JP7113629B2 - Cable transfer device - Google Patents

Description

The present invention relates to a cable moving device for running a cable for transmitting power or control signals.

A cable called a flat cable type or a ribbon cable type is routed when power lines and various signal lines are drawn into a linearly moving portion (slider) that moves on a straight line. For example, in the field of robots, the linear motion part is a working tool, an arm for moving the working tool in the direction of another axis, a slider to which the working tool or the arm is attached, or the like. A cable called a flat cable type or a ribbon cable type is formed by arranging a power line and a signal line in a horizontal line and fusing them together.

FIG. 14 is a side view showing a state in which this cable moving device is housed in a housing such as a cover. As shown in FIG. 14, the cable 3 is flexible and folded back into a U-shape or J-shape. One end of the cable 3 is fixed to the stationary part. The cable 3 has an outward path portion 31 extending along the movement direction of the direct acting portion from the fixed end, a folded portion 32 folded back into a roll shape in the middle, and a terminal end opposite to the outward path portion 31. is provided with a linear motion portion or a return path portion 33 attached to a portion where the linear motion portion moves linearly with the linear motion portion. That is, the other end of the cable 3 is a movable portion.

The folded portion 32 of the cable 3 has a curvature that draws an arc of 180 degrees. The terminal end side of the return path portion 33 extends linearly. However, in the first half of the return path portion 33, a bulge remains on one side of the housing due to the influence of the folded portion 32. As shown in FIG. This bulge ends toward the end of the return path portion 33 . A bulging portion generated in the return path portion 33 is called a bulging portion 34 .

When the distance between the top plate 22 of the housing that accommodates the cable 3 and the return path portion 33 is shortened, the bulging portion 34 that is generated from the end of the folded portion 32 to the front half of the return portion 33 is formed on the top plate 22 that is the housing. Sometimes it arrives. Then, when the cable 3 runs, the return path portion 33 runs while rubbing against the top plate 22, which leads to wear of the cable 3. - 特許庁If there is a risk of wear on the cable 3, in the worst case, disconnection, electric shock, etc. may occur.

Therefore, the return path portion 33 of the cable 3 is coated with a lubricant such as grease. The lubricant reduces the coefficient of friction between the cable 3 and the top plate 22 . Further, it has also been proposed to dispose a plurality of rollers along the running direction of the returning portion 33 between the returning portion 33 and the top plate 22 (see Patent Document 1, for example).

JP-A-2006-60942

The lubricating method requires maintenance work to replenish the lubricating oil. When maintenance work begins, the operation of the cable moving device must be stopped, and the operating rate of the cable moving device decreases. If a roller is arranged between the return path portion 33 and the top plate 22, the coefficient of friction decreases, but does not become zero. Therefore, even if rollers are provided, it is necessary to apply a lubricant to the return path portion 33, and although the interval between maintenance work is increased, it is difficult to omit the maintenance work itself, and a decrease in the operating rate of the cable moving device can be avoided. do not have.

Moreover, in the method of arranging the rollers on the return path portion 33, although the periodical replenishment interval of the lubricant is extended, the space for arranging the rollers increases, so that the cable running device becomes large.

DISCLOSURE OF THE INVENTION The present invention has been proposed to solve the problems of the prior art as described above. It is an object of the present invention to provide a cable moving device capable of suppressing wear due to friction between cables.

In order to achieve the above objects, the cable moving device according to the present invention reciprocates by fixing a flexible cable with a forward path portion fixed to a base and a return path portion fixed to a reciprocating slider, and A cable moving device having a folded portion in which a portion of a cable is folded back in a U shape, the cable moving device is arranged on the outer peripheral side from the return path portion of the cable to the folded portion, and the cable is arranged in accordance with the movement of the cable. A cable guide that reciprocates with the cable is provided.

The cable guide may press the cable toward the base.

A housing portion for housing the cable guide may be further provided.

The storage portion may be arranged on an extension line of the return path portion of the cable or closer to the base portion than the extension line.

The cable guide may be fixed to the slider.

The storage portion may include a winding shaft around which the cable guide is wound.

The storage unit may further include a driving unit that drives the winding shaft for storing the cable guide.

A drive unit may be further provided in front of the storage unit for moving the cable guide in a direction in which the cable guide is stored in the storage unit.

According to the present invention, the cable guide guides the cable when the cable moving device moves, thereby preventing the deformation of the cable such as swelling of the folded portion or the vicinity thereof due to the load or the like during movement. Therefore, even if the cable moving device moves, the cable does not come into contact with the housing such as the cover that accommodates the cable moving device. In addition, since the relative positional relationship between the cable guide and the cable remains unchanged, the cable guide and the cable do not rub against each other. Therefore, cable wear can be suppressed without applying lubricant, and even if lubricant is applied, the replenishment interval of the lubricant can be made extremely long.

1 is a perspective view showing the overall configuration of a robot; FIG. FIG. 4 is a front-side exploded perspective view showing the internal structure of the Y-axis arm; 4 is a rear side perspective view showing the internal structure of the Y-axis arm according to the first embodiment; FIG. FIG. 4 is a schematic diagram showing movement in the Y-axis arm according to the first embodiment; It is a cross-sectional view along the band width direction of the cable guard. FIG. 8 is a perspective view showing the internal structure of a Y-axis arm according to a second embodiment; FIG. 10 is a schematic diagram showing movement in the Y-axis arm according to the second embodiment; FIG. 11 is a perspective view showing the internal structure of a Y-axis arm according to a third embodiment; FIG. 11 is a schematic diagram showing movement in the Y-axis arm according to the third embodiment; FIG. 11 is a perspective view showing the internal structure of a Y-axis arm according to a fourth embodiment; FIG. 11 is a schematic diagram showing movement in the Y-axis arm according to the fourth embodiment; FIG. 11 is a rear side perspective view of the internal structure of the Y-axis arm according to Modification 1, viewed from the rear side. FIG. 11 is a back side perspective view of the internal structure of the Y-axis arm according to Modification 2, as seen from the back side. FIG. 4 is a side view showing a conventional state of cables housed in a housing;

Each embodiment of the cable moving device according to the present invention will be described in detail with reference to the drawings, exemplifying the case where the present invention is applied to a robot.

(First embodiment)
(Constitution)
FIG. 1 is a perspective view showing the overall configuration of the robot. As shown in FIG. 1, the robot 1 includes a base 11, an X-axis table 12, a Y-axis arm 2 and a Z-axis arm 13. The X-axis is a single axis parallel to the surface on which the base 11 extends, and is the front-rear direction of the robot 1, for example. The Y-axis is a direction parallel to the surface on which the base 11 extends and orthogonal to the X-axis, for example, the left-right direction of the robot 1 . The Z-axis is a direction orthogonal to the X-axis and the Y-axis, and is the height direction of the robot 1, for example.

The X-axis table 12 is arranged on the base 11, has a mounting plane extending in the X-axis direction and the Y-axis direction, and linearly moves in the X-axis direction. Supports 14 are erected at the corners of the base 11 and the Y-axis arm 2 is supported by the supports 14 . The housing of the Y-axis arm 2 has a box shape elongated in the Y-axis direction. One side of the Y-axis arm 2 is fixed to a post 14 in a cantilevered manner, and extends in the Y-axis direction in parallel with the mounting plane of the X-axis table 12 until the tip 21 passes at least above the X-axis table 12 . there is The Z-axis arm 13 is supported by the Y-axis arm 2 and extends in the Z-axis direction toward the X-axis table 12 perpendicularly to the mounting plane of the X-axis table 12 .

A workpiece to be processed is placed on the X-axis table 12 . A work tool is detachably attached to the Z-axis arm 13 and faces the work on the X-axis table 12 . The workpiece and work tool are moved and aligned by the X-axis table 12, Y-axis arm 2 and Z-axis arm 13. FIG. The robot 1 then supplies power and sends control signals to the work tool, and the work tool processes the workpiece in response to the control signal. Work tools are typically electric screwdrivers, welders, drills, applicators, soldering irons, handlers or cameras. Two or more types of work tools may be used together, such as when both the coating device and the camera are installed on the Z-axis arm 13 .

That is, each of the X-axis table 12, the Y-axis arm 2, and the Z-axis arm 13 has a linear motion part (slider) for linearly moving a workpiece, a connected arm, or a working tool. The Y-axis arm 2 linearly moves the Z-axis arm 13 together with the work tool. In other words, the power cable and signal cable for driving the Z-axis arm 13 must also be linearly moved. Therefore, as shown in FIG. 2, in this embodiment, the cable moving device 26 is accommodated within the Y-axis arm 2 . FIG. 2 is an exploded perspective view showing the internal structure of the Y-axis arm 2 as seen from the front side. The cable moving device 26 is covered with a front cover 234, a side cover 235, and a top cover 236, which are housings. The base plate 231 is formed by integrating a bottom surface 232 elongated in the Y-axis direction and a support-side end surface rising from the bottom surface 232, and has a base portion 233 for fixing one end of the cable. (base). The front cover 234 is long in the Y-axis direction and covers the front of the Y-axis arm 2 . The side cover 235 bears the surface that becomes the tip 21 . The top cover 236 is formed by integrating the top plate 22 elongated in the Y-axis direction and the back surface 237 .

A pair of pulleys 241 having the same diameter are installed on both end surfaces of the bottom surface 232 of the base plate 231 . Both pulleys 241 are spaced apart in the Y-axis direction, and the positions in the X-axis direction and the Z-axis direction are the same. An axis passing through the ring center of the pulley 241 extends along the Z-axis direction. A pulley 241 on one side is fixed to the shaft of a rotary motor 242 . The main body of the rotary motor 242 is housed inside the column 14 , and the rotary shaft protrudes into the Y-axis arm 2 from the upper surface of the column 14 . A pulley 241 on one side is fitted to this rotating shaft.

An endless belt 243 is laid between the pair of pulleys 241 . A slider 25 is fixed to the endless belt 243 . The slider 25 is a linear motion part that moves in the Y-axis direction. The endless belt 243 runs on the track between the pulleys 241 by driving the rotary motor 242, and the slider 25 moves in the Y-axis direction. A rail 251 parallel to the endless belt 243 is laid on the base plate 231 . The slider 25 is slidably fitted to the rail 251 and slides along the rail 251 according to the endless belt 243 .

The length of the front cover 234 in the Z-axis direction, that is, the total height of the front cover 234 is lower than the total height of the Y-axis arm 2 . Therefore, slits extending in the Y-axis direction are opened between the front cover 234 and the base plate 231 and between the front cover 234 and the top cover 236 . Both ends of the slider 25 are bent so as to protrude from both slits, and the end protruding from the Y-axis arm 2 is bent at a right angle like a flange. A Z-axis arm 13 is fixed to this flange. Therefore, when the slider 25 moves in the Y-axis direction, the Z-axis arm 13 also moves in the Y-axis direction.

FIG. 3 is a perspective view of the internal structure of the Y-axis arm 2 viewed from the back surface 237 side with the top cover 236, the side cover 235, and the front cover 234 removed. However, the tip 21 and the top plate 22 are shown in FIG. 3 using dotted lines for explanation. As shown in FIG. 3, a cable 3 is arranged inside the Y-axis arm 2 . The cable 3 is of a flat cable type or a ribbon cable type, and includes the section of the Y-axis arm 2 of the power supply line and signal transmission line leading to the work tool and the Z-axis arm 13, and these power supply lines and signal lines. They are arranged in a horizontal row and fused together.

In the Y-axis arm 2, the leading end of the cable 3 is fixed by a stationary side fastener 35 to a platform 233 that is one step higher than the bottom surface 232 of the base plate 231 and is elongated in the Y-axis direction, and is immovable. The cable 3 is flexible and folded in a U-shape or a J-shape. More specifically, the cable 3 passes under the forward path portion 31 extending along the base portion 233 of the base plate 231 from the support 14 side to the tip end 21 side of the Y-axis arm 2 and the slider 25 on the way. and a return path portion 33 that returns from the folded portion 32 to the support 14 side and ends at the slider 25. - 特許庁

The terminal end of the return path portion 33 is directly or indirectly fixed to the slider 25 by a fixture 36, and moves together with the slider 25 in the Y-axis direction. That is, as described above, the Y-axis arm 2 also serves as a cable moving device that accommodates the cable 3 inside and routes the cable 3 inside. The fixture 36 is composed of a base bracket 361 and a moving side fastener 362 . One side of the base bracket 361 is fixed to the slider 25 and the opposing side extends to the position where the cable 3 is arranged. The moving-side fastener 362 fastens the cable 3 leading to the base bracket 361 to the base bracket 361 by screwing or the like.

A cable guide 4 is provided in the housing of the Y-axis arm 2 . The cable guide 4 is an elongated belt-like plate, and has the same width as the cable 3 and is flexible, for example. This cable guide 4 is interposed between the return path portion 33 and the top plate 22 and extends in parallel along the return path portion 33 . The tip of the cable guide 4 is integrated with the moving side fastener 362 , and the tip of the cable guide 4 is fixed to the slider 25 . The other end of the cable guide 4 passes through the terminal end of the folded portion 32, that is, the boundary between the folded portion 32 and the return path portion 33, and extends toward the tip 21 side. The cable guide 4 prevents the bulging portion 34 (see FIG. 14) of the return path portion 33 of the cable 3 from contacting the top plate 22 .

A guide wall 7 is further provided inside the housing of the Y-axis arm 2 . The guide wall 7 is positioned closer to the tip 21 than when the folded portion 32 is closest to the tip 21, and is integrated with the side cover 235, for example. The guide wall 7 has a semicircular plate surface and is installed with the concave side facing the slider 25 side. The semicircular plate surface is smoothly curved from the extension plane of the return path portion 33 to the base portion 233 of the cable 3 . The cable guide 4 extends from the slider 25 toward the guide wall 7, is bent in a semicircular shape along the guide wall 7, and is folded back toward the post 14 side. Therefore, the guide wall 7 and the groove portion 238 provided below the base portion 233 correspond to the storage portion in this embodiment.

(action)
The movement inside the Y-axis arm 2 described above is as follows. When the rotary motor 242 with the rotary shaft inserted into the Y-axis arm 2 is driven, the pulley 241 fixed to the rotary shaft rotates, and the endless belt 243 rotates along the track. As the endless belt 243 turns, the slider 25 fixed to the endless belt 243 moves in the Y-axis direction. When the slider 25 moves, the terminal end of the cable 3 fixed to the slider 25 moves in the Y-axis direction. When the terminal end of the cable 3 moves, the return path portion 33 of the cable 3 also moves in the Y-axis direction.

At this time, the cable guide 4 guides the movement of the cable 3 in the Y-axis direction. That is, the cable guide 4 abuts against the return path portion 33 of the cable 3 from the top plate 22 side, thereby preventing or restricting the occurrence of the bulging portion 34 (see FIG. 14) when the cable 3 moves. . That is, the return path portion 33 of the cable 3 is blocked by the cable guide 4 and does not contact the top plate 22 . Therefore, the return path portion 33 of the cable 3 does not rub against the top plate 22 due to the intervention of the cable guide 4 .

Here, the tip of the cable guide 4 is fixed to the slider 25 and extends beyond the terminal end of the folded portion 32 , that is, the boundary between the folded portion 32 and the return path portion 33 . That is, the cable guide 4 covers the entire range of the return path portion 33 and prevents contact with the top plate 22 regardless of the movement of the return portion 33 .

FIG. 4 is a side view of the internal structure of the Y-axis arm 2 viewed from the back surface 237 side with the top cover 236, the side cover 235, and the front cover 234 removed. However, the tip 21 and the top plate 22 are shown in FIG. 4 for explanation. Further, FIG. 4(b) shows changes in the positional relationship of the cable 3 and the cable guide 4 when the slider moves by a distance A1 with respect to the slider position shown in FIG. 4(a). As shown in FIG. 4, since the tip of the cable guide 4 is fixed to the slider 25, the cable guide 4 moves simultaneously with the slider 25 in the same direction by the same distance A1. That is, the relative positional relationship between the return path portion 33 of the cable 3 and the cable guide 4 remains unchanged. Therefore, the return route portion 3 of the cable 3 is guided in the Y-axis direction by the cable guide 4, and the bulging portion 34 (see FIG. 14) does not occur, and the return route portion 33 of the cable 3 and the cable guide 4 rub against each other. should not. Wear and tear of the cable 3 is thus prevented.

Here, FIG. 5 is a cross-sectional view of the cable guide 4 along the band width direction. As shown in FIG. 5, the cable guide 4 is curved such that both long sides extending in the longitudinal direction of the band are curved. This warped shape improves the inflexibility of the cable guide 4 , and suppresses the bending of the cable guide 4 even if the propulsive force of the cable guide 4 is applied only to one end fixed to the slider 25 . Therefore, the cable guide 4 continues to maintain its linearity, and the entire range of the cable guide 4 more reliably moves simultaneously with the slider 25 and in the same direction by the same distance A1. That is, the return path portion 33 of the cable 3 and the cable guide 4 are more likely to more reliably maintain their relative positional relationship, and the wear and tear of the cable 3 can be more reliably prevented.

Also, looking at the guide wall 7, when the return path portion 33 of the cable 3 advances toward the tip end 21 of the Y-axis arm 2 by the distance A1, the cable guide 4 moves the same distance as the return path portion 33 of the cable 3. Only A1 is turned back by the guide wall 7 and escapes to the support 14 side. Conversely, when the return portion 33 of the cable 3 advances by a distance A1 in the opposite direction to the tip end 21 of the Y-axis arm 2, the cable guide 4 escapes from the guide wall 7 by the same amount of distance A1 as the return portion 33 of the cable 3. is moved by a distance A1 to the side opposite to the tip 21 of the Y-axis arm 2.

That is, when the slider 25 side moves the distance A1, the cable guard 4 also moves the distance A1. As shown in FIG. 4(b), the unfixed end of the cable guard 4 that has moved is turned back in an arc by the guide wall 7, moves A1 in the direction opposite to the moving direction of the slider, and is provided at the bottom of the base 233. 238 (shown in FIG. 3). Therefore, even if the cable guide 4 advances toward the protruding end 21, it does not protrude from the housing of the Y-axis arm 2, and there is no need to increase the size of the Y-axis arm 2 so that the cable guide 4 can be accommodated in the housing.

If the bulging portion 34 of the cable 3 reaches the top plate 22, the cable 3 rubs against the top plate 22, which leads to wear of the cable 3. Therefore, the cable guide 4 bulges at least toward the top plate 22 side. It suffices if the top plate 22 side abuts against the bulging portion 34 generated in the front half region of the return path portion 33 from the bent portion 32 . It is not essential to straighten the bulging portion 34 by pressing it so as to crush it, or to press down the entire area of the folded portion 32 and the return path portion 33 .

(Second embodiment)
A second embodiment of the cable moving device will be described in detail with reference to the drawings. The same reference numerals are assigned to the same configurations and the same functions as those of the first embodiment, and detailed description thereof will be omitted.

(Constitution)
FIG. 6 is a perspective view of the internal structure of the Y-axis arm 2 as seen from the rear surface 237 side, showing another aspect of the cable guide 4. As shown in FIG. As shown in FIG. 6 , the cable guide 4 is interposed between the return path portion 33 and the top plate 22 and extends parallel along the return path portion 33 . The tip of the cable guide 4 is integrated with the moving side fastener 362 , and the tip of the cable guide 4 is fixed to the slider 25 . On the other hand, a winding shaft 62 is installed as a storage portion on the protruding end 21 side of the position where the folded portion 32 has advanced to the protruding end 21 side of the Y-axis arm 2 to the maximum. The winding shaft 62 is provided with a rotational driving force about the shaft center by a coil spring (not shown), and the other end of the cable guide 4 is fixed to the winding shaft 62, so that a part of the cable guide 4 is wound around the winding shaft 62. be done.

The cable guide 4 is embossed with recesses at regular intervals. A roller 8 is provided in the Y-axis arm 2 so as to contact the upper surface of the cable guide 4 with its peripheral surface. The roller 8 is installed closer to the tip 21 than the position where the folded portion 32 is closest to the tip 21 and positioned closer to the post 14 than the winding shaft 62 is. Protrusions are formed on the body of the roller 8 at the same intervals as the recesses, and these protrusions mesh with the recesses of the cable guide 4 .

The axial length of the rollers 8 is longer than the strip width length of the cable guide 4 . A rod 81 is in contact with a portion of the peripheral surface of the roller 8 that is not in contact with the drawer portion 52 . The rod 81 is perpendicular to the roller 8 and rises from the bottom surface 232. The roller 8 and the rod 81 are in contact with each other at their circumferential surfaces, and teeth are formed at the contact locations. The roller 8 and rod 81 form a so-called helical gear. The other end of the rod 81 is connected to the pulley 241 on the tip 21 side with a common shaft.

(action)
FIG. 7 is a schematic diagram showing movement in the Y-axis arm according to the second embodiment. FIG. 7(b) shows the change when the slider moves by a distance A1 with respect to the slider position shown in FIG. 7(a). As shown in FIGS. 7A and 7B, when the rotary motor 242 that drives the slider 25 rotates, rotational force is transmitted to the rod 81 via the endless belt 243 and the pulley 241, causing the roller 8 to rotate. The protrusion of the roller 8 and the recess of the cable guide 4 mesh with each other, and the roller 8 moves one side of the cable guide 4 in the Y-axis direction. When the slider 25 moves a distance A1 toward the tip end 21, the roller 8 causes the cable guide 4 to travel a distance A1 which is the same as the amount of movement of the slider 25. - 特許庁

In this manner, the roller 8 serves as a drive unit that moves the other end of the cable guide 4 by the same amount in the same direction as the one end of the cable guide 4 when the slider 25 moves one end of the cable guide 4 . there is The rollers 8 apply a driving force to both sides of the cable guide 4 with the return path portion 33 therebetween. Therefore, the cable guide 4 can be kept stretched without bending. Then, the cable guide 4 presses the return path portion 33 of the cable 3 while maintaining its linearity, and the bulging portion 34 generated in the return path portion 33 of the cable 3 is eliminated.

When the bulging portion 34 is eliminated, when the slider 25 advances toward the tip end 21 of the Y-axis arm 2 by the distance A1, the entire return path portion 33 also moves toward the tip end 21 of the Y-axis arm 2 in the same direction at the same time. It advances by the distance A1 which is the same amount. Therefore, the relative positional relationship between the return path portion 33 of the cable 3 and the cable guide 4 is more reliably maintained.

Also, looking at the winding shaft 62, the winding shaft 62 winds up the cable guide 4 by the amount that the cable guide 4 advances toward the tip end 21 side. Conversely, when the cable guide 4 advances in the direction away from the tip end 21 of the Y-axis arm 2, the winding shaft 62 pulls out the same amount of cable guide 4 as the traveling distance. In other words, the cable guide 4 is accommodated by bending the tip of the cable guide 4 toward the protruding end 21 of the Y-axis arm 2 . That is, the winding shaft 62 is another example of a storage portion that stores the cable guide 4 .

According to the second embodiment, the provision of the rollers 8, which are the driving parts, can eliminate the trade-off of the rigidity of the cable guide 4 caused by the storage part. That is, in order to protect the cable 3 from contact with the top plate 22, the cable guide 4 requires rigidity (rigidity in the thickness direction) to prevent deformation due to the biasing force generated in the cable guide 4 due to the deformation of the cable 3. .

On the other hand, in order to allow the cable guide 4 to be wound in the thickness direction by the storage portion, it is necessary to reduce the rigidity of the cable guide 4 in the thickness direction. In order to eliminate this trade-off, a drive section for housing the cable guide 4 is provided on the cable side of the storage section, and the drive section and the linear motion section move synchronously, thereby reducing the distance between the drive section and the linear motion section. The cable guide 4 does not bend and its rigidity is dramatically improved. On the other hand, the cable guide 4 passing over the driving section and proceeding toward the housing section is not supported by anything other than the winding shaft 62 when viewed from the winding shaft 62, so that the cable guide 4 has a low rigidity that enables winding by the housing section.

(Third embodiment)
A third embodiment of the cable moving device will be described in detail with reference to the drawings. The same reference numerals are assigned to the same configurations and the same functions as those of the first or second embodiment, and detailed description thereof will be omitted.

(Constitution)
FIG. 8 is a perspective view of the internal structure of the Y-axis arm 2 as seen from the rear surface 237 side. As shown in FIG. 8, the Y-axis arm 2 is provided with a rotary motor 61 having a rotating shaft extending in the X-axis direction. The rotary motor 61 is installed closer to the protruding end 21 than the position where the folded portion 32 has advanced to the protruding end 21 side of the Y-axis arm 2 to the maximum. A winding shaft 62 is supported by the rotating motor 61 . The cable guide 4 is wound around the winding shaft 62 . The unwound end of the cable guide 4 is fixed to the slider 25 .

(action)
FIG. 9 is a schematic diagram showing movement in the Y-axis arm according to the third embodiment. FIG. 9(b) shows the change when the slider moves by a distance A1 with respect to the slider position shown in FIG. 9(a). The rotary motor 61 and the winding shaft 62 are another aspect of the storage section that stores the cable guide 4 and the drive section that moves the cable guide 4 in the storage direction. As shown in FIGS. 9A and 9B, the winding shaft 62 is driven by the rotary motor 61 when the return path portion 33 of the cable 3 advances toward the tip end 21 of the Y-axis arm 2 by a distance A1. The cable guide 4 is rotated in the winding direction to wind the cable guide 4 by the same distance A1. Further, when the return path portion 33 of the cable 3 advances by the distance A1 in the direction away from the tip end 21 of the Y-axis arm 2, the cable guide 4 is rotated in the direction of pulling out and the cable guide 4 is pulled out by the same distance A1. Thus, the amount of rotation of the rotary motor 61 is controlled according to the movement of the cable, that is, the movement of the slider 25 .

Therefore, the cable guide 4 maintains its straightness without loosening, and the entire cable guide 4 simultaneously moves in the same direction by the same amount in response to the slider 25 . In addition, the cable guide 4 maintains linearity without loosening, so that the bulging portion 34 of the cable 3 is eliminated, and the entire return path portion 33 of the cable 3 responds to the slider 25 and simultaneously moves in the same direction and by the same amount. Therefore, the relative positional relationship between the return path portion 33 of the cable 3 and the cable guide 4 remains unchanged.

Since the tip of the cable guide 4 is bent into the rotating motor 61 and the winding shaft 62 by the distance that the cable guide 4 advances toward the protruding end 21 of the Y-axis arm 2 , the extension range of the cable guide 4 is The protruding end 21 side is stopped at the position of the rotary motor 61 and the winding shaft 62 regardless of the running direction and running distance of the cable guide 4 .

Furthermore, when the slider 25 moves away from the tip 21 and moves toward the column 14 , the rotary motor 61 can be operated following the direction and amount of movement of the slider 25 . Therefore, the load opposite to the rotation direction is not applied via the cable guide 4 to the rotation motor 242 that moves the slider 25 and the end of the cable 3 . Therefore, the slider 25, the terminal end of the cable 3 and the cable guide 4 can be moved with high precision.

In addition, in this third embodiment, the storage section and the driving section are realized by one configuration (winding shaft 62 and rotary motor 61). By winding the other end of the cable guide 4 around the winding shaft 62 and controlling the amount of winding by the rotating motor 61 in accordance with the amount of movement of the linear motion part, the function of the storage part as well as the function of the driving part is provided. be able to. In other words, the storage section and the driving section can be realized with one configuration (winding shaft 62 and rotary motor 61), and the invention can be realized with a simpler configuration.

(Fourth embodiment)
4th Embodiment of the cable moving apparatus with which the robot 1 is provided is described in detail, referring drawings. The same reference numerals are assigned to the same configurations and the same functions as those of the first to third embodiments, and detailed description thereof will be omitted.

(Constitution)
FIG. 10 is a perspective view of the internal structure of the Y-axis arm 2 as seen from the back surface 237 side. As shown in FIG. 10, a constant force spring 5 is installed inside the housing of the Y-axis arm 2 . The constant force spring 5 is composed of a winding portion 51 , a drawn portion 52 and a winding shaft 62 . The constant load spring 5 is a type of leaf spring wound around a winding shaft 62 in close contact with a constant curvature over its entire length. When the leaf spring wound around the wound portion 51 is pulled out, the pulled-out pulled-out portion 52 has a biasing force in the direction of being wound up, that is, retracted, due to the restoring force of the curvature of the leaf spring. Since the biasing force against the winding shaft 62 is constant and not proportional to the length of the drawn-out portion 52, it is generally called a constant force spring.

The upper end of the winding portion 51 matches the height of the return portion 33 of the cable 3 . The winding portion 51 is installed closer to the tip 21 than the position where the folded portion 32 has advanced to the tip 21 side of the Y-axis arm 2 to the maximum. The drawn-out portion 52 is pulled out from the upper end of the wound portion 51 and extends past the folded portion 32 . The drawer portion 52 is interposed between the return path portion 33 and the top plate 22, extends parallel to the return path portion 33, and prevents the bulging portion 34 of the return path portion 33 from contacting the top plate 22. It becomes the cable guide 4 . That is, the tip of the drawer portion 52 is integrated with the moving side fastener 362 , and the tip of the drawer portion 52 is fixed to the slider 25 .

As described above, the constant force spring 5 has a constant unwinding force regardless of the pull-out length. Therefore, the lead-out portion 52 is tensioned between the end connected to the slider 25 and the winding portion 51, guides the cable 3 in a stretched state without bending, and presses the bulging portion 33. , the bulging portion 34 is eliminated. However, the unwinding force does not reach the force for moving the slider 25 and cable 3 .

(action)
When the rotary motor 242 with the rotary shaft inserted into the Y-axis arm 2 is driven, the pulley 241 fixed to the rotary shaft rotates, and the endless belt 243 rotates along the track. As the endless belt 243 turns, the slider 25 fixed to the endless belt 243 moves in the Y-axis direction. When the slider 25 moves, the terminal end of the cable 3 fixed to the slider 25 moves in the Y-axis direction. When the terminal end of the cable 3 moves, the return path portion 33 of the cable 3 also moves in the Y-axis direction.

At this time, the lead-out portion 52 is interposed between the top plate 22 and the return path portion 33, so that it abuts against the return portion 33 of the cable 3 from the top plate 22 side, and the contact between the cable 3 and the top plate 22 is prevented. It is a cable guide 4 that prevents The return path portion 33 of the cable 3 is blocked by the drawer portion 52 and does not come into contact with the top plate 22.例文帳に追加Therefore, the return path portion 33 of the cable 3 does not rub against the top plate 22 due to the intervention of the drawer portion 52 .

FIG. 11 is a schematic diagram showing movement in the Y-axis arm according to the fourth embodiment. FIG. 11(b) shows the change when the slider moves by a distance A1 with respect to the slider position shown in FIG. 11(a). As shown in FIGS. 11A and 11B, since the tip of the drawer portion 52 is fixed to the slider 25, the tip of the drawer portion 52 moves simultaneously with the slider 25 in the same direction by the same distance A1. do. Then, for example, when the slider 25 moves toward the tip end 21 by a distance A1, the winding part 51 winds the lead-out part 52 by a distance A1 which is the same amount as the amount of movement of the slider 25 . That is, the winding portion 51 winds and pulls out the pull-out portion 52 in accordance with the movement of the slider 25, so that the pull-out portion 52 continues to be stretched without bending even when the slider 25 travels. Therefore, the lead-out portion 52 presses the return path portion 33 of the cable 3 to eliminate the swelling portion 34 generated in the return portion 33 of the cable 3 .

Therefore, when the slider 25 advances toward the tip end 21 of the Y-axis arm 2 by the distance A1, the return path portion 33 also advances toward the tip end 21 of the Y-axis arm 2 by the same distance A1 in the same direction at the same time. Become. Therefore, the relative positional relationship between the return path portion 33 of the cable 3 and the lead-out portion 52 as the cable guide 4 remains unchanged. Therefore, the return route portion 33 of the cable 3 does not rub against the top plate 22 due to the interposition of the cable guide 4, and the return route portion 33 of the cable 3 and the lead-out portion 52 do not rub against each other, so that the cable 3 is prevented from being worn. .

Looking at the winding portion 51, the winding portion 51 is wound by the amount that the lead-out portion 52 advances toward the tip end 21 side. Further, when the drawn-out portion 52 advances in the direction away from the tip end 21 of the Y-axis arm 2, the winding portion 51 draws out the drawn-out portion 52 by the same amount as the movement distance. In other words, the lead-out portion 52 is bent into the winding portion 51 and accommodated by the portion advanced toward the tip end 21 of the Y-axis arm 2 .

That is, the winding portion 51 is a driving portion of the drawer portion 52 for eliminating the bulging portion 34 together with the slider 25, and also serves as a housing for housing the drawer portion 52, that is, the cable guard 4. FIG. Of the extending range of the drawn-out portion 52 , the tip 21 side is stopped at the position of the winding portion 51 regardless of the traveling direction and traveling amount of the drawn-out portion 52 . Therefore, the drawn-out portion 52 does not protrude from the housing of the Y-axis arm 2, and there is no need to lengthen the Y-axis arm 2 so that it can be accommodated in the housing even if the drawn-out portion 52 advances toward the tip end 21 side.

In addition, in the fourth embodiment, the housing portion, the driving portion, and the cable guide 4 are realized by one configuration (constant force spring 5). By winding the other end of the drawer portion 52, which is the cable guide 4, around the winding portion 51 and matching the winding amount with the movement amount of the slider 25 by the winding portion 51, which is the biasing member, the storage portion can be adjusted. In addition to the function, the function of the drive unit can also be provided.

The urging member may be a coil spring, a mainspring, or the like. The storage section and the driving section can be realized in one configuration, and the invention can be realized with a simpler configuration.

(Modification 1)
FIG. 12 is a perspective view of the internal structure of the Y-axis arm 2 as seen from the back surface 237 side. As shown in FIG. 12, the winding portion 51 of the constant force spring 5 may be provided on the side opposite to the top plate 22 with respect to the plane on which the return path portion 33 of the cable 3 extends, that is, on the base portion 233 side. In other words, the winding portion 51 may be provided at a height between the forward portion 31 and the return portion 33 of the cable 3 . When the winding portion 51 is provided at this position, the lead-out portion 52 is pulled down so as to bend in the direction opposite to the top plate 22 with the folded portion 32 as a fulcrum and tilt toward the cable 3 below.

When the winding portion 51 is positioned between the outward path portion 31 and the return path portion 33 , the winding force normally exerted by the winding portion 51 is inclined to the direction of linear movement of the slider 25 and the end of the cable 3 . exchange. Therefore, the rectilinear direction component of the winding force is smaller than when the winding portion 51 is installed at the same height as the drawer portion 52 . Therefore, the torque for the rotation motor 242 to linearly move the slider 25 and the terminal end of the cable 3 against the winding force becomes small.

Further, when the winding force obliquely intersects the linear motion direction of the slider 25 and the end of the cable 3, a component perpendicular to the linear motion direction is generated in the winding force. This orthogonal component presses the lead-out portion 52 against the return portion 33 more strongly. Therefore, even if the lead-out portion 52 is thinned, it becomes easy to suppress the bulge of the return path portion 33 and eliminate the bulging portion 34, and the cable guide 4 can guide the cable 3 efficiently.

(Modification 2)
FIG. 13 is a perspective view of the internal structure of the Y-axis arm 2 as seen from the rear surface 237 side, showing still another aspect of the constant force spring 5. As shown in FIG. As shown in FIG. 13 , the upper end of the winding portion 51 is aligned with the height of the returning portion 33 , but the lead-out portion 52 is pulled out from the lower end of the winding portion 51 . Therefore, the drawer portion 52 extends along the return path portion 33, but is pulled downward with the folded portion 32 as a fulcrum.

Thus, even if the height of the winding portion 51 is not set between the forward portion 31 and the return portion 33, the pull-out portion 52 can be pulled down, the torque of the rotary motor 242 can be small, and the pull-out portion can be pulled down. Even if the thickness of 52 is reduced, it becomes easy to suppress the bulge of the return path portion 33 .

(effect)
As described above, in the cable moving device, the cable guide 4 is interposed between the return path portion 33 and the top plate 22 facing the return path portion 33 . The cable guide 4 guides the movement of the cable 3, presses the folded portion 32 from the return path portion 33 side, and prevents the swelling of the folded portion 32 from contacting the top plate 22. - 特許庁Further, the cable guide 4 moves in the same direction by the same amount at the same time as the return path portion 33 travels, and the amount of relative movement with respect to the cable 3 is kept zero.

As a result, the cable guide 4 prevents the cable 3 from moving while contacting and rubbing against the top plate 22, and since the cable guide 4 and the cable 3 do not rub against each other, the wear of the cable 3 is prevented. can. Therefore, maintenance-free operation can be achieved without the need to apply lubricant to the return route portion 33 of the cable 3, or the frequency of replenishing the return route portion 33 of the cable 3 with lubricant can be extremely reduced, and maintenance work can be reduced. .

Incidentally, in each of the embodiments and modifications, the top plate 22 is exemplified as a place where the cable 3 may rub. Not limited to this, if there is a structure in the direction in which the cable 3 expands, the cable guide 4 may be interposed between the structure and the cable 3 . For example, assume that the cable 3 is laid flat within the Y-axis arm 2 and folded back toward the rear surface 237 of the housing. At this time, if the cable 3 is to expand to reach the rear surface 237 of the housing, the cable guide 4 should be interposed between the rear surface 237 and the cable 3 .

Also, the portion rubbed by the cable 3 is not limited to one surface of the housing, which is the cover. Brackets for mounting other components, such as sensors, may also be mounted within the housing. Depending on how the cable 3 is routed, the cable 3 may rub against the bracket. In this way, the cable guide 4 may be interposed between the structure and the cable 3 in order to prevent the bulge of the cable 3 from reaching the one surface of the housing or the structure such as the bracket, which may rub against the cable 3. .

In addition to each embodiment and modifications, the cable moving device 26 has a ball spiral installed in the Y-axis arm 2, and a slider 25, a cable guide 4, and a cable 3 are attached to the spiral portion that fits into the ball spiral. Any one can be adopted as long as the slider 25, the cable guide 4 and the cable 3 can be moved.

Furthermore, the cable 3 can be installed inside the Z-axis arm 13 or inside the base 11 where the X-axis table 12 is installed. For example, in the Z-axis arm 13, a work tool such as an electric screwdriver or a soldering iron is provided on the lower plate for working on the work. conduct. Accordingly, the cable that supplies power to this work tool is disposed within the Z-axis arm 13, and the cable 3 may be folded back within the Z-axis arm 13 in a U-shape or a J-shape. In this case, the Z-axis arm 13 serves as a cable moving device in which the slider reciprocates up and down, and the cable guide 4 presses the cable 3 laterally. In this way, the Z-axis arm 13 and the base 11 also serve as a cable moving device, and the cable guide 4 may be arranged on these Z-axis arm 13 and the base 11 as well.

One end of the cable guide 4 is fixed to a position where it moves together with the slider 25, and is extended past the folded portion 32. - 特許庁This eliminates the need for a power source for running the cable guide 4 together with the return path portion 33, thus achieving a reduction in the number of parts and a reduction in operating costs. Of course, for example, a rack may be engraved on the side of the cable guide 4, a rack-and-pinion mechanism may be arranged in the Y-axis arm 2, and the cable guide 4 may be moved by a traveling mechanism separate from the cable 3. good.

In addition, a storage portion for the winding portion 51, the rotating motor 61, the winding shaft 62, and the guide wall 7 is further provided at a position such as the side cover 235 that does not reach the structure at the extension of the cable guide 4. did. The storage portion accommodates the cable guide 4 by bending the cable guide 4 by the distance that the cable guide 4 advances toward the storage portion, and the extension range of the cable guide 4 does not reach the side cover 235. Stop at a certain storage position.

The accommodation portion is the guide wall 7 and the groove portion 238 in the first embodiment, and the cable guide 4 hits the guide wall 7 and changes its direction by the distance traveled toward the guide wall 7 and is accommodated in the groove portion. In the second embodiment, the winding shaft 62 has a rotational force by a spring, and the cable guide 4 is wound up and pulled out according to the movement of the slider 25 . In the third embodiment, there is a winding shaft 62 and a rotary motor 61 that rotates the winding shaft 62 . pull out from In the fourth embodiment, it is the winding portion 51 , and the pull-out portion 52 is wound up and pulled out according to the movement of the slider 25 .

As a result, the cable guide 4 does not protrude from the housing of the Y-axis arm 2 even when the cable guide 4 advances toward the side cover 235, in addition to maintenance-free or reduced frequency of maintenance work related to the lubricant. It is not necessary to increase the size of the Y-axis arm 2 so that the Y-axis arm 2 can be accommodated in the housing even if the Y-axis arm 4 advances toward the tip 21 side.

In addition, a driving part is provided that applies a driving force to the end of the cable guide 4 that is extended past the folded part 32 and causes the extended end to travel along the slider 25.例文帳に追加

As a result, both ends of the cable guide 4 are simultaneously moved in the same direction by the same amount, so that the cable guide 4 is in a stretched state without bending. Therefore, the movement of the cable 3 is reliably guided by the cable guide 4, and the bulging portion 34 on the return path portion 33 is eliminated. Therefore, in addition to maintenance-free or reduced frequency of maintenance work related to lubricant, the return route portion 33 of the cable 3 can be moved in the same direction and the same amount at the same time as the slider 25, and the cable guide 4 can be moved in the same direction and the same amount at the same time. It becomes easier to move, and accuracy improves.

This driving part is a roller 8 in the second embodiment, which engages with the tip of the cable guide 4 extended past the folded part 32 and rotates as the slider 25 moves. In the third embodiment, there is a winding shaft 62 and a rotary motor 61 that rotates the winding shaft 62 . pull out from In the fourth embodiment, it is the winding portion 51 , and the pull-out portion 52 is wound up and pulled out according to the movement of the slider 25 .

In other words, in the third embodiment, the winding shaft 62 and the rotary motor 61 are the storage section and also the driving section. In Embodiment 4, the winding portion 51 of the constant force spring 5 is the storage portion and also the driving portion. Of these, in the fourth embodiment, there is no need to software-control the pulling out and winding of the cable guide 4, the cable guide 4 can guide the movement of the cable 3, and the bulging portion 34 can be eliminated to allow the cable to move freely. The guide 4 and the cable 3 can be easily moved in the same direction and by the same amount.

Furthermore, the winding portion 51 of the constant force spring 5, the rotating motor 61, the winding shaft 62, and the roller 8 are positioned below the extended height of the return path portion 33, on the side opposite to the top plate 22, and the cable guide 4 is pulled down with the folded back of the cable 3 as a fulcrum. As a pressing method, both longitudinal sides of the belt-shaped cable guide 4 are curved.

As a result, the cable guide 4 can be stretched more strongly, the bending of the cable guide 4 is eliminated, the bulging portion 34 of the cable 3 can be eliminated more reliably, and the cable guide 4 can be pulled out at the same time as the return portion 33. The accuracy of moving the same amount in the direction is further improved. In addition, the torque required by the rotary motor 242 to linearly move the slider 25 and the terminal end of the cable 3 against the winding force of the winding portion 51 is small, and even if the drawer portion 52 is thinned, the bulge of the return path portion 33 can be prevented. It becomes easier to hold down.

(Other embodiments)
Although the embodiments of the present invention have been described as above, various omissions, replacements, and modifications can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

1 Robot 11 Base 12 X-axis table 13 Z-axis arm 14 Post 2 Y-axis arm 21 Tip 22 Top plate 231 Base plate 232 Bottom surface 233 Base 234 Front cover (housing)
235 side cover (housing)
236 top cover (housing)
237 Back surface 238 Groove 241 Pulley 242 Rotating motor 243 Endless belt 25 Slider 251 Rail 26 Cable moving device 3 Cable 31 Outward path part 32 Folding part 33 Return path part 34 Swelling part 35 Fixed side fastener 36 Fixing tool 361 Base bracket 362 Moving side fastener Tool 4 Cable guide 5 Constant load spring 51 Winding part 52 Drawer part 61 Rotary motor 62 Winding shaft 7 Guide wall 8 Roller 81 Rod

Claims (5)

A flexible cable has a forward path part fixed to a base part, a return path part fixed to a slider that reciprocates and reciprocates, and a cable movement having a folded part in which a part of the cable is folded back in a U shape. a device,
A cable guide is provided on the outer peripheral side of the cable from the return path portion to the folded portion, and reciprocates together with the cable in accordance with the movement of the cable,
An end of the cable guide on the return path side is fixed to the slider,
A storage portion is provided on the outward side of the cable guide for storing the outward side of the cable guide when the cable guide moves to the outward side,
The storage portion is provided on the outward path side of a position where the folded portion of the cable is closest to the outward path side;
A cable displacement device characterized by: the cable guide presses the cable toward the base;
2. The cable movement device of claim 1, wherein: The storage portion is arranged on an extension line of the return path portion of the cable or closer to the base portion than the extension line;
2. The cable movement device of claim 1 , wherein: 2. The cable moving device according to claim 1, wherein the storage portion includes a guide wall provided on the forward path side of the cable guide and guiding the cable guide to the return path side, and a groove portion provided below the base portion. 2. The cable moving device according to claim 1, wherein the accommodating portion is a winding shaft that is provided closer to the outward path than a position where the folded portion of the cable is closest to the outward path, and that winds the end portion of the cable guide on the outward path side. .

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