JP6882437B2 - Cable wiring method, robot manufacturing method, rotating shaft cable wiring structure, and robot - Google Patents

Description

The present invention relates to a rotary shaft cable wiring structure in which a cable is inserted through a cylindrical rotary shaft portion, and a robot having this rotary shaft cable wiring structure.

Conventionally, in an industrial robot, there is an example in which a hollow pipe is used to protect a cable arranged from one of the relative rotating members to the other (see, for example, Patent Documents 1 and 2). In such industrial robots, the number of cables passing through the inside tends to increase in order to support visions and sensors.

Japanese Unexamined Patent Publication No. 2015-168037 Japanese Unexamined Patent Publication No. 2003-305648

However, because the diameter of the hollow pipe is small or the filling degree of the cable is high, there are cases where the cable assembly in which a large number of cables are bundled by a cable clamp cannot be passed through the hollow pipe as a whole.

In addition, it is necessary to fix the cable after passing the cable through the hollow pipe. In this case, care must be taken not to cross the cables in the hollow pipe, but when the filling degree of the cables in the hollow pipe is high, the confirmation itself may be difficult. As a result, there is a problem that it takes time to assemble and the reliability of whether or not the cables are arranged correctly is low.

The present invention provides a cable wiring method, a robot manufacturing method, a rotary shaft cable wiring structure, and a robot, which improve workability at the time of assembly and enhance reliability of whether or not cables are arranged correctly. With the goal.

A cylindrical rotation that is arranged between the relative rotatable first and second members and the first and second members and is rotatable with respect to at least one of the first and second members. One or more cable bundles having a shaft portion, a plurality of cables, and a cable bundling member for bundling the plurality of cables while maintaining their relative arrangement with each other, and the cable bundle fixed to the first member. A cable wiring method having a rotary shaft cable wiring structure comprising a first cable fixing means for fixing the cable bundle and a second cable fixing means for fixing the cable bundle to the second member. , A cable wiring method including a step of fixing the cable focusing member to the first cable fixing means while passing through the cylindrical rotating shaft portion.

A cylindrical rotation that is arranged between the relative rotatable first member and the second member and the first member and the second member and is rotatable with respect to at least one of the first member and the second member. A shaft portion, one or a plurality of cable bundles passed from one of the first member and the second member to the other via the rotating shaft portion, and a first cable bundle fixed to the first member. The cable fixing means and the second cable fixing means for fixing the cable bundle to the second member are provided, and the cable bundle has a plurality of cables and an outer diameter smaller than the inner diameter of the rotating shaft portion. , A cable bundling member for bundling the plurality of cables while maintaining their relative arrangement with each other.
The cable has connectors at the ends that are larger than the thickness of the cable and can be inserted into the rotating shaft portion while being fixed to the end of the cable, and from the portion bundled by the cable focusing member. , A rotating shaft cable wiring structure in which the length to the connector is longer than the axial length of the rotating shaft portion.

A cable wiring method, a robot manufacturing method, a rotary shaft cable wiring structure, and a robot are realized, which improve workability at the time of assembly and enhance reliability of whether or not the cables are arranged correctly.

It is the schematic which shows the rotary shaft cable wiring structure of the robot which concerns on one Embodiment of this invention. It is a schematic diagram which shows the cable bundle which comprises the rotary shaft cable wiring structure shown in FIG. FIG. 3 is a sectional view taken along line III-III of the rotating shaft cable wiring structure shown in FIG.

Hereinafter, one embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2. FIG. 1 is a schematic view showing a rotary shaft cable wiring structure 2 of the robot 1. FIG. 2 is a schematic view showing a cable bundle 6 constituting the rotary shaft cable wiring structure 2 shown in FIG.

As shown in FIG. 1, the rotary shaft cable wiring structure 2 of the robot 1 is a structure that protects a plurality of cables 60 arranged from one of the relative rotating members 3 and 4 to the other, and twists (twists). Prevent damage such as disconnection due to it.

Specifically, the rotary shaft cable wiring structure 2 includes a fixed member (first member) 3, a movable member (second member) 4, a hollow pipe member (rotary shaft portion) 5, a plurality of cable bundles 6, and the like. A first cable fixing means 7 and a second cable fixing means 8 are provided.

The fixing member 3 is a member having a space inside, and supports one end of the hollow pipe member 5 so as to be fixed and communicates with the hollow pipe member 5. The fixing member 3 fixes the cable 60 passed from the movable member 4 via the hollow pipe member 5 by the first cable fixing means 7.

The movable member 4 is a member having a space inside, and rotatably supports the other end of the hollow pipe member 5 and communicates with the hollow pipe member 5. The movable member 4 fixes the cable 60, which is passed through the fixing member 3 via the hollow pipe member 5, by the second cable fixing means 8.

The hollow pipe member 5 is a cylindrical member constituting the wrist of the robot 1, one end of which is supported so as to be fixed to the fixing member 3 and communicates with the fixing member 3, and the other end of which is a movable member 4. It is rotatably supported and communicates with the movable member 4.

The cable bundle 6 is passed from the movable member 4 to the fixing member 3 via the hollow pipe member 5. As shown in FIGS. 1 and 2, the cable bundle 6 includes a plurality of cables 60 and two cable bundling members 61.

Each of the plurality of cables 60 has a connector 60a at an end. These plurality of cables 60 are bundled by the two cable collecting members 61 in a state where the relative arrangement of the cable collecting members 61 is maintained, and are provided at the end from the portion bundled by the cable collecting member 61 closer to the connector 60a. The length L1 up to the connector 60a is longer than the axial length L2 of the hollow pipe member 5. Further, the plurality of cables 60 are arranged in parallel with each other in a section sandwiched between the cable focusing members 61 in a predetermined state (initial reference state) in which the fixing member 3 and the movable member 4 are not relatively rotated. ..

Such a plurality of cables 60 have a structure in which the maximum twist angle in one direction and the maximum twist angle in the other direction are equal. Therefore, the fixed member 3 and the movable member 4 have the same angle that can be rotated in one direction and the angle that can be rotated in the other direction from the initial state in which the fixed member 3 and the movable member 4 are not relatively rotated. Therefore, the predetermined state (initial reference state) in which the above-mentioned fixed member 3 and the movable member 4 are not relatively rotated means a state in which the hollow pipe member 5 is located at a reference angle. At this time, the hollow pipe member 5 has an allowable maximum twist angle equal to both forward and reverse rotation directions from the reference angle.

The two cable bundling members 61 bundle a plurality of cables 60 at spaced positions while maintaining the relative arrangement of the cable bundling members 61. The cable focusing member 61 has an outer diameter smaller than that of the hollow pipe member 5, and can be inserted into the hollow pipe member 5. Specifically, the cable bundling member 61 is a plate-shaped member slightly larger than the width W1 of the cable bundle 6 and having a width W2 substantially the same as the width W1 of the cable bundle 6, and the first cable fixing means 7 Alternatively, it has a structure that can be bolted to the second cable fixing means 8. The plurality of cable bundling members 61 constituting all the cable bundles 6 are all the same members.

All of such cable bundles 6 are located closer to the base end of the cable bundle 6 (opposite to the connector 60a) of the first cable fixing means 7 and the second cable fixing means 8, while the second cable is located. It is a cable kit that is fixed in advance to the fixing means 8. That is, the cable focusing member 61 is fixed to the second cable fixing means 8 in advance, and the cable focusing member 61 is fixed to the first cable fixing means 7 by the subsequent work. In this case, the first cable fixing means 7 and the second cable fixing means 8 need to have a structure that can be attached to and detached from the fixing member 3 and the movable member 4.

It will be described back to FIG. The first cable fixing means 7 is provided inside the fixing member 3, and the cable bundling member 61 is bolted to fix the entire cable bundle 6 to the fixing member 3. That is, the first cable fixing means 7 fixes the cable 60 in the vicinity of the hollow pipe member 5, and when the fixing member 3 and the movable member 4 rotate relative to each other, the cable 60 attaches to the first cable fixing means 7. , The cable 60 is prevented from moving relatively in the longitudinal direction or the rotation direction in which the cable 60 is twisted.

The second cable fixing means 8 is provided inside the movable member 4, and the cable bundling member 61 is bolted to fix the entire cable bundle 6 to the movable member 4. That is, the second cable fixing means 8 fixes the cable 60 in the vicinity of the hollow pipe member 5, and when the fixing member 3 and the movable member 4 rotate relative to each other, the cable 60 attaches to the second cable fixing means 8. , The cable 60 is prevented from moving relatively in the longitudinal direction or the rotation direction in which the cable 60 is twisted.

Next, an example of the inside of the hollow pipe member 5 will be described with reference to FIG. FIG. 3 is a sectional view taken along line III-III of the cable arrangement 2 shown in FIG.

As shown in FIG. 3, a plurality of cables 60 are arranged inside the hollow pipe member 5. The hollow hole diameter (inner diameter) of the hollow pipe member 5 is 40 mm, and inside the hollow pipe member 5, there are four cables 60 having a diameter of 9 mm, four cables 60 having a diameter of 8 mm, and four cables 60 having a diameter of 6 mm. In the case of this arrangement, the ratio of the total cross-sectional area of the cable 60 to the cross-sectional area of the hollow hole is 54.3%. However, since a gap is generated between the cables 60, the ratio (hollow hole occupancy rate) of the portion (the portion shown by hatching) occupied by the cable 60 to the cross-sectional area of the hollow hole is 75.7%.

As described above, even when the cable occupancy (filling degree) in the hollow pipe member 5 is high, the workability at the time of assembly is improved according to the rotary shaft cable wiring structure 2 of the robot 1 according to the present embodiment. At the same time, it is possible to improve the reliability of whether or not the cable 60 is correctly arranged.

Further, even when the hollow hole occupancy ratio is high with respect to the cross-sectional area of the hollow hole, the plurality of cables 60 are passed through the hollow pipe member 5 so that the plurality of cables 60 do not cross inside the hollow pipe member 5. Moreover, even if the arrangement of many cables 60 is not confirmed in detail, the order of the arrangement is ensured at the time of assembly, the workability is good, and the reliability is high.

Further, since the length L1 of the cable 60 from the portion bundled by the cable focusing member 61 to the connector 60a provided at the end is longer than the axial length L2 of the hollow pipe member 5, the hollow pipe member It is possible to pass one connector 60a larger than the thickness of the cable 60 inside the cable 60, and after the connector 60a has passed through the hollow pipe member 5, the hollow pipe member 5 is passed as a cable bundle 6. Therefore, workability is further improved.

Further, by providing the cable focusing member 61 on the side that does not pass through the hollow pipe member 5 (the side of the movable member 4), the positional relationship between the two cable focusing members 61 is defined, and the workability can be further improved.

Further, the hollow pipe member 5 has a certain reference angle (for example, 0 °), and has a specification that can be twisted by a maximum angle equal to clockwise and counterclockwise from the reference angle. Then, when the hollow pipe member 5 is positioned at the reference angle, the fixed member 3 and the movable member 4 are configured so as not to rotate relative to each other. As a result, the cables 60 can be wired so as to be parallel to each other in a state where the stress does not act on the cables 60 most, and the same maximum stress can be applied at the maximum angles of clockwise and counterclockwise. Cable 60 can be extended in life.

Further, all of the cable bundle 6 is located closer to the base end of the cable bundle 6 (closer to the connector 60a) of the first cable fixing means 7 and the second cable fixing means 8, while fixing the second cable. Since the cable kit is fixed to the means 8 in advance, the positional relationship of the cables 60 of all the cable bundles 6 is defined, and the assembly workability can be further improved.

Further, by making all the cable bundling members 61 of all the cable bundling 6 the same member, it is possible to reduce the cost and prevent mistakes in assembling the parts.

Further, by making the cable focusing member 61 a simple and non-bulky plate-shaped member, workability can be further improved and costs can be reduced.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. In addition, the effects described in the present embodiment merely list the most preferable effects arising from the present invention, and the effects according to the present invention are not limited to those described in the present embodiment.

In the above embodiment, as a relative rotatable member, a case where a fixed member 3 fixed to the hollow pipe member 5 and a movable member 4 rotatable to the hollow pipe member 5 are provided is an example. However, it is not limited to this. In the present invention, as the relative rotatable member, a member rotatable with respect to the hollow pipe member 5 may be provided instead of the fixed member 3.

Further, in the above embodiment, the case where a plurality of cable bundles 6 are provided has been described as an example, but the present invention is not limited to this. The present invention may include one cable bundle 6.

Further, in the above embodiment, the case where a plurality of cables 60 are bundled by the cable bundling member 61 which is a plate-shaped member has been described as an example, but the present invention is not limited to this. In the present invention, a plurality of cables 60 may be bundled by a cable bundling member which is a tape-shaped member instead of the cable bundling member 61 or together with the cable bundling member 61. The cable focusing member, which is a tape-shaped member, may be wound at a portion farther from the hollow pipe member 5 than the first cable fixing means 7 or the second cable fixing means 8, or the first cable fixing means 7 may be wound. Alternatively, the outer periphery of the portion to which the plurality of cables 60 are fixed may be wound as it is on the second cable fixing means 8. That is, it is necessary to wind and fix the non-movable part of the cable 60. If the movable side region is fixed, the movement of the cable 60 is restricted, and as a result, there is a risk of premature disconnection of the cable 60.

Further, in the above embodiment, the cable 60 identification means may be provided in the vicinity of the cable focusing member 61. Since a plurality of cables 60 are passed through the cable bundle 6 at the time of assembly, there is a risk that the positional relationship of the cables 60 may not be known, but such a problem can be solved by providing the identification means of the cables 60.

Further, the cable 60 may be further composed of a plurality of cables, for example, two cables in the longitudinal direction of the focusing member 61 and two cables in the thickness (height) direction of the focusing member 61, for a total of four cables. In such a case, with respect to the focusing member 61, the four cables constituting the cable 60 come in the same phase with respect to the two focusing members 61 in the rotation (twisting the cable 60) direction. It is also possible to confirm whether or not the cable 60 is used, and it is possible to prevent the cable 60 from being arranged in a slightly twisted state within the section sandwiched between the focusing members 61 at two locations. Of course, it may not be possible to identify if twisted in units of one turn (360 °), but it is not easy to fix the cable 60 to the focusing member 61 in a state where it is intentionally twisted for one turn in a short section. .. Therefore, in reality, there is no problem as long as a slight twist can be avoided.

Further, in the above embodiment, the hollow pipe member 5 is configured such that one end is supported by the fixing member 3 and the other end is supported by the movable member 4 so as to be rotatable with respect to at least one of the fixing member 3 and the movable member 4. However, it is not limited to this. For example, the hollow pipe member 5 may be integrated with the fixed member 3 or the movable member 4.

Further, in the above embodiment, the first cable fixing means 7 fixes all of the cable bundle 6 to the fixing member 3, but a part of the cable bundle 6 may be fixed to the fixing member 3. Similarly, although the second cable fixing means 8 fixes all of the cable bundle 6 to the movable member 4, a part of the cable bundle 6 may be fixed to the movable member 4. That is, the cable 6 which is not fixed in the hollow pipe member 5 may be passed through an appropriate portion.

Further, in the above embodiment, all of the cable bundle 6 is located closer to the base end of the cable bundle 6 (closer to the connector 60a) of the first cable fixing means 7 and the second cable fixing means 8. The cable kit is pre-fixed to a second cable fixing means 8, but the present invention is not limited to this. The cable bundle 6 may be fixed in advance to one of the first cable fixing means 7 and the second cable fixing means 8.

1 Robot 2 Rotating shaft cable wiring structure 3 Fixing member (1st member)
4 Movable member (second member)
5 Hollow pipe member (rotating shaft)
6 Cable bundle 60 cable 60a connector 61 Cable bundling member 7 1st cable fixing means 8 2nd cable fixing means

Claims (16)

Relatively rotatable first and second members,
A cylindrical rotating shaft portion arranged between the first member and the second member and rotatable with respect to at least one of the first member and the second member.
A cable bundle having a plurality of cables and a cable bundling member for bundling the plurality of cables while maintaining their relative arrangement with each other.
A first cable fixing means for fixing the cable bundle to the first member,
A cable wiring method having a rotary shaft cable wiring structure including a second cable fixing means for fixing the cable bundle to the second member.
A cable wiring method including a step of fixing the cable focusing member to the first cable fixing means in a state where the cable focusing member is passed through the cylindrical rotating shaft portion. The rotating shaft cable wiring structure further comprises a connector provided at the end of the cable bundle.
In the step, the cable focusing member at a portion close to the connector is fixed to the first cable fixing means in a state where the cable focusing member at a portion close to the connector is passed through the cylindrical rotating shaft portion. The cable wiring method according to claim 1. The second aspect of the present invention further comprises a step of preparing a cable bundle in which the length from the portion bundled by the cable bundling member to the connector is longer than the axial length of the rotating shaft portion. Cable wiring method. The cable wiring method according to any one of claims 1 to 3, further comprising a step of fixing a portion of the cable focusing member that does not pass through the cylindrical rotating shaft portion to the second cable fixing means. 1. The cable bundle further comprises a step of preparing a cable kit that is preliminarily fixed to one of the first cable fixing means and the second cable fixing means located near the base end of the cable bundle. The cable wiring method according to any one of 4 to 4. The cable wiring method according to any one of claims 1 to 5, further comprising a step of preparing a cable bundle in which all of the cable bundling members are the same member. A method for manufacturing a robot, to which the cable wiring method according to any one of claims 1 to 6 is applied. Relatively rotatable first and second members,
A cylindrical rotating shaft portion arranged between the first member and the second member and rotatable with respect to at least one of the first member and the second member.
One or more cable bundles that are passed from one of the first member and the second member to the other via the rotating shaft portion.
A first cable fixing means for fixing the cable bundle to the first member,
A second cable fixing means for fixing the cable bundle to the second member is provided.
The cable bundle
With multiple cables
It has an outer diameter smaller than the inner diameter of the rotating shaft portion, and has a cable focusing member for bundling the plurality of cables in a state where the relative arrangement with each other is maintained.
The cable has connectors at the ends that are larger than the thickness of the cable and can be inserted into the rotating shaft portion while being fixed to the end of the cable, and from the portion bundled by the cable focusing member. , The length to the connector is longer than the axial length of the rotating shaft portion.
Rotating shaft cable wiring structure. The cable bundle includes two cable focusing members at spaced positions.
The eighth aspect of the present invention, wherein the plurality of cables are arranged in parallel with each other in a section sandwiched between the cable focusing members in a predetermined state in which the first member and the second member are not relatively rotated. Rotating shaft cable wiring structure. A predetermined state in which the first member and the second member are not relatively rotating is a state in which the rotation shaft portion is located at a reference angle.
The rotary shaft cable wiring structure according to claim 9, wherein the rotary shaft portion has a maximum allowable twist angle equal to both forward and reverse rotation directions from the reference angle. Claims 8 to 10, wherein all of the cable bundles are cable kits that are pre-fixed to one of the first cable fixing means and the second cable fixing means located near the base end of the cable bundle. The rotating shaft cable wiring structure according to any one item. The rotary shaft cable wiring structure according to any one of claims 8 to 11, wherein the cable focusing member is the same member. The cable focusing member is a plate-shaped member having substantially the same width as the width of the cable bundle, and has a structure capable of being bolted to the first cable fixing means or the second cable fixing means. The rotary shaft cable wiring structure according to any one of 8 to 12. The rotary shaft cable wiring structure according to any one of claims 8 to 12, wherein the cable focusing member is a tape-shaped member. The rotary shaft cable wiring structure according to any one of claims 8 to 14, further comprising the cable identification means. A robot comprising the rotary shaft cable wiring structure according to any one of claims 8 to 15.

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