JPH04111795A - Cable support device - Google Patents
Cable support deviceInfo
- Publication number
- JPH04111795A JPH04111795A JP23039890A JP23039890A JPH04111795A JP H04111795 A JPH04111795 A JP H04111795A JP 23039890 A JP23039890 A JP 23039890A JP 23039890 A JP23039890 A JP 23039890A JP H04111795 A JPH04111795 A JP H04111795A
- Authority
- JP
- Japan
- Prior art keywords
- cable support
- cable
- cables
- movable arm
- support member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000037431 insertion Effects 0.000 claims description 8
- 238000003780 insertion Methods 0.000 claims description 8
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は産業用ロボット等の可動腕の連結部等のケーブ
ル支持装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a cable support device for a connecting part of a movable arm of an industrial robot or the like.
（従来技術）
一般に、産業用ロボットは、ロボット本体に把持用機構
を有する可動腕を回動自在に装着し、制御装置によって
水平方向、垂直方向に回動させて所定の積替え操作、組
立操作等を行なうようになっている。そして、制御装置
からの動作制御信号、駆動制御信号等の授受を行なうた
めの信号用線、動力用線等を収納したケーブルは可動腕
内、連結部内に配線されている。該連結部におけるケー
ブルは、連結部に形成さ−れな中空ホルダー内を通し、
各可動腕にクランプ部材等によって夫々固定している。(Prior Art) In general, industrial robots have a movable arm with a gripping mechanism rotatably attached to the robot body, and are rotated horizontally and vertically by a control device to perform predetermined transshipment operations, assembly operations, etc. It is now possible to do this. Cables containing signal lines, power lines, etc. for transmitting and receiving operation control signals, drive control signals, etc. from the control device are wired within the movable arm and within the connecting portion. The cable in the connection part passes through a hollow holder not formed in the connection part;
It is fixed to each movable arm by a clamp member or the like.
この様なケーブルの支持装置としては、例えば、特開平
１−３０６１９３号公報に記載されている。Such a cable support device is described in, for example, Japanese Patent Laid-Open No. 1-306193.
（発明が解決しようとする課題）
上述のようなケーブルを連結部の中空ホルダー内を通し
、その両側を各可動腕等に固着する構成では、ケーブル
の本数が多くなると１本の太いケーブルと同じ状態にな
り、曲げ曲率半径が大きくなって連結部、および、可動
腕のケーブルを装着するための空隙部を大きくしなけれ
はならない。(Problem to be Solved by the Invention) In the configuration in which the cables as described above are passed through the hollow holder of the connecting part and fixed to each movable arm on both sides, when the number of cables increases, it becomes the same as one thick cable. As a result, the radius of bending curvature becomes larger, and the space for attaching the connecting portion and the cable of the movable arm must be made larger.
また、複数本のケーブルが連結部で１本の太いケーブル
の状態になるため、曲率半径の小さい側に位置するケー
ブルに大きな曲げ応力が生じると共に、可動腕を旋回さ
せた時に捩じれ応力が生じ、ケーブルの寿命が短くなる
。In addition, since multiple cables become one thick cable at the connection part, large bending stress is generated on the cable located on the side with a smaller radius of curvature, and torsional stress is generated when the movable arm is rotated. Cable life will be shortened.
（課題を解決するための手段）
上述の課題を解決するために本発明のケーブル支持装置
は、可動腕の連結部を経て配線されたケーブルを支持す
る装置において、前記連結部にケーブル挿通用孔が複数
個穿設されたケーブル支持部材を回転自在に装着した構
成にしである。(Means for Solving the Problems) In order to solve the above-mentioned problems, the cable support device of the present invention is a device for supporting a cable routed through a connecting portion of a movable arm, and includes a cable insertion hole in the connecting portion. It has a structure in which a cable support member having a plurality of holes is rotatably attached thereto.
また、ケーブル支持部材の軸心部にケーブル支持用杆を
回転自在に装着した構成にしである。Further, a cable support rod is rotatably attached to the axial center of the cable support member.
さらに、ケーブル支持用杆の端部に、ケーブル挿通用孔
が複数個穿設されたケーブル支持部材を固着せしめた構
成にしである。Furthermore, a cable support member having a plurality of cable insertion holes is fixed to the end of the cable support rod.
（作用）
本発明のケーブル支持装置は、連結部に回転自在に装着
したケーブル支持部材によって複数本のケーブルを分離
した状態で支持し、各ケーブルに生じる応力が略均−に
、かつ小さくなるようにしである。(Function) The cable support device of the present invention supports a plurality of cables in a separated state by a cable support member rotatably attached to a connecting portion, so that the stress generated in each cable is approximately uniform and small. It's Nishide.
また、ケーブル支持部材の軸心部に回転自在に装着され
たケーブル支持用杆によってケーブルを支持し、可動腕
等の回動中心とケーブル支持部材の回動中心が異なって
もケーブルに不要に力か作用せずケーブルが円滑に回動
する。In addition, the cable is supported by a cable support rod that is rotatably attached to the axis of the cable support member, and even if the rotation center of the movable arm etc. and the rotation center of the cable support member are different, unnecessary stress is applied to the cable. The cable rotates smoothly without any interference.
（実施例）
本発明の旋回腕におけるケーブル支持装置の構成の１実
施例を図面に基づいて説明する。(Embodiment) An embodiment of the configuration of the cable support device in the swing arm of the present invention will be described based on the drawings.
１は機台（図示せず）に回動自在に取り付けられた第１
可動腕であり、連結用軸体３がボルト４によって一体的
に取り付けである。２は連結用軸体３にベアリング５に
よって回動自在に取り付けた第２可動腕である。該連結
用軸体３は第１可動腕１に一体物として形成することも
できる。1 is a first unit rotatably attached to a machine base (not shown).
It is a movable arm, and a connecting shaft 3 is integrally attached with a bolt 4. Reference numeral 2 denotes a second movable arm rotatably attached to the connecting shaft 3 by means of a bearing 5. The connecting shaft 3 can also be formed integrally with the first movable arm 1.
上述のベアリング５は止め輪６によって連結用軸体３に
、止め輪７によって第２可動腕の所定の位置に固定しで
ある。８は連結用軸体３にボルト９によって取り付けた
円筒状のブラケットであり、ケーブル支持部材１０が軸
受１１ａ、ｌｌｂによって回動自在に取り付けである。The above-mentioned bearing 5 is fixed to the connecting shaft 3 by a retaining ring 6 and to a predetermined position of the second movable arm by a retaining ring 7. 8 is a cylindrical bracket attached to the connecting shaft body 3 with bolts 9, and the cable support member 10 is rotatably attached by bearings 11a and llb.
また、該ケーブル支持部材１０と軸受１１ａ、ｌｌｂは
止め輸１２ａ、１２ｂによってブラケット８の所定位置
に取り付けである。該ブラケット８を取り付けず、直接
ケーブル支持部材１０を軸受け１１によって直接連結用
軸体３に取り付けることもできる。また、上述のケーブ
ル支持部材１０には、軸心位置にケーブル支持用杆１３
ａ、１３ｂが回転自在に取り付けであると共に、第２図
に示すように同軸心の円周上にケーブル１５を挿通する
ための孔１０ａが複数個（４カ所）穿設しである。鎖孔
１０ａはケーブル１５の外径寸法より大きい寸法にしで
ある。該ケーブル支持用杆１３ａ、１３ｂは止め輪１４
ａ、１４ｂによってケーブル支持部材１０に取り付けて
あり、ケーブル１５を所定の方向に引き出せるように略
９０°の状態に曲げである。１６はケーブル１５をケー
ブル支持用杆１３に一体的に締結する集束具である。Further, the cable support member 10 and bearings 11a and llb are attached to predetermined positions on the bracket 8 by means of stoppers 12a and 12b. It is also possible to directly attach the cable support member 10 to the connection shaft 3 by the bearing 11 without attaching the bracket 8. In addition, the above-mentioned cable support member 10 has a cable support rod 13 at the axial center position.
a and 13b are rotatably mounted, and as shown in FIG. 2, a plurality of holes 10a (four holes) are bored on the circumference of the coaxial core for passing the cable 15 through. The chain hole 10a has a dimension larger than the outer diameter of the cable 15. The cable support rods 13a and 13b are provided with retaining rings 14.
It is attached to the cable support member 10 by a and 14b, and is bent at approximately 90 degrees so that the cable 15 can be pulled out in a predetermined direction. 16 is a bundler for integrally fastening the cable 15 to the cable support rod 13.
上述のケーブル支持装置においては、各ケーブル１５が
ケーブル支持部材１０の孔１０ａに夫々１本ずつ挿通し
であるため、第１可動腕１、あるいは、第２可動腕２が
回動した時に、特定のクープル１５に偏った応力が作用
せず、可動腕１．２と共にゲーゾ１５を円滑に回動でき
る。また、各ケーブル１５がケーブル支持用杆１３に一
体的に集束して締結しであるため、該可動腕１．２の回
動中心とケーブル支持部材１０等の回動中心が興なり、
しかも、可動腕の回動角度（θ）が異なる場合でも、ケ
ーブル１５に不要な力が作用せず、可動腕１．２の回動
動作に制約されずにケーブル１５を円滑に回動させるこ
とができる。In the cable support device described above, each cable 15 is inserted through the hole 10a of the cable support member 10, so when the first movable arm 1 or the second movable arm 2 rotates, a specific No biased stress is applied to the couple 15, and the gauge 15 can be smoothly rotated together with the movable arm 1.2. In addition, since each cable 15 is integrally bundled and fastened to the cable support rod 13, the rotation center of the movable arm 1.2 and the rotation center of the cable support member 10, etc. are aligned,
Moreover, even if the rotation angles (θ) of the movable arms are different, unnecessary force is not applied to the cable 15, and the cable 15 can be smoothly rotated without being restricted by the rotation movement of the movable arm 1.2. I can do it.
上述の実施例においては、ケーブル支持用杆１３を各可
動腕１．２に対応して設けたが、第３図に示すように可
動腕の一方にのみ設けることもできる。In the embodiment described above, the cable support rod 13 is provided corresponding to each movable arm 1.2, but it can also be provided only on one of the movable arms, as shown in FIG.
また、第４図に示すようにケーブル支持用杆を設置せず
、ケーブル挿通用孔１７ａを有するケープル支持部材１
７を軸受１８によってブラケット８に取り付けた構成、
集束具１９が各可動腕１．２に設置したガイド２０に係
合した状態で移動する構成にすることもできる。In addition, as shown in FIG. 4, a cable support member 1 having a cable insertion hole 17a without installing a cable support rod.
7 is attached to the bracket 8 by a bearing 18,
It is also possible to provide a configuration in which the focusing device 19 moves in a state in which it engages with a guide 20 installed on each movable arm 1.2.
さらに、集束具１６を、ケーブル支持用杆１３に回転自
在に装着され、かつ、ケーブル挿通用孔を有する円板に
よって形成すると、可動腕を回動させた時のケーブル１
５に生じる応力をより小さく、かつ、均一にすることが
できる。Furthermore, if the converging tool 16 is rotatably attached to the cable support rod 13 and is formed by a disk having a cable insertion hole, the cable 16 can be rotated when the movable arm is rotated.
5 can be made smaller and more uniform.
上述のケーブルの支持装置は可動腕間の連結部の他ロボ
ット本体、あるいは、回転テーブル等と可動腕の接続部
にも適用することができる。The above-mentioned cable support device can be applied not only to the connecting portion between the movable arms but also to the connecting portion between the robot body, a rotary table, etc., and the movable arm.
（発明の効果）
本発明のケーブル支持装置は、可動腕の連結部を経て配
線されたケーブルを支持する装置において、前記連結部
にケーブル挿通用孔が複数個穿設されたケーブル支持部
材を回転自在に装着せしめた構成にしであるため、可動
腕が回動した時に、特定のケーブルに偏った応力が作用
せず、該可動腕と共にケープを円滑に回動させることが
できる。(Effects of the Invention) The cable support device of the present invention is a device for supporting cables routed through a connection portion of a movable arm, in which a cable support member having a plurality of cable insertion holes drilled in the connection portion is rotated. Since the cape is configured to be freely attached, when the movable arm rotates, no biased stress is applied to a particular cable, and the cape can be smoothly rotated together with the movable arm.
また、ケーブル支持部材の軸心部にゲーブル支持用杆を
回転自在に装着せしめた構成にすることにより、可動腕
等の回動中心と該ケーブル支持部材の回動中心が異なる
場合でも、ケーブルに不要に力か作用せずケーブルを円
滑に回動させることかできる。In addition, by configuring the gable support rod to be rotatably attached to the axial center of the cable support member, even if the rotation center of the movable arm, etc. and the rotation center of the cable support member are different, the cable The cable can be rotated smoothly without applying unnecessary force.
さらに、ケーブル支持用杆の端部に、ケーブル挿通用孔
が複数個穿設されたケーブル支持部材を固着せしめた構
成にすることにより、ケーブルに不要な応力が作用せず
、しかも、ケーブル支持用杆と共にケーブルをより円滑
に回動させることができる。Furthermore, by affixing a cable support member with multiple cable insertion holes to the end of the cable support rod, unnecessary stress is not applied to the cable. The cable can be rotated more smoothly together with the rod.
第１図は本発明のケーブル支持装置の１実施例を示す概
略断面図である。
第２図は第１図におけるｚ−２矢視図である。
第３図、および、第４図は本発明のケーブル支持装置の
他の実施例を示す概略断面図である。
第５図は可動腕の回動中心とケーブル支持部材の回動中
心が異なる場合の可動腕とケーブルの関係を示す概略図
である。
１ ：
３ ：
８ ：
１０゜
１１゜
１５ ：
２０：
第１可動腕、 ２：第２可動腕、
連結用軸体、 ５：ベアリング、
ブラケット、
１７：ケーブル支持部材、
１８：軸受、 １３：ケーブル支持用杆、ケーブル、
１６，１９：集束具、
ガイド、
出願人 東レエンジニアリング株式会社、、、Ｊ
第２図
第５図FIG. 1 is a schematic sectional view showing one embodiment of the cable support device of the present invention. FIG. 2 is a view taken along arrow z-2 in FIG. 1. 3 and 4 are schematic sectional views showing other embodiments of the cable support device of the present invention. FIG. 5 is a schematic diagram showing the relationship between the movable arm and the cable when the rotation center of the movable arm and the rotation center of the cable support member are different. 1: 3: 8: 10゜11゜15: 20: First movable arm, 2: Second movable arm, connecting shaft, 5: Bearing, bracket, 17: Cable support member, 18: Bearing, 13: Cable Supporting rods, cables,
16, 19: Focusing tool, guide, applicant Toray Engineering Co., Ltd., J Figure 2 Figure 5
Claims (1)
装置において、前記連結部にケーブル挿通用孔が複数個
穿設されたケーブル支持部材を回転自在に装着せしめた
ことを特徴とするケーブル支持装置。 ２）ケーブル支持部材の軸心部にケーブル支持用杆を回
転自在に装着せしめたことを特徴とする請求項１のケー
ブル支持装置。 ３）ケーブル支持用杆の端部に、ケーブル挿通用孔が複
数個穿設されたケーブル支持部材を固着せしめたことを
特徴とする請求項２のケーブル支持装置。[Scope of Claims] 1) In a device for supporting a cable wired in a connecting portion of a movable arm, a cable support member having a plurality of cable insertion holes is rotatably attached to the connecting portion. A cable support device characterized by: 2) The cable support device according to claim 1, wherein a cable support rod is rotatably mounted on the axis of the cable support member. 3) The cable support device according to claim 2, wherein a cable support member having a plurality of cable insertion holes is fixed to the end of the cable support rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23039890A JPH04111795A (en) | 1990-08-30 | 1990-08-30 | Cable support device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23039890A JPH04111795A (en) | 1990-08-30 | 1990-08-30 | Cable support device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04111795A true JPH04111795A (en) | 1992-04-13 |
Family
ID=16907256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23039890A Pending JPH04111795A (en) | 1990-08-30 | 1990-08-30 | Cable support device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04111795A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08141974A (en) * | 1994-11-18 | 1996-06-04 | Tokico Ltd | Industrial robot |
| US5813286A (en) * | 1996-04-04 | 1998-09-29 | Hansen; Henning | Support arm |
| JP2002532275A (en) * | 1998-12-18 | 2002-10-02 | エービービー エービー | Robot device |
| US6622585B1 (en) * | 1998-10-16 | 2003-09-23 | Abb Ab | Industrial robot and cable guiding device for this robot and use of the device |
| JP2009090381A (en) * | 2007-10-04 | 2009-04-30 | Yaskawa Electric Corp | Robot and the wiring method |
| JP2010149214A (en) * | 2008-12-24 | 2010-07-08 | Seiko Epson Corp | Horizontal multi-articulated robot |
| JP2011161571A (en) * | 2010-02-10 | 2011-08-25 | Daihen Corp | Articulated robot |
| JP2013223923A (en) * | 2013-08-06 | 2013-10-31 | Seiko Epson Corp | Horizontal articulated robot |
| EP2684654A3 (en) * | 2012-07-12 | 2014-02-19 | Canon Kabushiki Kaisha | Robot comprising a first frame, a second frame and a cable arranged along a side surface of the frames |
| CN105058426A (en) * | 2015-08-18 | 2015-11-18 | 安徽埃夫特智能装备有限公司 | Peripheral-pipeline mounting rotating base for industrial robot and assembling method thereof |
| JP2020044589A (en) * | 2018-09-14 | 2020-03-26 | 株式会社安川電機 | Outfitting equipment and robot |
| JP2020044648A (en) * | 2019-12-10 | 2020-03-26 | ファナック株式会社 | Rotary shaft cable wiring structure |
| WO2023079707A1 (en) * | 2021-11-05 | 2023-05-11 | ファナック株式会社 | Rotary shaft structure, and machine |
-
1990
- 1990-08-30 JP JP23039890A patent/JPH04111795A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08141974A (en) * | 1994-11-18 | 1996-06-04 | Tokico Ltd | Industrial robot |
| US5813286A (en) * | 1996-04-04 | 1998-09-29 | Hansen; Henning | Support arm |
| US6622585B1 (en) * | 1998-10-16 | 2003-09-23 | Abb Ab | Industrial robot and cable guiding device for this robot and use of the device |
| JP2002532275A (en) * | 1998-12-18 | 2002-10-02 | エービービー エービー | Robot device |
| JP4831867B2 (en) * | 1998-12-18 | 2011-12-07 | エービービー エービー | Industrial robot and its operation method |
| JP2009090381A (en) * | 2007-10-04 | 2009-04-30 | Yaskawa Electric Corp | Robot and the wiring method |
| JP2010149214A (en) * | 2008-12-24 | 2010-07-08 | Seiko Epson Corp | Horizontal multi-articulated robot |
| JP2011161571A (en) * | 2010-02-10 | 2011-08-25 | Daihen Corp | Articulated robot |
| US9346173B2 (en) | 2012-07-12 | 2016-05-24 | Canon Kabushiki Kaisha | Robot |
| EP2684654A3 (en) * | 2012-07-12 | 2014-02-19 | Canon Kabushiki Kaisha | Robot comprising a first frame, a second frame and a cable arranged along a side surface of the frames |
| JP2014030893A (en) * | 2012-07-12 | 2014-02-20 | Canon Inc | Robot |
| JP2013223923A (en) * | 2013-08-06 | 2013-10-31 | Seiko Epson Corp | Horizontal articulated robot |
| CN105058426A (en) * | 2015-08-18 | 2015-11-18 | 安徽埃夫特智能装备有限公司 | Peripheral-pipeline mounting rotating base for industrial robot and assembling method thereof |
| JP2020044589A (en) * | 2018-09-14 | 2020-03-26 | 株式会社安川電機 | Outfitting equipment and robot |
| JP2020044648A (en) * | 2019-12-10 | 2020-03-26 | ファナック株式会社 | Rotary shaft cable wiring structure |
| WO2023079707A1 (en) * | 2021-11-05 | 2023-05-11 | ファナック株式会社 | Rotary shaft structure, and machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6431018B1 (en) | Guide device for wiring member and/or piping member and robot with guide device | |
| JPH04111795A (en) | Cable support device | |
| US4703668A (en) | Wrist mechanism for a robot arm | |
| US6795750B2 (en) | Industrial robot | |
| KR102123935B1 (en) | robot | |
| US6338566B1 (en) | Flexible stop piece for limiting angular travel, articulated system comprising such a stop piece, and medical equipment comprising such an articulated system | |
| WO1998026906A1 (en) | Robot construction | |
| JPH03256691A (en) | Cable processing structure for revolving shaft for industrial robot | |
| US4877973A (en) | Apparatus for dealing with cables in industrial robots | |
| JPH0426996B2 (en) | ||
| JP2001150382A (en) | Guide device of wiring member and/or piping member, and robot having the same | |
| JPH07108485A (en) | Rotary joint of robot and the like | |
| JPH0317635B2 (en) | ||
| JPH07124886A (en) | Revolute joint device for industrial robot | |
| KR200277585Y1 (en) | Outer cable harness device of Selective Compliance Assembly Robot Arm for industrial | |
| JPH1034588A (en) | Wiring cable supporting device for industrial robot | |
| EP0232930A1 (en) | Manipulator with rod mechanism | |
| JP2006007355A (en) | Wrist device of robot | |
| JPH03125055A (en) | Actuator for robot | |
| JP2012081528A (en) | Articulated robot | |
| JPH02218585A (en) | Industrial robot | |
| JPH0417355Y2 (en) | ||
| JPH0724777A (en) | Robot arm structure equipped with piping and wiring | |
| KR102120791B1 (en) | Forearm Structure of Robot Arm | |
| KR0139929Y1 (en) | Cable supporting apparatus for robot arm |