JPS63318285A - Wiring device for joint section - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a wiring device suitable for use in a rotary joint of a robot or the like.

[Conventional technology]

Figures 6(a) and 6(b) are a cross-sectional view and a side view of a conventional wiring device for joints, as shown in, for example, the Robot Design Handbook (Machinery and Tools Separate Volume, Kogyo Kenkyukai, 1982). be. In the figure, (1) is a fixed case,
(2) is a rotating shaft that is supported by this fixed case (1) through a bearing (3) so as to be relatively rotatable, and (4) is a rotating shaft that is supported by multiple insulators (5) in the axial direction. One end of the current collector ring (6) is connected to each of the current collectors 1 (4), and the other end is connected to the outside through a hole (2a) formed in the axial center of the rotating shaft (2). The pulled out cable (7) is the current collector! Terminals (8) are provided on the fixed case (1) corresponding to each of (4), and (8) are brushes that electrically connect each of these terminals (A) to the corresponding current collection ring (4). Each of them is configured to be in sliding contact with the outer peripheral surface of the current collecting ring (4).

[Problems to be Solved by the Invention] As described above, the conventional joint wiring device has a fixed case (
Since the terminal (7) on the 1) side and the cable on the rotating shaft (2) side are electrically connected via the brush (8) and the current collecting ring (4), contact of the brush (8) The rotational torque inevitably increases due to the pressure, and as the number of cables increases, it is necessary to provide a large number of combinations of current collection rings (4) and brushes (8), and as a result, the device becomes complicated.
The problem was that it had to be made larger.

The present invention has been made to solve the above-mentioned problems, and provides a wiring device for a joint that can be made smaller at low cost and that allows wiring of many cables to a rotating joint. The purpose is to

[Means for Solving the Problems] The joint wiring device of the present invention applies bias in the relative rotational direction between the cables routed from the fixed side to the rotating side in the relatively rotatable joints. A slack portion with a length that can be absorbed is provided, and this slack portion is looped around a movable pulley that is biased in one direction.

[Effect]

In the present invention, the slack portion of the cable for enabling relative rotation between the stationary side and the rotating side is wrapped around a movable pulley that is biased in one direction. Tension can be generated at all times, there is no twisting of the cable, and the above relative rotation can be performed without the cable getting in the way.

(Example) Hereinafter, the present invention will be explained based on an example of FIGS. 1 to 3. The wiring device of this example has a fixed side (10) located inside a rotating side (9), A stepped portion (10a) is provided, and a guide groove (11) is provided between the outer circumferential surface (10b) of the stepped portion (10a) and the inner circumferential surface (9a) of the rotation side (9).
The fixed side (9) is formed through a tensioner (12) made of a linear elastic body in this guide groove (11).
A pulley (13) is movably connected to the
The slack part (14) of the cable (14) is attached to this pulley (13).
a) so that tension is always generated in this slack portion (14a). In addition, the pulley (13) is
As shown in Fig. 2, a stepped shaft member (13a) is tightly attached to the tensioner (12), and a hat-shaped shaft member rotatably attached to the small diameter portion (13b) of the stepped shaft member (13b) via a pair of bearings (15). member (L3c), each cable (14
) is constructed by hanging around this hat-shaped member (13b).

Therefore, the shaft on the rotating side (9) is rotated counterclockwise (as shown in Figure 3(a)) or clockwise (as shown in Figure 3(a)) from the position shown in Figure 3(b).
C)) Even if the cables (14) are rotated in the
4a) is a pulley (13) biased by a tensioner (12).
), and since tension is always generated in the slack portion (14a), the cable (14) will not twist and will not interfere with the rotational movement of the rotating shaft. In addition, since the pulley (13) is provided with a rotatable hat-shaped member (13b) around which the cable (14) is wound, friction may occur between the hat-shaped member (13b) and the cable (14). Furthermore, by setting the diameter of the hat-shaped member (13b) appropriately large, the radius of curvature of the bent portion of the cable (14) can be increased to a certain extent, thereby reducing fatigue failure of the cable (14). It is also possible to extend the lifespan.

In addition, even if the rotating side (9) in the above structure is fixed and the stationary side (10) is rotated, it functions similarly to the above embodiment.

Further, in the above embodiment, the pulley (1) is provided in the guide groove (11).
3) is shown as a single girder, but as shown in Fig. 4, two girders may be installed via the lever (16).
In such a case, the cable first turn part is the stepped part (10a).
Since the cables slide in sliding contact at two points on the outer peripheral surface (10b) of the cable, stability is improved and mutual interference between the cables can be prevented on the proximal end side of the slack part (t4a), and the rotation of the rotating side (9) is improved. This has the advantage of allowing a large amount of directional deviation.

In addition, in the above embodiment, each cable (14) is connected to the outer circumferential surface of the hatch-shaped member (13c) of the pulley (13), but the outer circumferential surface of the hatch-shaped member (13c) As shown in FIG. 5, a plurality of flange portions (13d) may be provided on the surface, and each cable may be placed in each annular groove (13e) formed by the flanges. This makes it possible to further extend the life of the cable.

〔Effect of the invention〕

As described above, according to the present invention, the slack portion of the cable for enabling relative rotation between the stationary side and the rotating side is wrapped around a movable pulley that is biased in one direction. This has the effect that tension can be constantly generated in the slack portion of the cable, the cable is not twisted, and the above relative rotation can be performed without the cable getting in the way.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view showing one embodiment of the device of the present invention, FIG. 2 is a cross-sectional view showing an enlarged main part of the device shown in FIG.
), (b), and (c) are all explanatory diagrams showing different operating modes from those in Figure 1, Figure 4 is a diagram equivalent to Figure 1 showing another embodiment of the present invention, and Figure 5 is an illustration of the present invention. 6(a) and 6(b) show a conventional device, and FIG. 6(a) is a sectional view, and FIG.
Figure (b) is its side view. (9)... Rotating side (10)... Fixed side (1
2)...Tensioner (13)...Pulley (14)
)... Cable (14a)... Loose part of the cable In each figure, the same reference numerals indicate the same or equivalent parts. Agent Masuo Oiwa Figure 1 Figure 4

Claims (3)

[Claims] (1) In a relatively rotatable joint, a cable wired from the fixed side to the rotating side is provided with a slack portion long enough to absorb the deviation in the relative rotational direction between them, and this slack portion is A wiring device for a joint, characterized in that the wiring device is connected to a pulley that is biased in a direction and is movable. (2) The above-mentioned pulley is formed between the outer periphery of a small-diameter stepped tube provided on the fixed or rotating side located inside the joint and the inner periphery of the rotating or fixed side located outside the joint. 2. The wiring device for a joint according to claim 1, wherein the wiring device is disposed in a guide groove. (3) The pulley is rotatably mounted via a bearing on a shaft member that is connected to the fixed side or rotating side by a linear elastic body and guided in the guide groove. A wiring device for a joint according to claim 1 or 2.