JPH0739575Y2 - Cable retainer for rotating parts - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a cable holding device connected to a rotating part of an industrial robot or the like.

[Prior Art] Conventionally, when a wrist part of an industrial robot or the like rotates about an arm, a cable for transmitting power from the arm to an actuator provided on the wrist part is prevented from being twisted or damaged by collision with the outside. In order to protect the ring, a double cylindrical fixed guide forms a ring-shaped space between the fixed part and the rotating part.
There is disclosed a configuration in which a pipe wiring inserted from the fixed portion into the ring-shaped space is allowed to exist in the space for a length corresponding to a swinging rotation angle and is taken out from the rotating portion (for example, Japanese Patent Laid-Open Publication No. Sho. 59-129688).

[Problems to be Solved by the Invention] By the way, it is necessary to connect a large number of cables such as a signal line for transmitting a signal for detecting a rotation angle and torque in addition to power to the actuator provided on the wrist. But,
If a double-cylinder-shaped fixed guide is provided between the fixed part and the rotating part as described above, it takes time and effort to insert a large number of cables so as not to get entangled in the fixed guide. There were drawbacks such as it was difficult to check the condition of.

The present invention aims at facilitating the mounting work of a large number of cables.

[Means for Solving the Problems] The present invention provides a rotating part that is rotationally driven by a rotating shaft provided in a fixed part, and a plurality of cables having one end fixed to the fixed part and the other end fixed to the rotating part. In a rotating partial cable holding device comprising: an annular portion formed by bending the plurality of flatly arranged cables into a substantially circular shape; and an elastic coating made of an insulating elastic material that covers the annular portion, A U-shaped bent portion is provided in the annular portion, and one end of the annular portion that is overlapped in a substantially semicircular shape by the bent portion is fixed to the fixed portion, and the other end is fixed to the rotating portion. It was done.

[Operation] An annular portion formed by arranging a plurality of cables in a flat shape and curving in a substantially circular shape is covered with an annular coating made of an elastic insulator, and a U-shaped bent portion is formed in the annular portion, Since both ends of the annular part are fixed to the fixed part and the rotating part in a state of overlapping in a semicircular shape, as the rotating part rotates, the rigidity of the elastic coating covering the annular part changes the annular curvature. The moving end of the annular portion moves on the circumference of the radius R of the annular portion to the U-shaped bent portion while maintaining the allowable bending radius r without breaking.

[Embodiment] An embodiment of the present invention shown in the drawings will be described.

FIG. 1 is a side view of an embodiment of the present invention, in which a rotating portion 3 such as a wrist portion that is rotationally driven by a rotating shaft 2 provided on a fixed portion 1 such as an arm is provided, and the fixed portion 1 to the rotating portion 3 are provided. A cable 4 is routed to this. As shown in FIG. 2, a plurality of cables 4 are arranged in a flat shape, and an annular portion 41 curved in a substantially circular shape with a radius R is formed in the central portion. The annular portion 41 is made of an insulating elastic material such as rubber. It is covered by the elastic coating 5. A fixed end 42, which is one end of the annular portion 41, is fixed to the fixed portion 1 via a cable fixing tool 11. The annular portion 41 is arranged on a plane perpendicular to the rotation axis of the rotating portion 3, and as shown in FIG. 3, a bent portion 43 is formed in a U shape with an allowable bending radius r, and the radius R is almost the same. The moving end 44, which is the other end in the state of being overlapped in a semicircular shape, is attached to the rotating portion 3 by the cable fixing member 31.
Is fixed through.

When the rotating part 3 rotates, as shown in FIG.
Assuming that a position where 44 and the fixed end 42 overlap at the same position on the circumference is a starting point, as shown in FIG. 4, as the rotating part 3 rotates, the elastic coating 5 covering the annular part 41 is formed. Due to the rigidity, the moving end 43 moves on the circumference of the radius R of the ring while maintaining the allowable bending radius r in the U-shaped bent portion 43 without breaking the curvature of the ring.

The rotation angle α of the bending portion 43 is 1/2 of the rotation angle β of the rotating portion 3 because the cable 4 moves in a double structure. Therefore, if the rotation angle α of the bent portion 43 is a semicircular shape of about ± 180 °, the rotation angle β of the rotating portion 3 can rotate about ± 360 °.

Further, since the annular portion of the cable is covered with the elastic coating such as rubber, the annular coating is elastically deformed even when it collides with the outside, and the colliding partner is not damaged.

As described above, the annular portion in which a plurality of cables are arranged in a flat shape is provided, and the annular portion is covered with the elastic coating of the insulating elastic material, while maintaining the allowable bending radius r in the U-shaped bent portion. Since the portion parallel to the rotation surface is always maintained in the annular shape having the radius R, it is necessary to provide a double cylindrical fixed guide between the fixed portion and the rotating portion as in the conventional case. Instead, the cable can be attached only by fixing both ends of the annular portion to the fixed portion and the rotating portion.

In addition, it does not require a partition like a double-cylindrical fixed guide, and many cables are arranged in a line in an annular shape, so it is easy to check the operating state of the cables passed to the fixed part and the rotating part. be able to.

[Effects of the Invention] As described above, according to the present invention, the cable is not twisted by the mounting work for fixing both ends of the annular portion to the fixed portion and the rotating portion, respectively. This has the effect of facilitating the work of attaching and inspecting the cables that are wired to the rotating parts such as the wrist of the robot.

[Brief description of drawings]

FIG. 1 is a side view of an essential part showing an embodiment of the present invention, FIG. 2 is a front view of an annular portion, and FIGS. 3 and 4 are operation explanatory views of the annular portion. 1 ... Fixed part, 2 ... Rotating shaft, 3 ... Rotating part, 4 ... Cable,
41 ... annular part, 42 ... fixed end, 43 ... bent part, 44 ... moving end, 5 ... elastic coating

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References Japanese Patent Laid-Open No. 64-50711 (JP, A) Shoukai 62-65189 (JP, U)

Claims (1)

[Scope of utility model registration request] 1. A rotary partial cable holder comprising: a rotary part which is rotationally driven by a rotary shaft provided in a fixed part; and a plurality of cables having one end fixed to the fixed part and the other end fixed to the rotary part. In the device, an annular portion formed by bending the plurality of cables arranged in a flat shape into a substantially circular shape, an elastic coating made of an insulating elastic material that covers the annular portion, and a U-shape on the annular portion. The formed bent portion is provided, and one end of the annular portion that is substantially semicircularly overlapped by the bent portion is fixed to the fixed portion, and the other end is fixed to the rotating portion. Cable retainer.