JPH05301193A - Joint position wiring structure of automatic machine - Google Patents

Abstract

PURPOSE:To make a cable holder bend following a wiring to move following the rotation of arms, and to prevent a breaking of wire of the wiring and the like, by holding the wiring penetrating a joint between plural arms with the flexible cable holder provided on both sides of the joint. CONSTITUTION:In a joint position wiring structure of a robot, a wiring 4 stranded in a rope form beforehand is inserted to a hole 3a for a wiring penetrating a joint 3 between plural arms 1 and 2. The wiring 4 is held to springy cable holders 5 flexible bending in L-shape, which are fixed respectively to the side surfaces of plural arms 1 and 2 on both sides of the joint 3, by fastening with bands 5a. As a result, the cable holders 5 follow the wiring 4 which moves following the rotation of one side arm 1, being bent flexibly, and a stress concentrating to the holding part can be reduced. Consequently, breaking of wire and the like of the wiring 4 can be prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joint wiring structure for an automatic machine. From the viewpoint of ensuring durability, that is, long life, an automatic machine, such as a robot, has a larger size because the wiring of joints, which greatly contributes to the life, has an extra length. The extra length cannot be taken, and the life of the robot is shortened due to wire breakage. Therefore, there is a demand for a wiring structure in which there is no risk of disconnection at the joint.

[0002]

2. Description of the Related Art As shown in a side sectional view of a main part of FIG. 2, a conventional joint wiring structure of a robot has a first arm 11 provided with a bearing housing 11a at a rotation axis and a bearing housing of the first arm 11. A plurality of wiring holes 13a (two in the figure are shown) are provided in the wiring hole 13a that penetrates the shaft portion 12a of the joint portion 13 that is composed of the second arm 12 that has the shaft portion 12a that is pivotally attached to the bearing 11b that is fitted in the shaft 11a (Shown in FIG. 3) through the parallel wiring 14, and connect the wiring 14 to the joint portion 13
The first arm 11 and the second arm 12 on both sides of the cable holder 15 are fixed to the cable holders 15 fixed to the inner side surfaces of the first arm 11 and the second arm 12, respectively.

The first arm 11 is configured to rotate with respect to the second arm 12 by a gear drive mechanism (not shown) provided in the joint portion 13 in the arrow direction ± 180 ° about the axis A. ing.

[0004]

However, according to the above wiring structure of the joint portion, the wiring that passes through the through hole of the joint portion is provided between the cable holders held by the rotation operation of the first arm. There is a problem in that the wire is twisted and the concentrated stress is generated at the holding position and fatigue causes wire breakage.

In view of the above problems, it is an object of the present invention to provide a joint part wiring structure for an automatic machine, which can eliminate the disconnection of the wires inserted in the joint part.

[0006]

In order to achieve the above object, in the joint portion wiring structure of the automatic machine according to the present invention, the wiring which is passed through the wiring hole passing through the joint portion is substantially rotated. It is held by flexible cable holders that are fixed to both sides of the joint through the axis. Alternatively, the wiring is configured to be twisted in a rope shape in advance and wired. Alternatively, the wiring that is twisted into a rope shape in advance is held by the flexible cable holder.

[0007]

The wiring is held by the flexible cable holders that are fixed to both sides of the joint and pass substantially through the axis of rotation of the joint, so that the cable holder flexes flexibly according to the wiring that moves as the arm rotates. It is possible to reduce the concentrated stress generated in the holding portion.

Alternatively, since the wires are twisted in a rope shape in advance, a twisting tendency according to the rotation of the arm can be attached in advance, and the wiring is twisted and flexible according to the rotation of the arm. Since it is bent in a straight line, it is possible to reduce the concentrated stress generated in the wiring holding portion.

Alternatively, by preliminarily holding the wires twisted in a rope shape with a flexible cable holder, it is possible to further reduce the concentrated stress generated in the holding portion of the wires.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The gist of the present invention will be described in detail below with reference to the embodiments shown in the drawings. As shown in the side cross-sectional view of the main part of FIG. 1, a joint part wiring structure of a robot has a joint part 3 between a first arm 1 and a second arm 2 (the structure of this joint part 3 is the joint part of FIG. The wiring 4 (twenty-two in the figure is pre-twisted in a rope shape) in the wiring hole 3a penetrating through
Loosely twisted so that the covered electric wire of the book can bend and twist easily)
A flexible cable holder 5 having an L-shape and having a spring property, which is fixed to the inner surfaces of the arm 1 and the second arm 2, respectively.
(Material is a stainless steel thin plate for spring or a piano wire) It is tightened and held by band 5a.

Alternatively, although not shown in the figure, the conventional inflexible cable is formed by holding parallel wiring through a conventional parallel wiring, or by holding the wiring in a flexible cable holder, or vice versa. It is configured to be held by a holder.

With this configuration, the cable holder has flexibility (spring property), so that the cable holder flexibly flexes according to the wiring that moves in accordance with the rotation of the first arm, and the concentrated stress generated in the holding portion is generated. Reduce.

Further, since the wiring is twisted in a rope shape in advance, a twisting tendency according to the rotation of the arm can be attached in advance, and the wiring is twisted and flexible according to the rotation of the first arm. Since it is bent in a straight line, it is possible to reduce the concentrated stress generated in the wiring holding portion.

The structure in which the flexible cable holder holds the wires twisted in a rope shape as in the embodiment of FIG. 1 further reduces the concentrated stress generated in the holding portion due to the synergistic action of each of the above-mentioned actions. be able to.

[0015]

As described above in detail, according to the present invention,
Since it is possible to eliminate the disconnection of the wiring that is inserted in the joint, it can be applied to the wiring of the joint of the automatic machine such as a robot, and it is possible to achieve a very small effect and a long life of the automatic machine. Demonstrate.

[Brief description of drawings]

FIG. 1 is a side sectional view of an essential part of an embodiment according to the present invention.

FIG. 2 is a side sectional view of a main part according to a conventional technique.

[Explanation of symbols]

 1 is the first arm 2 is the second arm 3 is the joint part 3a is the wiring hole 4 is the wiring 5 is the flexible cable holder 15 is the cable holder

Claims (3)

[Claims] 1. The wiring to be passed through a wiring hole (3a) penetrating the joint (3) is formed by a plurality of parallel wirings (4) passing through substantially the rotational axis of the joint (3). A joint wiring structure for an automatic machine characterized by being held by flexible cable holders (5) fixed on both sides of (3). 2. The wiring to be passed through the wiring hole (3a) penetrating the joint (3) is a wiring (4) twisted in advance in a rope shape, and has substantially the rotation axis of the joint (3). A joint wiring structure for an automatic machine, characterized in that it is held by inflexible cable holders (15) fixed on both sides of the joint (3) through the joint. 3. The wiring (4) previously twisted into a rope shape according to claim 2 and the flexible cable holder (5) according to claim 1.
A joint wiring structure for an automatic machine, which is characterized by combining and.