first link (first mounting target), 72: second link (second mounting target), 84: FFC (connection wiring), 90: halved body, 92: locking claw part (axial connecting part), 100: locking part (axial connecting part), 120: partition part

Claims (10)

An annular first exterior member and an annular second exterior member that are attached in an extrapolated state to each of the first attachment object and the second attachment object that are allowed to have a relative torsional displacement are provided. In addition, the first exterior member and the second exterior member are each formed with a groove that opens in the axial direction and extends in the circumferential direction, and the axial openings of the recesses face each other. The exterior member and the second exterior member are combined with each other in the axial direction, and the first exterior member and the second exterior member are allowed to rotate in the circumferential direction, and the first exterior member A housing space extending in the circumferential direction between the exterior member and the second exterior member is formed by the concave groove, and the first connection portion provided in the first exterior member and the second exterior The connection wiring extending between the second connection portion provided on the member is accommodated in the accommodation space. ,
The first exterior member and the second exterior member are divided in at least a part of the circumferential direction in the circumferential direction, and a mounting target insertion portion is provided at a divided portion of the first exterior member and the second exterior member. It is configured, and the first exterior member and the second exterior member can be attached to each of the first attachment object and the second attachment object in an extrapolated state. Retrofit connector featuring.   The outer peripheral wall portion of the concave groove in the first exterior member and the outer peripheral wall portion of the concave groove in the second exterior member are rotated relative to each other in the circumferential direction. The retrofit connector according to claim 1, further comprising an axial coupling portion that couples in an axial direction in a possible manner.   3. The retrofit connector according to claim 1, wherein at least one of the first exterior member and the second exterior member is provided with a circumferential connecting portion that connects the divided portions in the circumferential direction.   The retrofit connector according to any one of claims 1 to 3, wherein the connection wiring is folded in a circumferential direction at an intermediate portion in the accommodation space.   The retrofit connector according to any one of claims 1 to 4, wherein the connection wiring is wound so as to extend in one circumferential direction in the accommodation space.   The retrofit connector according to any one of claims 1 to 5, wherein a width dimension in a direction perpendicular to the axis of the housing space is larger than an outer dimension of the connection wiring and smaller than twice an outer dimension of the connection wiring.   The retrofit connector according to any one of claims 1 to 6, further comprising a rotation limiting portion that limits a relative rotation amount of the first exterior member and the second exterior member in a circumferential direction.   The division part is provided in two places in the circumferential direction in at least one of the first exterior member and the second exterior member, and one of the division parts is connected by a hinge part. The retrofit connector as described in any one of 1-7.   Either of said 1st exterior member and said 2nd exterior member WHEREIN: The said division | segmentation part is provided in two places of the circumferential direction, and can be divided | segmented into two halves. A retrofit connector according to claim 1.   A partition portion is provided to divide the concave grooves of the first exterior member and the second exterior member into a plurality of grooves in the groove width direction, and the accommodation cavities are respectively formed on both sides of the partition portion. The retrofit connector according to any one of claims 1 to 9, wherein the connection wirings are accommodated and arranged in the plurality of accommodation spaces.

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