WO2018211929A1 - Retrofitted connector - Google Patents

Retrofitted connector Download PDF

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Publication number
WO2018211929A1
WO2018211929A1 PCT/JP2018/016782 JP2018016782W WO2018211929A1 WO 2018211929 A1 WO2018211929 A1 WO 2018211929A1 JP 2018016782 W JP2018016782 W JP 2018016782W WO 2018211929 A1 WO2018211929 A1 WO 2018211929A1
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WO
WIPO (PCT)
Prior art keywords
exterior member
terminal
ring
inter
link
Prior art date
Application number
PCT/JP2018/016782
Other languages
French (fr)
Japanese (ja)
Inventor
侑 佐藤
智宏 藤川
Original Assignee
住友理工株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP2018058132A external-priority patent/JP2018195568A/en
Application filed by 住友理工株式会社 filed Critical 住友理工株式会社
Publication of WO2018211929A1 publication Critical patent/WO2018211929A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts

Definitions

  • the present invention relates to a retrofit connector that enables wiring across a joint portion that connects a link of a robot arm so as to be capable of relative displacement, for example.
  • a robot arm has a structure in which a plurality of links are connected by joints, and relative displacement of the plurality of links is allowed. Note that the joint portion of the robot arm allows a relative torsional displacement of the link in addition to a link that allows a relative tilt of the link.
  • the end effector control wiring provided at the distal end of the robot arm may extend from the proximal end side of the robot arm and straddle the joint. In this case, it is necessary that the wiring is not excessively pulled when the joint portion is driven and disconnected, and the movement of the robot arm in the joint portion, such as bending and stretching or torsion, is not hindered by the wiring.
  • Patent Document 1 proposes a joint driving device in which a linear member such as a wiring is folded and arranged in a U-shape at a joint portion that connects a link so as to be relatively displaceable. Has been.
  • Patent Document 1 since the structure of Patent Document 1 is built in the joint portion of the robot in advance, it has been difficult to apply to the existing robot later. Therefore, when a new wiring is provided for the purpose of adding a function to an existing robot, the structure of Patent Document 1 is adopted because the design of the robot itself needs to be significantly changed. However, a new structure was demanded.
  • the present invention has been made in the background of the above-mentioned circumstances, and the problem to be solved is that the joint portion and the like can be provided without obstructing the torsional operation or the like in the joint portion of the robot by a structure that can be retrofitted to an existing robot or the like. It is an object of the present invention to provide a retrofit connector having a novel structure that enables the wiring to straddle.
  • the first aspect of the present invention is a retrofit connector, in which the first exterior member and the second exterior member that are attached to the attachment target in an extrapolated state are capable of relative torsional rotation. And a housing space extending in the circumferential direction is formed between the first exterior member and the second exterior member, and the inter-terminal wiring is disposed in the circumferential direction in the housing space. The first terminal portion provided on the first exterior member and the second terminal portion provided on the second exterior member are electrically connected to each other by the inter-terminal wiring. It has a structure.
  • a retrofit connector having the structure according to the first aspect, for example, the first exterior member and the second link with respect to the links on both sides sandwiching the joint portion of the robot arm as the mounting target, etc.
  • the inter-terminal wiring connected to the external wiring on each link side is disposed so as to extend in the circumferential direction, the first exterior member and the second external body combined in a state in which relative rotation is allowed.
  • the exterior member is allowed to rotate relatively even when the inter-terminal wiring is disposed. Accordingly, since relative rotation between the object to which the first exterior member is attached and the object to which the second exterior member is attached is allowed, for example, a retrofit of this aspect is applied to the joint portion of the robot arm as the attachment object.
  • the connector it is possible to realize wiring that straddles the joint part while allowing relative rotation of the link as a mounting target in the joint part.
  • the inter-terminal wiring is arranged in the accommodating space between the first exterior member and the second exterior member combined with each other, the first exterior member and the second exterior member are connected to the robot arm.
  • a mounting object such as a link
  • the inter-terminal wiring arranged in the accommodation space is protected by the first exterior member and the second exterior member, the durability of the inter-terminal wiring is improved and interference with other peripheral members is prevented. Avoidance and the like can also be achieved.
  • a second aspect of the present invention is a retrofit connector, in which the first exterior member and the second exterior member attached to the attachment target are combined with each other in a manner that allows relative circumferential displacement.
  • a housing space extending in the circumferential direction is formed between the first exterior member and the second exterior member, and the first terminal portion connected to the external wiring in the housing space, respectively.
  • an inter-terminal wire provided at both ends of the second terminal portion so as to extend in the circumferential direction, the first insertion hole provided in the first exterior member and the second exterior member Both end portions of the inter-terminal wiring extend outside from the accommodation space through one of the provided second insertion holes.
  • both end portions of the inter-terminal wiring extend to the outside from the accommodating space, so that the first terminals provided at both ends of the inter-terminal wiring are provided.
  • the degree of freedom of arrangement of the terminal portion and the second terminal portion is increased. Thereby, the connection between the inter-terminal wiring and the external wiring can be made easier, and the arrangement space of the first terminal portion and the second terminal portion can be easily secured.
  • a third aspect of the present invention is a retrofit connector, wherein the first exterior member and the second exterior member to be attached to the attachment object extend in the circumferential direction with a length that does not reach one circumference, and The one exterior member and the second exterior member are combined with each other in a manner that allows relative circumferential displacement, and the circumferential direction is between the first exterior member and the second exterior member.
  • a first terminal portion and a second terminal provided with the inter-terminal wiring provided at both ends thereof, wherein the inter-terminal wiring extends in the circumferential direction.
  • the first exterior member side and the second exterior member side are connected to the respective external wirings through the portion.
  • the first exterior member and the second exterior member have a length that is less than one circumference in the circumferential direction.
  • the member and the second exterior member do not necessarily have to be mounted on the mounting target in an extrapolated state.
  • a link of a robot arm connected so as to be relatively tiltable by a bending joint, etc. It is also possible to make it a wearing target.
  • the first exterior member and the second exterior member are both at least in the circumferential direction. It can be divided at one place.
  • a mounting target such as a link of a robot arm is inserted into the inner periphery of the first exterior member and the second exterior member, and the first exterior member and the second exterior member are inserted into the mounting target.
  • the exterior member is retrofitted in an extrapolated state, attachment to the first exterior member and the second exterior member with respect to the mounting target is facilitated.
  • a connecting portion that connects a divided portion in the circumferential direction to at least one of the first exterior member and the second exterior member.
  • the both sides of the first exterior member and the second exterior member sandwiching the connecting portion are relatively opened by the connecting portion.
  • the first exterior member and the second exterior member are opened relative to each other. Displacement can simplify the installation work.
  • at least one of the first exterior member and the second exterior member can integrally handle both side portions sandwiching the connecting portion.
  • the inter-terminal wiring is arranged in a circumferential direction in a curved folded portion set in the accommodation space. It is something that is folded back.
  • the inter-terminal wiring is folded back in the circumferential direction at the folded portion, relative rotation between the first exterior member and the second exterior member is allowed on both sides in the circumferential direction. Moreover, since the folded portion has a curved shape, disconnection of the inter-terminal wiring at the folded portion is difficult to occur, and excellent reliability is exhibited.
  • the inter-terminal wiring folded back in the circumferential direction at the turned-up portion overlaps at least one of the axial direction and the axial perpendicular direction.
  • the axial perpendicular direction dimension of the housing space can be reduced, and the rear connector is It can be downsized in the direction.
  • the axial dimension of the housing space can be reduced, and the retrofit connector can be reduced in the axial direction. Can do.
  • the inter-terminal wires are arranged so as to overlap in both the axial direction and the direction perpendicular to the axis, long inter-terminal wires can be arranged in a space efficient manner.
  • the first exterior member has a groove-shaped cross section that opens in the axial direction.
  • the second exterior member is combined with the first exterior member so as to cover the axial opening of the first exterior member.
  • the eighth aspect it is easy to provide the first terminal portion on one side in the axial direction in the first exterior member, and it is easy to provide the second terminal portion on the other side in the axial direction in the second exterior member. . Therefore, wiring that straddles the joint portion of the robot arm in the axial direction of the first and second exterior members can be easily realized.
  • the first exterior member can be more firmly attached to the mounting target.
  • the first exterior member has a groove-shaped cross section that opens in a direction perpendicular to the axis.
  • the second exterior member is combined with the first exterior member so as to cover the opening in the direction perpendicular to the axis of the first exterior member.
  • the first exterior member or the second exterior member is mounted on the inner peripheral surface.
  • a tenth aspect of the present invention is the retrofit connector described in any one of the first to ninth aspects, wherein the inter-terminal wiring has a flat cross-sectional shape.
  • the dimension of the accommodating space can be reduced in the thickness direction of the inter-terminal wiring having a flat cross section.
  • the thickness direction of the inter-terminal wiring having a flat cross section.
  • An eleventh aspect of the present invention is the retrofit connector according to any one of the first to tenth aspects, wherein a plurality of the first exterior member and the second exterior member combined with each other are combined.
  • a set is arranged in series in the axial direction, and the first exterior member and the second exterior member adjacent in the axial direction are connected to each other, and the connected first exterior member and In the second exterior member, the first terminal portion and the second terminal portion are electrically connected to each other.
  • the robot arm as a mounting target without extending the length of each inter-terminal wiring arranged between the first exterior member and the second exterior member combined with each other It is possible to allow a larger relative rotation with respect to the link.
  • the diameter of the retrofit connector can be prevented.
  • a twelfth aspect of the present invention is the retrofit connector according to any one of the first to tenth aspects, wherein a plurality of the first exterior member and the second exterior member combined with each other are provided.
  • a set is coaxially arranged, and the first exterior member and the second exterior member adjacent in the direction perpendicular to the axis are connected to each other, and the connected first exterior member and the second exterior member are connected to each other.
  • the first terminal portion and the second terminal portion are electrically connected to each other.
  • the robot arm to be mounted without extending the length of each inter-terminal wiring arranged between the first exterior member and the second exterior member combined with each other A large relative rotation can be allowed by the link.
  • the plurality of sets of the first exterior member and the second exterior member combined with each other are coaxially arranged, it is possible to prevent the axial length of the retrofit connector from being increased.
  • a thirteenth aspect of the present invention is the retrofit connector according to any one of the first to twelfth aspects, wherein the mounting target includes a first link and a second link.
  • the first link and the second link are rotatably connected via a joint portion, and at least one of the first exterior member and the second exterior member has an inner peripheral surface thereof.
  • the surface shape corresponding to the outer peripheral surface of the second link or the second link is mounted in an extrapolated state in direct contact with the first link or the second link.
  • the exterior member mounted in an extrapolated state with respect to the link has a surface shape corresponding to the outer peripheral surface of the link, the exterior member is attached to the link. It is mounted stably in the extrapolated state.
  • both the first exterior member and the second exterior member may be mounted in an extrapolated state in which the inner peripheral surface is superimposed on the outer peripheral surface of each of the first link and the second link.
  • either the first exterior member or the second exterior member may be attached to the link via another member in a state where the inner peripheral surface is separated from the outer peripheral surface of the link. .
  • At least one of the first exterior member and the second exterior member includes: A window portion that allows the inside of the housing space to be visually recognized from the outside is provided.
  • the position and state of the inter-terminal wiring arranged in the accommodation space can be easily confirmed from the outside without releasing the combination of the first exterior member and the second exterior member. Can do.
  • a fifteenth aspect of the present invention is the retrofit connector according to any one of the first to fourteenth aspects, wherein the inter-terminal wirings arranged in the accommodation space are arranged in the circumferential direction of the accommodation space. It is supposed to be stretchable.
  • connection state between the inter-terminal wiring and the external wiring is maintained not only by the relative circumferential displacement of the first exterior member and the second exterior member but also by the expansion and contraction of the inter-terminal wiring.
  • operations such as twisting and bending of the mounting target can be allowed.
  • both sides of the joint portion are attached.
  • the cables on both sides of the first terminal portion and the second terminal portion are connected to each other, and wiring across the joint portion becomes possible.
  • the mounting target of the first exterior member such as the link of the robot arm and the second Relative displacement such as relative rotation with the mounting target of the exterior member is allowed.
  • first exterior member and the second exterior member By retrofitting the first exterior member and the second exterior member to the link of the robot arm or the like, it is possible to perform wiring extending over the links while allowing relative displacement of the links.
  • the periphery of the inter-terminal wiring arranged in the accommodation space is protected by the first exterior member and the second exterior member, the durability of the inter-terminal wiring can be improved.
  • FIG. 5 The perspective view which shows the retrofit connector as 1st embodiment of this invention.
  • the disassembled perspective view of the retrofit connector shown in FIG. The perspective view which shows the back connector of FIG. 1 in the state which removed the 2nd member.
  • the front view of the retrofit connector of the state which removed the 2nd member shown in FIG. FIG. 5 is a cross-sectional view of the retrofit connector shown in FIG. 1, corresponding to the VV cross section of FIG. 4.
  • the front view of the retrofit connector of the state which removed the 2nd member shown in FIG. FIG. 17 is a cross-sectional view of the retrofit connector shown in FIG. 15, corresponding to the XVII-XVII cross section of FIG. 16.
  • the front view which shows the state which removed the 2nd member in the retrofit connector of FIG. The perspective view which shows the retrofit connector as 5th embodiment of this invention.
  • the disassembled perspective view of the retrofit connector shown in FIG. It is a front view of the retrofit connector shown in FIG.
  • FIG. 20 Comprising: The figure which shows the state which rotated the 1st exterior member clockwise from the initial position with respect to the 2nd exterior member. It is a front view of the retrofit connector shown in FIG. 20, Comprising: The figure which shows the state which rotated the 1st exterior member counterclockwise from the initial position with respect to the 2nd exterior member.
  • wearing to the robot arm of the retrofit connector shown in FIG. The perspective view which shows the curl cord which comprises the retrofit connector as another embodiment of this invention.
  • FIG. 1 The side view of the retrofit connector shown in FIG.
  • the front view of the retrofit connector shown in FIG. The perspective view which shows the retrofit connector as another one Embodiment of this invention in the mounting state to a link.
  • the retrofit connector 10 includes a first ring-shaped member 12 as a first exterior member and a second ring-shaped member 14 as a second exterior member, which are relatively twisted. It has a structure in which displacements are combined in an allowed manner.
  • the vertical direction refers to the vertical direction in FIG. 4, and the axial direction refers to the horizontal direction in FIG.
  • the first ring-shaped member 12 is a hard member formed of, for example, metal or synthetic resin, and has an annular shape that is continuous in the circumferential direction with a substantially constant groove-shaped cross section as a whole.
  • the first member 16 and the second member 18 are fixed so as to overlap each other in the axial direction.
  • the first member 16 has a structure in which an inner flange portion 22 that protrudes toward the inner peripheral side at one end in the axial direction is integrally formed with the peripheral wall portion 20 having a substantially semi-cylindrical shape.
  • the second member 18 has a substantially semi-annular plate shape, and has an outer diameter that is substantially the same as that of the peripheral wall portion 20 of the first member 16.
  • the outer peripheral edge part of the 2nd member 18 is piled up on the surrounding wall part 20 of the 1st member 16 from the other side of an axial direction, and these 1st member 16 and the 2nd member 18 adhere, weld, and weld It is fixed by various known fixing means such as a threaded joint and a rivet joint.
  • the 1st half body 24 which comprises the 1st ring-shaped member 12 is formed, and the 1st ring of this embodiment is formed by combining a pair of upper and lower first half bodies 24a and 24b.
  • a shaped member 12 is formed.
  • the pair of upper and lower first halves 24a and 24b are connected so as to be tiltable by a hinge portion 26 as a connecting portion provided in the first member 16 at either one end in the circumferential direction.
  • the pair of first halves 24a and 24b are relatively displaced (tilted) around the hinge portion 26, so that the pair of first halves 24a and 24b is the other in the circumferential direction.
  • the end portions of the two can be separated from each other so as to open relatively (see FIG. 6).
  • the other edge part of the circumferential direction of a pair of 1st half body 24a, 24b may be provided with the locking means which prevents separation
  • the first member 16 constituting one of the first halves 24a is provided with a first terminal portion 28 that protrudes from the inner flange portion 22 toward the axially outer side (left side in FIG. 5). It has been.
  • the first terminal portion 28 has a generally known male or female terminal connection structure, for example, a material having excellent conductivity such as copper, aluminum, or an alloy containing at least one of them.
  • the terminal (not shown) formed in (1) passes through the inner flange portion 22 and is exposed at the first terminal portion 28 provided on the inner flange portion 22.
  • a general multipolar connector or the like can be adopted.
  • the second ring-shaped member 14 is a hard member formed of metal, synthetic resin, or the like, has a substantially cylindrical shape as a whole, and is divided vertically in the circumferential direction.
  • the second halves 30a and 30b are combined.
  • the second ring-shaped member 14 has a stepped outer peripheral surface, and the outer peripheral surface of one end in the axial direction has a smaller diameter than the outer peripheral surface of the other end.
  • a positioning protrusion 32 that protrudes toward the outer periphery is integrally formed at the other end in the axial direction of the member 14.
  • one second half 30a is provided with a second terminal portion 34 protruding toward the outside in the axial direction (the front side in the direction orthogonal to the paper surface in FIG. 4).
  • the second terminal portion 34 has a generally known male / female terminal connection structure, for example, copper, aluminum, or a material having excellent conductivity such as an alloy containing at least one of them.
  • the terminal (not shown) formed in (2) is disposed through the second half 30a and exposed at the second terminal portion 34 provided in the second half 30a.
  • a general multipolar connector or the like can be adopted as with the first terminal portion 28.
  • the 2nd ring-shaped member 14 is combined with the inner peripheral side of the 1st ring-shaped member 12, and the opening part of the inner peripheral side of the 1st ring-shaped member 12 which has a groove-shaped cross section is 2nd. Covered by a ring-shaped member 14.
  • the positioning protrusion 32 of the second ring-shaped member 14 is inserted between the inner flange portion 22 and the second member 18 of the first ring-shaped member 12, thereby the first ring-shaped member. 12 and the second ring-shaped member 14 are positioned relative to each other.
  • the second half 30a of the second ring member 14 is combined with the first half 24a of the first ring member 12, and the second ring member 14 is used.
  • the second half 30 b is combined with the first half 24 b of the first ring-shaped member 12.
  • the second half 30a and the second half 30b of the second ring-shaped member 14 are relatively displaceable with the hinge 26 as the center of rotation.
  • the first ring-shaped member 12 and the second ring-shaped member 14 have the first and second halves 24a and 30a and the first and second halves 24a and 30a as the rotation center. Since the second halves 24b and 30b are relatively displaced, they can be divided in a part of the circumferential direction.
  • first ring-shaped member 12 and the second ring-shaped member 14 are combined in a state where relative torsional rotation (relative rotation in the circumferential direction) is allowed.
  • Such relative rotation of the first ring-shaped member 12 and the second ring-shaped member 14 is, for example, a composition in which at least one of the first ring-shaped member 12 and the second ring-shaped member 14 is self-lubricating. It can be realized by forming with resin.
  • the second ring-shaped member 14 is combined with the first ring-shaped member 12 with a slight gap so that the first ring-shaped member 12 and the second ring-shaped member 14 are relatively rotated. The sliding resistance at the time is reduced.
  • an accommodation space 36 is formed between the first ring-shaped member 12 and the second ring-shaped member 14.
  • the accommodation space 36 is formed by covering the inner circumferential side opening of the first ring-shaped member 12 having a groove-shaped cross section with the second ring-shaped member 14, and an annular space extending in the circumferential direction.
  • the storage space 36 of the present embodiment has a rectangular cross section, but the cross-sectional shape of the storage space 36 is not particularly limited.
  • the accommodation space 36 of the present embodiment extends in the circumferential direction with a substantially constant cross-sectional shape, the cross-sectional shape of the accommodation space 36 may change in the circumferential direction.
  • the inter-terminal wiring 38 is disposed in the accommodation space 36.
  • the inter-terminal wiring 38 is, for example, a cable or an electric wire whose outer peripheral surface is covered with an insulator, and extends in the circumferential direction that is the length direction of the accommodation space 36. Further, as the inter-terminal wiring 38, it is preferable that the flexible cable be used. Those having a flat cross-sectional shape such as a printed circuit (FPC) and a flexible flat cable (FFC) are employed. 3 and 4 are shown with the second member 18 removed in order to make the inter-terminal wiring 38 accommodated therein easier to see.
  • FPC printed circuit
  • FFC flexible flat cable
  • the inter-terminal wiring 38 of the present embodiment has a length that is substantially twice the circumferential length of the accommodation space 36, and includes a curved folded portion 40 at an intermediate portion in the length direction. .
  • the folded portion 40 is formed by bending a part in the length direction of the inter-terminal wiring 38 in the thickness direction and folding it back in the circumferential direction.
  • the inter-terminal wiring Since 38 is a flat plate or a flat membrane, the folded portion 40 has a substantially semi-cylindrical shape.
  • the folded inter-terminal wiring 38 is disposed on both sides of the folded portion 40 so as to oppose each other in the direction perpendicular to the axis (radial direction).
  • the inter-terminal wiring 38 is arranged in the accommodation space 36 and extends in the circumferential direction as a whole, and is covered and protected by the first ring-shaped member 12 and the second ring-shaped member 14. As described above, the inter-terminal wiring 38 is accommodated in the accommodating space 36, so that contact of other members or foreign matters to the inter-terminal wiring 38 is prevented by the first and second ring-shaped members 12, 14, and is durable. The improvement of the property is achieved.
  • the inter-terminal wiring 38 has both ends connected to one of the first terminal portion 28 and the second terminal portion 34, and both ends are connected to the first ring-shaped member 12 and the second ring shape. It is connected to each one of the members 14. As a result, the first terminal portion 28 and the second terminal portion 34 are electrically connected to each other via the inter-terminal wiring 38.
  • the folded portion 40 of the inter-terminal wiring 38 is circumferential with respect to both ends of the inter-terminal wiring 38 in an initial state where the first ring-shaped member 12 and the second ring-shaped member 14 are not relatively rotated. It is located at a distance.
  • the retrofit connector 10 having such a structure is attached to a robot arm 42 as an attachment target, for example, as shown in FIG.
  • the robot arm 42 has a structure in which a first link 44 and a second link 46 are connected to each other by a joint portion 48 so as to be relatively rotatable, and the first ring-shaped member 12 of the retrofit connector 10 is a first one. And the second ring-shaped member 14 is attached to the second link 46.
  • the attachment structure of the first and second ring-shaped members 12 and 14 to the first and second links 44 and 46 is not particularly limited.
  • the first ring-shaped member 12 constituting the outer peripheral portion 10 is indirectly attached to the first link 44 via a bracket 50 that is fixed to the first link 44 in an extrapolated state.
  • the second ring-shaped member 14 that constitutes the inner peripheral portion of 10 is directly attached to the second link 46 in an extrapolated state.
  • the first ring-shaped member 12 is attached to the first link 44 by a bracket 50 as a first attachment portion
  • the second ring-shaped member 14 is configured by an inner peripheral surface.
  • the second attachment portion is attached to the second link 46.
  • the inner peripheral surface of the second ring-shaped member 14 constituting the second attachment portion has a surface shape corresponding to the outer peripheral surface of the second link 46, and in the present embodiment, the second ring-shaped member is formed.
  • the inner peripheral surface of the member 14 is a cylindrical surface.
  • the first ring-shaped member 12 has a groove-shaped cross section that opens radially inward, and the second ring-shaped member 14 opens the opening of the first ring-shaped member 12. Since it is set as the cylinder shape to cover, the area of the internal peripheral surface of the 2nd ring-shaped member 14 can be acquired largely. Therefore, the area in contact with the second link 46 in the second ring-shaped member 14 is increased, and the fixing strength of the second ring-shaped member 14 with respect to the second link 46 can be further increased.
  • the inner peripheral surface of the second ring-shaped member 14 is a cylindrical surface corresponding to the outer peripheral surface of the second link 46, the inner peripheral surface of the second ring-shaped member 14 and the second link The outer peripheral surface of 46 is overlapped in a wider range in a contact state, so that a large contact area is ensured to improve the fixing strength.
  • FIG. 7A shows an initial state in which the first ring-shaped member 12 and the second ring-shaped member 14 are not relatively rotated
  • FIG. This shows a state in which the second ring-shaped member 14 is rotated counterclockwise relative to the first ring-shaped member 12.
  • the folded portion 40 is curved, when the end portion of the inter-terminal wiring 38 is moved by the rotation of the second ring-shaped member 14, the folded portion 40 is smoothly moved without being caught. As a result, the second ring-shaped member 14 is rotated with respect to the first ring-shaped member 12 without being blocked by the inter-terminal wiring 38. Further, since the inter-terminal wiring 38 has a curved shape in the folded portion 40 without being broken, excellent durability of the inter-terminal wiring 38 due to stress distribution is also realized.
  • the folded portion 40 is provided in the intermediate portion of the inter-terminal wiring 38, the second ring-shaped member 14 rotates relative to the first ring-shaped member 12 clockwise.
  • the relative rotation of the first and second ring-shaped members 12 and 14 is allowed without being hindered by the inter-terminal wiring 38, as in the case of the counterclockwise rotation.
  • the inter-terminal wiring 38 extends with a length of less than two rounds, and the second ring-shaped member 14 rotates about two rounds to the left and right sides with respect to the first ring-shaped member 12. Is acceptable.
  • the length of the inter-terminal wiring 38 is not particularly limited, and by adopting a longer inter-terminal wiring 38, a larger amount of rotation may be allowed, or a shorter inter-terminal wiring. By adopting 38, a smaller rotation amount may be allowed.
  • the inter-terminal wirings 38 folded back by the folding portion 40 are disposed so as to overlap in the radial direction, and the axial dimension of the accommodation space 36 can be made relatively small. Moreover, since the inter-terminal wiring 38 has a thin and flat cross-sectional shape in the radial direction, even if the folded inter-terminal wiring 38 is doubled so as to overlap in the radial direction, the accommodation space 36 is provided. The radial dimension can be made relatively small. In addition, since the inter-terminal wiring 38 is folded back in the direction flattened in the cross section, the folded portion 40 can easily be folded back into a curved shape.
  • a terminal portion of a cable (not shown) on the first link 44 side is connected to the first terminal portion 28 of the first ring-shaped member 12, and the second terminal portion 34 of the second ring-shaped member 14.
  • a terminal portion of a cable (not shown) on the second link 46 side is connected to the second link 46 side.
  • the cable (external wiring) on the first link 44 side and the cable (external wiring) on the second link 46 side are connected to each other via the inter-terminal wiring 38 of the retrofit connector 10.
  • the wiring straddling the first link 44 and the second link 46 that rotate relative to each other is realized by the retrofit connector 10 in a manner that does not prevent the relative rotation of the first link 44 and the second link 46.
  • the retrofit connector 10 attaches the first ring-shaped member 12 and the second ring-shaped member 14 to one of the first link 44 and the second link 46, and also connects the first terminal portion 28 and the second ring-shaped member 14.
  • the robot arm 42 can be retrofitted. Therefore, for example, even when wiring needs to be added to the existing robot arm 42, wiring can be easily added without requiring a design change of the robot arm 42 itself.
  • the first ring-shaped member 12 is composed of the first halves 24a and 24b
  • the second ring-shaped member 14 is composed of the second halves 30a and 30b.
  • the first and second halves 24a and 30a are allowed to be displaced relative to the first and second halves 24b and 30b with the hinge portion 26 as the center.
  • the retrofit connector 60 has a structure in which a first ring-shaped member 62 as a first exterior member and a second ring-shaped member 64 as a second exterior member are combined with each other.
  • a first ring-shaped member 62 as a first exterior member
  • a second ring-shaped member 64 as a second exterior member
  • the first ring-shaped member 62 is a hard member formed of, for example, metal or synthetic resin, and has a groove-shaped cross section that opens in the axial direction as a whole as shown in FIG. It is an annular member that is continuous in the direction. Further, the first ring-shaped member 62 of the present embodiment is formed by combining the first member 66 and the second member 68.
  • the first member 66 has a structure in which a substantially semi-annular plate-shaped inner flange portion 72 projecting toward the inner peripheral side is integrally formed at one axial end of the outer peripheral wall portion 70 having a substantially semi-cylindrical shape. Have. Further, a concave groove 74 that is open to the inner peripheral surface and is continuous over the entire circumference is formed at the other axial end of the outer peripheral wall portion 70 of the first member 66.
  • the second member 68 has a structure in which a substantially semi-annular plate-shaped flange portion 78 projecting toward the outer peripheral side is integrally formed at one axial end portion of the inner peripheral wall portion 76 having a substantially semi-cylindrical shape. ing.
  • the first member 66 and the second member 68 are combined with each other in a state where the flange portion 78 of the second member 68 is overlapped with the inner flange portion 72 of the first member 66 in the axial direction.
  • the first half 79 is formed.
  • the 1st ring-shaped member 62 is comprised by the two 1st halves 79a and 79b.
  • the second ring-shaped member 64 is a hard member formed of, for example, a metal or a synthetic resin similarly to the first ring-shaped member 62 and has a substantially annular plate shape, and has an inner peripheral end. In the portion, annular ridges 80 and 82 projecting in the axial direction are formed with a predetermined gap in the radial direction.
  • the second ring-shaped member 64 is configured by combining two second halves 83a and 83b having a semi-annular plate shape.
  • the 1st ring-shaped member 62 and the 2nd ring-shaped member 64 insert the outer peripheral edge part of the 2nd ring-shaped member 64 in the concave groove 74 of each outer peripheral wall part 70 of the 1st members 66 and 66.
  • the end portions of the inner peripheral wall portions 76 of the second members 68 and 68 are inserted between the radial directions of the annular ridges 80 and 82 of the second ring-shaped member 64, so that they are not fixed to each other.
  • the first ring-shaped member 62 and the second ring-shaped member 64 are relatively rotatable in the circumferential direction.
  • the second ring-shaped member 64 is combined so as to cover the opening in the axial direction of the first ring-shaped member 62, so that the first ring-shaped member 62 and the second ring-shaped member 64 are interposed.
  • An annular housing space 36 is formed, and an inter-terminal wiring 38 is disposed in the housing space 36.
  • the retrofit connector 60 of the present embodiment has a first ring-shaped member 62 attached directly to the first link 44 of the robot arm 42 in an extrapolated state, and a second The ring-shaped member 64 is directly attached to the second link 46 in an extrapolated state, and the bracket 50 as in the first embodiment is omitted.
  • the first mounting portion is configured by the inner peripheral surface of the first ring-shaped member 62
  • the second mounting portion is configured by the inner peripheral surface of the second ring-shaped member 64.
  • the manner of attaching the first and second ring-shaped members 62 and 64 to the robot arm 42 is merely an example, and the first and second links 44 are provided by the bracket 50 as in the first embodiment, for example. , 46 may be attached indirectly.
  • the first ring-shaped member 62 has a groove-shaped cross section that opens in the axial direction
  • the second ring-shaped member 64 has the first ring-shaped member 64.
  • the ring-shaped member 62 is combined so as to cover the axial opening. Therefore, the first terminal portion 28 is easily provided so as to protrude in the axial direction at the inner flange portion 72, and the second terminal portion 34 is protruded in the axial direction at the second ring-shaped member 64. It is easy to install in. Thereby, while connecting the terminal part of the cable on the first link 44 side to the first terminal part 28, and connecting the terminal part of the cable on the second link 46 side to the second terminal part 34, Wiring across the joint portion 48 of the robot arm 42 is more easily realized.
  • the inner peripheral surface of the first ring-shaped member 62 has a large area secured by the inner flange portion 72 of the first member 66 and the inner peripheral wall portion 76 of the second member 68, The attachment strength of the ring-shaped member 62 to the first link 44 can be easily obtained.
  • the inner peripheral surface of the first ring-shaped member 62 and the outer peripheral surface of the first link 44 are cylindrical surfaces corresponding to each other.
  • the outer peripheral surface of the link 46 is a cylindrical surface corresponding to each other. Therefore, the inner peripheral surfaces of the first and second ring-shaped members 62 and 64 are overlapped with the outer peripheral surfaces of the first and second links 44 and 46 in a large area, so that the first and second The fixing strength of the ring-shaped members 62 and 64 with respect to the first and second links 44 and 46 can be increased.
  • the inter-terminal wiring 92 may be folded back so as to overlap in the axial direction.
  • the inter-terminal wiring 92 is an FPC or FFC having an insulation coating that is flat in the axial direction, and includes a folded portion 94 at an intermediate portion in the length direction.
  • the folded portion 94 is curved in a semicircular arc shape in the axial direction, which is the thickness direction of the inter-terminal wiring 92, so that both sides of the folded portion 94 in the inter-terminal wiring 92 are spaced apart from each other in the axial direction. They are arranged to overlap.
  • the inter-terminal wiring 92 can be flexibly deformed, there may be a portion overlapping in the axial direction while being in contact with each other due to deformation.
  • the long inter-terminal wiring 92 can be employed without requiring an increase in diameter.
  • the inter-terminal wiring 92 has a flat shape that is thin in the axial direction, even if the inter-terminal wiring 92 is folded back in the axial direction, the axial dimension of the retrofit connector 90 is small. It can suppress the increase.
  • the interterminal wiring 98 may be a covered electric wire having a circular cross section, and is not necessarily limited to a cable or electric wire having a flat cross sectional shape such as an FPC or FFC.
  • the retrofit connector 100 has a structure in which the inter-terminal wiring 102 is disposed in the accommodation space 36 provided between the first ring-shaped member 12 and the second ring-shaped member 14.
  • the inter-terminal wiring 102 has a length that is less than one circumference of the center in the radial direction of the accommodating space 36, does not overlap in the radial direction and the axial direction, and does not include the folded portion 40 in the middle portion in the length direction. It is arranged in the accommodation space 36 so as to extend in the direction.
  • the inter-terminal wiring 102 has one end extending to the outer peripheral side connected to the first terminal portion 28 and the other end extending to the inner peripheral side connected to the second terminal portion 34. Has been. In the present embodiment, both end portions of the inter-terminal wiring 102 are bent toward the outer peripheral side or the inner peripheral side with respect to the intermediate portion, but may be curved so as not to form a corner.
  • the retrofit connector 100 having the structure according to the present embodiment is allowed to rotate counterclockwise relative to the first ring-shaped member 12 of the second ring-shaped member 14 in a mounted state on a robot arm (not shown). Is done. Therefore, according to the retrofitted connector 100, when the relative rotation direction of the first link and the second link of the robot arm is limited to any one of the circumferential directions, the first and the first can be achieved with a simpler structure. Wiring over two links can be realized.
  • FIG. 18 shows a retrofit connector 110 as a fourth embodiment of the present invention.
  • the retrofit connector 110 has a structure in which the inter-terminal wiring 111 is disposed in the accommodation space 36 provided between the first ring-shaped member 12 and the second ring-shaped member 14.
  • the inter-terminal wiring 111 has a linear shape with a substantially circular cross section, and is, for example, an insulated wire in which a conductor such as a metal wire is covered with an insulating coating formed of synthetic resin or the like.
  • positioning aspect in the accommodation space 36 of the wiring 111 between terminals is not specifically limited if it extends in the circumferential direction, It may be folded and extended in a part of circumferential direction, and the circumferential direction may be sufficient as it. It may extend in one direction.
  • one end of the inter-terminal wiring 111 arranged in the accommodation space 36 is passed through a first insertion hole 112 (see FIG. 19) formed in the first ring-shaped member 12, as shown in FIG. It extends in one axial direction and is connected to a first terminal portion 114 provided away from the first ring-shaped member 12. Further, the other end portion of the inter-terminal wiring 111 extends to the other side in the axial direction through a second insertion hole 116 formed in the second ring-shaped member 14, and is provided away from the second ring-shaped member 14. Connected to the second terminal portion 118.
  • the 1st terminal part 114 provided apart from the 1st ring-shaped member 12 by the 1st ring-shaped member 12 side is the 1st link side (not shown) to which the 1st ring-shaped member 12 is attached. Connected to external wiring.
  • the second terminal portion 118 provided away from the second ring-shaped member 14 on the second ring-shaped member 14 side is provided on the second link side (not shown) to which the second ring-shaped member 14 is attached. Connected to external wiring.
  • both end portions of the inter-terminal wiring 111 are formed in the first and second insertion holes 112 of the first and second ring-shaped members 12 and 14.
  • the first and second terminal portions 114 and 118 can be provided away from the first and second ring-shaped members 12 and 14 by extending outward through 116.
  • the degree of freedom of the arrangement positions of the first and second terminal portions 114 and 118 is increased, the connection to the external wiring is facilitated, and the first and second ring-shaped members 12 and 14 It is not necessary to secure a space for arranging the first and second terminal portions 114 and 118.
  • FIG. 20 shows a retrofit connector 120 as a fifth embodiment of the present invention.
  • the retrofit connector 120 has a structure in which the inter-terminal wiring 92 is disposed in the accommodation space 125 provided between the first exterior member 122 and the second exterior member 124.
  • the first exterior member 122 has a rectangular groove-shaped cross section that opens toward one side in the axial direction, and extends in the circumferential direction with a length that is less than one round.
  • the first exterior member 122 of the present embodiment has a substantially semicircular arc shape extending in the circumferential direction with a length of about a half circumference, and includes a first terminal portion 28 at one end portion in the circumferential direction.
  • the second exterior member 124 has a rectangular groove-shaped cross section that opens toward the other side in the axial direction, and extends in the circumferential direction with a length that is less than one round.
  • the second exterior member 124 of the present embodiment has a substantially semicircular arc shape extending in the circumferential direction with a length of about a half circumference, and includes a second terminal portion 34 at one end portion in the circumferential direction.
  • the second exterior member 124 has a smaller cross-sectional shape than the first exterior member 122 and can be inserted into the first exterior member 122 in the axial direction.
  • the 2nd exterior member 124 is inserted in the 1st exterior member 122 in the axial direction, and the 1st exterior member 122 and the 2nd exterior member 124 are mutually combined, and these 1st exterior members
  • An accommodation space 125 is formed between the axial direction of 122 and the second exterior member 124.
  • the accommodation space 125 of the present embodiment extends in the circumferential direction with a length of about a half circumference, and accommodates the inter-terminal wiring 92.
  • the inter-terminal wiring 92 arranged in the accommodation space 125 is connected to one of the first and second terminal portions 28 and 34 at both ends, and an intermediate portion in the accommodation space 125 at the folded portion 94. It is folded at.
  • the first exterior member 122 is attached to a first link as an attachment object (not shown), and the second exterior member 124 is an attachment object (not shown). As attached to the second link. Then, the first terminal portion 28 is connected to an external wiring (not shown) on the first link side, and the second terminal portion 34 is connected to an external wiring (not shown) on the second link side. Thus, the wiring straddling the first link and the second link that can be torsionally displaced is realized.
  • the rear connector 120 is configured such that the first exterior member 122 and the second exterior member 124 are relatively displaceable in the circumferential direction. Then, the relative circumferential displacement (torsional displacement) of the first exterior member 122 and the second exterior member 124 causes the relative positions of the first terminal portion 28 and the second terminal portion 34 to be circumferential. It can be changed. As a result, the first link (not shown) attached to the first exterior member 122 and the second link (not shown) attached to the second exterior member 124 are in a state where the inter-terminal wiring 92 is connected to the external wiring. Relative torsional displacement is allowed.
  • the folded portion 94 of the inter-terminal wiring 92 changes in the circumferential direction with relative displacement in the circumferential direction between the first exterior member 122 and the second exterior member 124, the folded portion 94 is In some cases, the first exterior member 122 and the second exterior member 124 may be exposed to the outside in a circumferential direction from a region where they overlap in the axial direction (see FIG. 23).
  • the inter-terminal wiring 92 is arranged in a region where the first exterior member 122 and the second exterior member 124 overlap in the axial direction, and the folded portion 94 of the inter-terminal wiring 92 In a state where the exterior member 122 and the second exterior member 124 are disposed at the initial position, the first exterior member 122 and the second exterior member 124 are disposed in a region overlapping in the axial direction.
  • first exterior member 122 and the second exterior member 124 each have a substantially semicircular arc shape extending over a substantially half circumference, the first exterior member 122 and the second exterior member 124 are formed.
  • the first terminal portion 28 and the second terminal portion 34 can be displaced from the initial position shown in FIG. 20 in which the first terminal portion 28 and the second terminal portion 34 are arranged at substantially the same position in the circumferential direction to the both sides in the circumferential direction within a range smaller than a half circumference. Yes.
  • first exterior member 122 and the second exterior member 124 are formed in a dominant arc shape that is longer than a half circumference in the circumferential direction, and the total circumferential length of the first exterior member 122 and the second exterior member 124 is one round. It may be set longer. According to this, relative displacement of the first exterior member 122 with respect to the second exterior member 124 can be allowed to be larger than each half circumference from the initial position to both sides in the circumferential direction, for example, the first exterior member 122. The relative displacement more than one round with respect to the second exterior member 124 is also possible.
  • the retrofit connector 120 of this embodiment can be attached to the outer peripheral surfaces of the first and second links that can be relatively twisted and displaced as described above.
  • the robot shown in FIG. It can also distribute
  • the first and second exterior members 122 and 124 of the retrofit connector 120 are fixed to one of the first and second links 130 and 132, and the first and second terminal portions 28 and 34 are provided.
  • the first and second links 130 and 132 are connected to wiring (not shown). Thus, the first link 130 and the second link 132 are kept in a state where the wiring on the first link 130 side and the wiring on the second link 132 side are electrically connected by the inter-terminal wiring 92. Relative tilt can be allowed.
  • the first and second exterior members 122 and 124 are not ring-shaped but are partially opened in the circumferential direction. However, it can be attached with a large degree of freedom without being limited to the extrapolated state. As a result, it is possible to attach the retrofit connector 120 not only to the first and second links connected by the torsional joint but also to the first and second links 130 and 132 connected by the bending joint 128. It becomes.
  • inter-terminal wiring is folded and arranged at the intermediate portion in the circumferential direction with respect to the accommodation space, or an aspect in which the inter-terminal wiring is arranged to extend with a length less than one round in the circumferential direction is shown.
  • the inter-terminal wiring longer than one turn may be arranged spirally with respect to the accommodation space.
  • the first and the second The torsional displacement of the second link can be allowed, and the displacement of the first and second links can be allowed to be larger.
  • a curl cord 134 that extends in a spiral shape as shown in FIG. 25 is employed as the inter-terminal wiring, it is possible to extend and contract in the circumferential direction of the housing space within the housing space.
  • the inter-terminal wiring it is also possible to use an expansion / contraction electric wire formed of a material capable of expansion / contraction deformation. Can be adopted.
  • the first terminal portion and the second terminal portion are separated from the inter-terminal wiring, and both ends of the inter-terminal wiring are each of the first terminal portion and the second terminal portion.
  • the structure attached to one side is illustrated, but the inter-terminal wiring and the first and second terminal portions may be integrated, for example, the inter-terminal wiring has a structure in which the surface of the conductor is covered with an insulating layer
  • the first and second terminal portions can be configured by exposing the conductor at both ends of the inter-terminal wiring.
  • a guide member that holds the inter-terminal wiring in a predetermined position in the housing space in the axial direction or the radial direction.
  • the inter-terminal wiring is relatively displaced in the circumferential direction with respect to the guide member.
  • the guide member to be displaced relative to the first and second ring-shaped members in the circumferential direction. Relative displacement is allowed.
  • a window 142 can be provided to confirm the inside of the accommodation space 36 from the outside. That is, the first ring-shaped member 12 of the retrofit connector 140 is partially provided with a window portion 142 penetrating in the axial direction, and the accommodation space 36 can be visually recognized through the window portion 142. Thereby, the position of the inter-terminal wiring 38 arranged in the accommodation space 36 through the window 142 can be easily confirmed without requiring disassembly.
  • the window 142 is a hole opened to the outside, it is possible to insert fingers and instruments into the accommodation space 36 through the window 142, for example, adjusting the position of the inter-terminal wiring 38. Work can also be performed easily.
  • the window portion is formed continuously over the entire surface of one end surface in the axial direction, and also extends in the radial direction or a protrusion protruding from at least one of the outer peripheral edge and the inner peripheral edge of the window portion.
  • the inter-terminal wiring may be prevented from coming out through the window by a protrusion or a crosspiece.
  • the inter-terminal wiring can be prevented from coming out by covering the opening of the window with a mesh-like member.
  • the window portion is not necessarily limited to an open hole shape, and may be closed with a transparent resin in a manner in which the accommodation space can be visually recognized from the outside, for example.
  • at least one of the first exterior member and the second exterior member may be entirely formed of a transparent material, in which case the window is formed by the transparent portion of the first exterior member and the second exterior member.
  • the part is composed.
  • the 1st terminal part 28 and the 2nd terminal part 34 are each provided, one terminal which conducts these 1st terminal parts 28 and the 2nd terminal part 34 electrically
  • a plurality of the first terminal portions 28, the second terminal portions 34, and the inter-terminal wirings 38 may be provided.
  • the first ring-shaped member 12 is provided with a plurality of first terminal portions 28 and the second ring-shaped member 14 is provided with a plurality of second terminal portions 34.
  • a plurality of sets of the first terminal portion 28 and the second terminal portion 34 may be respectively conducted by a plurality of inter-terminal wirings 38. According to this, a plurality of wires straddling the joint portion 48 such as the robot arm 42 can be realized by the retrofit connector.
  • the first ring-shaped member 12 and the second ring-shaped member 14 may be formed of, for example, an elastic body such as rubber, and are fitted so as to be tightened in an extrapolated state with respect to a link or the like constituting the mounting target. By being worn, it can be more easily retrofitted to links and the like.
  • the hinge part 26 for enabling the first ring-shaped member 12 and the second ring-shaped member 14 to be divided in a part in the circumferential direction is not essential.
  • an upper half portion obtained by combining the first and second halves 24a and 30a and a lower half portion obtained by combining the first and second halves 24b and 30b are provided.
  • the upper and lower halves can be attached to the link etc. from both the upper and lower sides separately, and the circumferential ends of the upper and lower halves are provided. It is also possible to adopt a structure provided with connecting means for connecting with each other.
  • first ring-shaped member 12 and the second ring-shaped member 14 are attached to the link or the like by connecting the upper half and the lower half independent from each other by the connecting means in the state of being attached to the link or the like. It can be formed in a state.
  • the connecting means is not particularly limited as long as it connects the upper half and the lower half.
  • a mechanical locking structure, a screw joint, a rivet joint, adhesion, welding, welding, or the like can be adopted. .
  • the annular first ring-shaped member 152 and the second ring-shaped member 154 having no divided parts continuously over the entire circumference are connected to the first exterior member. It can also be employed as a second exterior member. In this case, for example, by inserting the first ring-shaped member 152 and the second ring-shaped member 154 into the first and second links of the robot arm (not shown) in the axial direction, Ring-shaped members 152 and 154 can be attached to one of the first and second links.
  • a plurality of retrofit connectors 10 having a structure in which the first ring-shaped member 12 and the second ring-shaped member 14 are combined are arranged in the axial direction on substantially the same central axis. It is also possible to increase the amount of relative rotation allowed between the first link and the second link.
  • first ring-shaped member 12 of one retrofit connector 10 and the second ring-shaped member 14 of the other retrofit connector 10 are arranged adjacent to each other in the axial direction. Link. Further, the first terminal portion 28 of the first ring-shaped member 12 of the one rear connector 10 is connected to the second terminal portion 34 of the second ring-shaped member 14 of the other rear connector 10. By connecting them with each other, the retrofit connectors 10 and 10 are connected in series. In this embodiment, the three retrofit connectors 10, 10, 10 are arranged side by side in the axial direction and connected in series. However, the number of the retrofit connectors 10 provided in series in the axial direction is particularly limited. Not.
  • connection structure of the 1st ring-shaped member 12 and the 2nd ring-shaped member 14 between the retrofit connectors 10 and 10 adjacent in an axial direction is not specifically limited,
  • a connecting arm portion 156 that protrudes in the axial direction from the first ring-shaped member 12 of the rear connector 10 is provided, and the connecting arm portion 156 is provided on the second ring-shaped member 14 of the other rear connector 10. The structure is fixed.
  • each retrofit connector 10 since the relative rotation of the 1st ring-shaped member 12 and the 2nd ring-shaped member 14 is each permitted, the relative rotation amount of a 1st link and a 2nd link is sufficient. This is ensured to be larger than when one retrofit connector 10 is used.
  • the relative allowance between the first link and the second link can also be achieved by arranging the plurality of retrofit connectors 10 so as to be coaxially overlapped in the radial direction.
  • the amount of rotation can be increased.
  • a plurality of rear connectors 10a and 10b having different diameters are concentrically arranged, and the second ring-shaped member 14 of one adjacent rear connector 10a and the first of the other rear connector 10b are arranged.
  • the second ring-shaped member 14 of one adjacent rear connector 10a and the first of the other rear connector 10b are arranged.
  • a second terminal portion (not shown) of the rear connector 10a and a first terminal portion (not shown) of the rear connector 10b that are adjacent in the radial direction are connected to each other.
  • the first ring-shaped member 12 of the rear connector 10a located on the outermost periphery is attached to a first link (not shown), and the terminal portion of the cable (external wiring) on the first link side is attached to the rear connector 10a.
  • the second ring-shaped member 14 of the rear connector 10b located on the innermost periphery is connected to the second link (not shown) and connected to the first terminal portion 28, and the second link side cable (external The terminal portion of (wiring) is connected to the second terminal portion 34 of the retrofit connector 10b.
  • the first link and the second link A large amount of relative rotation of the link is secured.
  • the two rear connectors 10a and 10b are concentrically arranged, and the first terminal portion 28 of the outer peripheral rear connector 10a and the inner peripheral rear connector.
  • the second terminal portion 34 of 10b protrudes to one side in the axial direction, and the second terminal portion and the inner peripheral side of the rear connector 10a on the outer peripheral side (not shown).
  • the first terminal portion of the retrofit connector 10b is configured to be electrically connected to each other in the radial direction in a built-in state.
  • a plurality of wirings straddling the first link 44 and the second link 46 can be realized by providing a plurality of retrofit connectors 10 in parallel.
  • the plurality of retrofit connectors 10 may be arranged coaxially with different diameters, for example, in addition to being arranged side by side in the axial direction.
  • the 1st ring-shaped member and the 2nd ring-shaped member each showed the substantially annular shape
  • the 1st ring-shaped member and the 2nd ring-shaped member are The ring-shaped member is not necessarily limited to an annular shape, and if the first ring-shaped member and the second ring-shaped member are allowed to rotate relative to each other, the inner peripheral surface and outer peripheral surface of the ring-shaped member may be a polygonal cylinder or a deformed cylinder. Can be made. Specifically, for example, like the retrofit connector 160 shown in FIGS.
  • the inner peripheral surface of the second ring-shaped member 162 as the second exterior member is formed into a rounded square cylinder
  • the second ring-shaped member 162 may be attached in an extrapolated state with respect to the second link 46 having a rounded square cylindrical outer peripheral surface.
  • the first exterior member and the second exterior member are not necessarily limited to an annular shape as long as they can be attached to a mounting target configured by a link or the like and can be relatively rotated.
  • the second ring-shaped member 162 has substantially the same structure as the second ring-shaped member 14 of the first embodiment, except that the inner peripheral surface is a rounded square cylinder. 22 and 23, the outer peripheral surface of the first ring-shaped member 12 may be a surface shape other than a cylindrical shape, and may be, for example, a polygonal cylindrical shape or a deformed cylindrical shape.
  • the mounting target to which the retrofit connector is mounted is not limited to the robot arm 42 including the first and second links 44 and 46.
  • a joint that allows torsion to the waist of a humanoid robot In the case where a cable or the like is provided so as to straddle the hip joint, the first ring-shaped member 12 and the second ring-shaped member 14 sandwich the hip joint in the torso of the humanoid robot. Since it is attached to one of the upper side and the lower side, the mounting target is configured to include a first link that constitutes the upper side of the trunk of the humanoid robot and a second link that constitutes the lower side of the trunk.
  • the mounting target to which the retrofit connector is mounted may be, for example, a rotational drive facility other than the robot in the factory such as a turntable or a handle.
  • a retrofit connector according to the present invention can be attached to a steering column that constitutes a steering device of an automobile.
  • Retrofit connector 12, 62, 152: First ring-shaped member (first exterior member), 14, 64, 112, 154: Second ring-shaped member (second exterior member), 28, 114: first terminal portion, 34, 118: second terminal portion, 36, 125: accommodation space, 38, 92, 98, 102, 121 : Wiring between terminals, 40, 94: Folded part, 42, 126: Robot arm (attachment target), 44, 130: First link, 46, 132: Second link, 48: Joint part, 112: First Insertion hole, 116: second insertion hole, 122: first exterior member, 124: second exterior member, 134: curl cord (inter-terminal wiring), 142: window portion

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The purpose of the present invention is to provide a retrofitted connector which has a novel structure, and which makes it possible for wiring to straddle a joint without hindering movement of the joint, by way of a structure which can be retrofitted to an existing robot or the like. The present invention is provided with a structure in which: a first exterior member 12 and a second exterior member 14 which are externally fitted to a fitting object 42 are combined in a state enabling relative torsional rotation; an accommodation space 36 extending in the circumferential direction is formed between the first exterior member 12 and the second exterior member 14; inter-terminal wiring 38 is provided in the accommodation space 36 so as to extend in the circumferential direction; and conduction between a first terminal part 28 provided to the first exterior member 12 and a second terminal part 34 provided to the second exterior member 14 is enabled by the inter-terminal wiring 38.

Description

後付コネクタRetrofit connector
　本発明は、例えばロボットアームのリンクを相対変位可能に接続する関節部を跨ぐ配線を可能とする後付コネクタに関するものである。 The present invention relates to a retrofit connector that enables wiring across a joint portion that connects a link of a robot arm so as to be capable of relative displacement, for example.
　従来から、ロボットアームは、複数のリンクを関節部で接続した構造を有しており、それら複数のリンクの相対変位が許容されている。なお、ロボットアームの関節部は、リンクの相対的な傾動を許容するものの他、リンクの相対的なねじり変位を許容するものもある。 Conventionally, a robot arm has a structure in which a plurality of links are connected by joints, and relative displacement of the plurality of links is allowed. Note that the joint portion of the robot arm allows a relative torsional displacement of the link in addition to a link that allows a relative tilt of the link.
　ところで、例えば、ロボットアームの先端に設けられるエンドエフェクタ制御用の配線などは、ロボットアームの基端側から延びて、関節部を跨いで配される場合もある。この場合、関節部の駆動時に配線が過度に引っ張られて断線したり、関節部におけるロボットアームの屈伸やねじりなどの動きが配線によって阻害されたりしないことが必要となる。 Incidentally, for example, the end effector control wiring provided at the distal end of the robot arm may extend from the proximal end side of the robot arm and straddle the joint. In this case, it is necessary that the wiring is not excessively pulled when the joint portion is driven and disconnected, and the movement of the robot arm in the joint portion, such as bending and stretching or torsion, is not hindered by the wiring.
　そこで、特開２０１５－５４３５７号公報（特許文献１）には、リンクを相対変位可能に接続する関節部において、配線などの線条体をＵ字形状に折り返して配設した関節駆動装置が提案されている。 Therefore, Japanese Patent Laying-Open No. 2015-54357 (Patent Document 1) proposes a joint driving device in which a linear member such as a wiring is folded and arranged in a U-shape at a joint portion that connects a link so as to be relatively displaceable. Has been.
　ところが、特許文献１の構造は、ロボットの関節部に予め内蔵されるものであることから、既存のロボットに対して後から適用することは難しかった。それ故、既存のロボットに機能を追加するなどの目的で新たな配線を設けるような場合には、ロボット自体の大幅な設計変更が必要になるなどして、特許文献１の構造を採用することができず、新たな構造が求められていた。 However, since the structure of Patent Document 1 is built in the joint portion of the robot in advance, it has been difficult to apply to the existing robot later. Therefore, when a new wiring is provided for the purpose of adding a function to an existing robot, the structure of Patent Document 1 is adopted because the design of the robot itself needs to be significantly changed. However, a new structure was demanded.
特開２０１５－５４３５７号公報Japanese Patent Laying-Open No. 2015-54357
　本発明は、上述の事情を背景に為されたものであって、その解決課題は、既存のロボットなどに後付け可能な構造によって、ロボットの関節部におけるねじり動作などを妨げることなく関節部などを跨ぐ配線を可能とする、新規な構造の後付コネクタを提供することにある。 The present invention has been made in the background of the above-mentioned circumstances, and the problem to be solved is that the joint portion and the like can be provided without obstructing the torsional operation or the like in the joint portion of the robot by a structure that can be retrofitted to an existing robot or the like. It is an object of the present invention to provide a retrofit connector having a novel structure that enables the wiring to straddle.
　以下、このような課題を解決するために為された本発明の態様を記載する。なお、以下に記載の各態様において採用される構成要素は、可能な限り任意の組み合わせで採用可能である。 Hereinafter, embodiments of the present invention made to solve such problems will be described. In addition, the component employ | adopted in each aspect as described below is employable by arbitrary combinations as much as possible.
　すなわち、本発明の第一の態様は、後付コネクタであって、装着対象に外挿状態で装着される第一の外装部材と第二の外装部材が相対的なねじり回転を可能とされた態様で相互に組み合わされていると共に、それら第一の外装部材と第二の外装部材の間には周方向に延びる収容空間が形成されており、該収容空間には端子間配線が周方向に延びるように配設されて、該第一の外装部材に設けられた第一の端子部と該第二の外装部材に設けられた第二の端子部が該端子間配線によって相互に導通された構造を有することを、特徴とする。 That is, the first aspect of the present invention is a retrofit connector, in which the first exterior member and the second exterior member that are attached to the attachment target in an extrapolated state are capable of relative torsional rotation. And a housing space extending in the circumferential direction is formed between the first exterior member and the second exterior member, and the inter-terminal wiring is disposed in the circumferential direction in the housing space. The first terminal portion provided on the first exterior member and the second terminal portion provided on the second exterior member are electrically connected to each other by the inter-terminal wiring. It has a structure.
　このような第一の態様に従う構造とされた後付コネクタによれば、例えば、装着対象としてのロボットアームにおける関節部を挟んだ両側のリンクなどに対して、第一の外装部材と第二の外装部材の各一方をそれぞれ外挿状態で取り付けることにより、関節部を跨ぐ配線を容易に実現することが可能となる。 According to such a retrofit connector having the structure according to the first aspect, for example, the first exterior member and the second link with respect to the links on both sides sandwiching the joint portion of the robot arm as the mounting target, etc. By attaching each one of the exterior members in an extrapolated state, it is possible to easily realize wiring across the joint.
　しかも、各リンク側の外部配線に接続される端子間配線が周方向に延びるように配設されていることによって、相対回転を許容された状態で組み合わされた第一の外装部材と第二の外装部材が、端子間配線の配設状態においても相対回転を許容されている。これにより、第一の外装部材が取り付けられる対象と、第二の外装部材が取り付けられる対象との相対回転が許容されることから、例えば装着対象としてのロボットアームの関節部に本態様の後付コネクタを適用することで、関節部における装着対象としてのリンクの相対回転を許容しながら関節部を跨ぐ配線を実現することができる。 In addition, since the inter-terminal wiring connected to the external wiring on each link side is disposed so as to extend in the circumferential direction, the first exterior member and the second external body combined in a state in which relative rotation is allowed. The exterior member is allowed to rotate relatively even when the inter-terminal wiring is disposed. Accordingly, since relative rotation between the object to which the first exterior member is attached and the object to which the second exterior member is attached is allowed, for example, a retrofit of this aspect is applied to the joint portion of the robot arm as the attachment object. By applying the connector, it is possible to realize wiring that straddles the joint part while allowing relative rotation of the link as a mounting target in the joint part.
　さらに、端子間配線が相互に組み合わされた第一の外装部材と第二の外装部材の間の収容空間に配されていることから、第一の外装部材と第二の外装部材をロボットアームのリンクのような装着対象に後付けすることで、それらリンクなどの相対回転を許容しつつそれらリンクなどに跨って延びる配線を簡単に設けることができる。加えて、収容空間に配された端子間配線は、周囲を第一の外装部材と第二の外装部材で保護されることから、端子間配線の耐久性の向上や周辺の他部材に対する干渉の回避なども図られ得る。 Further, since the inter-terminal wiring is arranged in the accommodating space between the first exterior member and the second exterior member combined with each other, the first exterior member and the second exterior member are connected to the robot arm. By retrofitting a mounting object such as a link, it is possible to easily provide wiring extending over the links while allowing relative rotation of the links. In addition, since the inter-terminal wiring arranged in the accommodation space is protected by the first exterior member and the second exterior member, the durability of the inter-terminal wiring is improved and interference with other peripheral members is prevented. Avoidance and the like can also be achieved.
　本発明の第二の態様は、後付コネクタであって、装着対象に装着される第一の外装部材と第二の外装部材が相対的な周方向変位を可能とされた態様で相互に組み合わされていると共に、それら第一の外装部材と第二の外装部材の間には周方向に延びる収容空間が形成されており、該収容空間には外部配線にそれぞれ接続される第一の端子部と第二の端子部が両端に設けられた端子間配線が周方向に延びるように配設されて、該第一の外装部材に設けられた第一の挿通孔と該第二の外装部材に設けられた第二の挿通孔との各一方を通じて該端子間配線の両端部分が該収容空間から外部へ延び出しているものである。 A second aspect of the present invention is a retrofit connector, in which the first exterior member and the second exterior member attached to the attachment target are combined with each other in a manner that allows relative circumferential displacement. In addition, a housing space extending in the circumferential direction is formed between the first exterior member and the second exterior member, and the first terminal portion connected to the external wiring in the housing space, respectively. And an inter-terminal wire provided at both ends of the second terminal portion so as to extend in the circumferential direction, the first insertion hole provided in the first exterior member and the second exterior member Both end portions of the inter-terminal wiring extend outside from the accommodation space through one of the provided second insertion holes.
　このような第二の態様に従う構造とされた後付コネクタによれば、端子間配線の両端部分が収容空間から外部へ延び出していることにより、端子間配線の両端に設けられた第一の端子部と第二の端子部の配置の自由度が大きくなる。これにより、端子間配線と外部配線の接続がより容易になり得ると共に、第一の端子部と第二の端子部の配設スペースを容易に確保することができる。 According to such a retrofit connector having a structure according to the second aspect, both end portions of the inter-terminal wiring extend to the outside from the accommodating space, so that the first terminals provided at both ends of the inter-terminal wiring are provided. The degree of freedom of arrangement of the terminal portion and the second terminal portion is increased. Thereby, the connection between the inter-terminal wiring and the external wiring can be made easier, and the arrangement space of the first terminal portion and the second terminal portion can be easily secured.
　本発明の第三の態様は、後付コネクタであって、装着対象に装着される第一の外装部材と第二の外装部材が一周に満たない長さで周方向に延びており、それら第一の外装部材と第二の外装部材が相対的な周方向変位を可能とされた態様で相互に組み合わされていると共に、それら第一の外装部材と第二の外装部材の間には周方向に延びる収容空間が形成されて、該収容空間には端子間配線が周方向に延びるように配設されており、該端子間配線が両端に設けられた第一の端子部と第二の端子部を通じて該第一の外装部材側および該第二の外装部材側におけるそれぞれの外部配線に接続されるようになっているものである。 A third aspect of the present invention is a retrofit connector, wherein the first exterior member and the second exterior member to be attached to the attachment object extend in the circumferential direction with a length that does not reach one circumference, and The one exterior member and the second exterior member are combined with each other in a manner that allows relative circumferential displacement, and the circumferential direction is between the first exterior member and the second exterior member. A first terminal portion and a second terminal provided with the inter-terminal wiring provided at both ends thereof, wherein the inter-terminal wiring extends in the circumferential direction. The first exterior member side and the second exterior member side are connected to the respective external wirings through the portion.
　このような第三の態様に従う構造とされた後付コネクタによれば、第一の外装部材と第二の外装部材が周方向で一周に満たない長さとされていることにより、第一の外装部材と第二の外装部材は装着対象に対して必ずしも外挿状態で装着される必要がない。その結果、装着対象における第一の外装部材と第二の外装部材の取付け部位に対して形状などの制限が少なくなることから、例えば、屈曲関節によって相対傾動可能に連結されたロボットアームのリンクなどを装着対象とすることも可能となる。 According to such a retrofit connector having the structure according to the third aspect, the first exterior member and the second exterior member have a length that is less than one circumference in the circumferential direction. The member and the second exterior member do not necessarily have to be mounted on the mounting target in an extrapolated state. As a result, since there are less restrictions on the shape and the like for the attachment parts of the first exterior member and the second exterior member in the mounting target, for example, a link of a robot arm connected so as to be relatively tiltable by a bending joint, etc. It is also possible to make it a wearing target.
　本発明の第四の態様は、第一～第三の何れか１つの態様に記載された後付コネクタにおいて、前記第一の外装部材と前記第二の外装部材は、何れも周方向の少なくとも一箇所において分割可能とされているものである。 According to a fourth aspect of the present invention, in the retrofit connector described in any one of the first to third aspects, the first exterior member and the second exterior member are both at least in the circumferential direction. It can be divided at one place.
　第四の態様によれば、例えば、第一の外装部材と第二の外装部材の内周へロボットアームのリンクのような装着対象を差し入れて、装着対象に第一の外装部材と第二の外装部材を外挿状態で後付けする際に、装着対象に対する第一の外装部材と第二の外装部材への取付けが容易になる。 According to the fourth aspect, for example, a mounting target such as a link of a robot arm is inserted into the inner periphery of the first exterior member and the second exterior member, and the first exterior member and the second exterior member are inserted into the mounting target. When the exterior member is retrofitted in an extrapolated state, attachment to the first exterior member and the second exterior member with respect to the mounting target is facilitated.
　本発明の第五の態様は、第四の態様に記載された後付コネクタにおいて、前記第一の外装部材と前記第二の外装部材の少なくとも一方には分割部分を周方向に連結する連結部が設けられており、該第一の外装部材と該第二の外装部材における該連結部を挟んだ両側が該連結部によって相対的に開くようにされているものである。 According to a fifth aspect of the present invention, in the retrofit connector described in the fourth aspect, a connecting portion that connects a divided portion in the circumferential direction to at least one of the first exterior member and the second exterior member. The both sides of the first exterior member and the second exterior member sandwiching the connecting portion are relatively opened by the connecting portion.
　第五の態様によれば、例えば、装着対象が第一の外装部材と第二の外装部材の内周側に取り付けられる際に、第一の外装部材と第二の外装部材を開くように相対変位させることで、取付け作業が簡単になり得る。しかも、第一の外装部材と第二の外装部材の少なくとも一方において、連結部を挟んだ両側部分を一体的に取り扱うことが可能となる。 According to the fifth aspect, for example, when the mounting target is attached to the inner peripheral side of the first exterior member and the second exterior member, the first exterior member and the second exterior member are opened relative to each other. Displacement can simplify the installation work. In addition, at least one of the first exterior member and the second exterior member can integrally handle both side portions sandwiching the connecting portion.
　本発明の第六の態様は、第一～第五の何れか１つの態様に記載された後付コネクタにおいて、前記端子間配線が前記収容空間内に設定された湾曲形状の折返し部において周方向に折り返されているものである。 According to a sixth aspect of the present invention, in the retrofit connector described in any one of the first to fifth aspects, the inter-terminal wiring is arranged in a circumferential direction in a curved folded portion set in the accommodation space. It is something that is folded back.
　第六の態様によれば、端子間配線が折返し部において周方向に折り返されていることで、第一の外装部材と第二の外装部材の相対回転が、周方向の両側において許容される。しかも、折返し部が湾曲形状とされていることで、折返し部における端子間配線の断線などが生じ難く、優れた信頼性が発揮される。 According to the sixth aspect, since the inter-terminal wiring is folded back in the circumferential direction at the folded portion, relative rotation between the first exterior member and the second exterior member is allowed on both sides in the circumferential direction. Moreover, since the folded portion has a curved shape, disconnection of the inter-terminal wiring at the folded portion is difficult to occur, and excellent reliability is exhibited.
　本発明の第七の態様は、第六の態様に記載された後付コネクタにおいて、前記折返し部において周方向に折り返された前記端子間配線が、軸方向と軸直角方向の少なくとも一方で重なるように配設されているものである。 According to a seventh aspect of the present invention, in the retrofit connector described in the sixth aspect, the inter-terminal wiring folded back in the circumferential direction at the turned-up portion overlaps at least one of the axial direction and the axial perpendicular direction. Are arranged.
　第七の態様によれば、折返し部で折り返された端子間配線を軸方向で重なるように配設すれば、収容空間の軸直角方向寸法を小さくすることができて、後付コネクタを軸直角方向で小型化することができる。また、折返し部で折り返された端子間配線を軸直角方向で重なるように配設することによって、収容空間の軸方向寸法を小さくすることができて、後付コネクタを軸方向で小型化することができる。加えて、端子間配線を軸方向と軸直角方向の両方で重なるように配設すれば、長い端子間配線をスペース効率よく配設することが可能となる。 According to the seventh aspect, if the inter-terminal wirings folded at the folding part are disposed so as to overlap in the axial direction, the axial perpendicular direction dimension of the housing space can be reduced, and the rear connector is It can be downsized in the direction. In addition, by arranging the inter-terminal wirings folded at the folded part so as to overlap in the direction perpendicular to the axis, the axial dimension of the housing space can be reduced, and the retrofit connector can be reduced in the axial direction. Can do. In addition, if the inter-terminal wires are arranged so as to overlap in both the axial direction and the direction perpendicular to the axis, long inter-terminal wires can be arranged in a space efficient manner.
　本発明の第八の態様は、第一～第七の何れか１つの態様に記載された後付コネクタにおいて、前記第一の外装部材が軸方向に開口する溝形断面を有していると共に、前記第二の外装部材が該第一の外装部材の軸方向の開口部を覆蓋するように該第一の外装部材と組み合わされているものである。 According to an eighth aspect of the present invention, in the retrofit connector described in any one of the first to seventh aspects, the first exterior member has a groove-shaped cross section that opens in the axial direction. The second exterior member is combined with the first exterior member so as to cover the axial opening of the first exterior member.
　第八の態様によれば、第一の外装部材において第一の端子部を軸方向一方側に設け易くなると共に、第二の外装部材において第二の端子部を軸方向他方側に設け易くなる。従って、ロボットアームの関節部などを第一，第二の外装部材の軸方向に跨ぐ配線が容易に実現される。 According to the eighth aspect, it is easy to provide the first terminal portion on one side in the axial direction in the first exterior member, and it is easy to provide the second terminal portion on the other side in the axial direction in the second exterior member. . Therefore, wiring that straddles the joint portion of the robot arm in the axial direction of the first and second exterior members can be easily realized.
　また、第一の外装部材の内周面の面積を大きく得ることができて、第一の外装部材を内周面において装着対象としてのロボットアームのリンクなどに取り付ける場合に、第一の外装部材を装着対象に対してより強固に取り付けることが可能となる。 In addition, when the area of the inner peripheral surface of the first exterior member can be increased and the first exterior member is attached to a link of a robot arm as a mounting target on the inner peripheral surface, the first exterior member Can be more firmly attached to the mounting target.
　本発明の第九の態様は、第一～第七の何れか１つの態様に記載された後付コネクタにおいて、前記第一の外装部材が軸直角方向へ向けて開口する溝形断面を有していると共に、前記第二の外装部材が該第一の外装部材の軸直角方向の開口部を覆蓋するように該第一の外装部材と組み合わされているものである。 According to a ninth aspect of the present invention, in the retrofit connector described in any one of the first to seventh aspects, the first exterior member has a groove-shaped cross section that opens in a direction perpendicular to the axis. In addition, the second exterior member is combined with the first exterior member so as to cover the opening in the direction perpendicular to the axis of the first exterior member.
　第九の態様によれば、第一の外装部材又は第二の外装部材の内周面の面積を大きく得ることができることから、第一の外装部材又は第二の外装部材を内周面において装着対象としてのロボットアームのリンクなどに取り付ける場合に、第一の外装部材又は第二の外装部材の取付け強度をより大きく得ることが可能となる。 According to the ninth aspect, since the area of the inner peripheral surface of the first exterior member or the second exterior member can be increased, the first exterior member or the second exterior member is mounted on the inner peripheral surface. When attaching to the link of the robot arm as a target, it is possible to obtain a higher attachment strength of the first exterior member or the second exterior member.
　本発明の第十の態様は、第一～第九の何れか１つの態様に記載された後付コネクタにおいて、前記端子間配線が扁平な断面形状を有しているものである。 A tenth aspect of the present invention is the retrofit connector described in any one of the first to ninth aspects, wherein the inter-terminal wiring has a flat cross-sectional shape.
　第十の態様によれば、扁平断面を有する端子間配線の厚さ方向において、収容空間の寸法を小さくすることができる。しかも、端子間配線の厚さ方向の湾曲や屈折などが容易になることから、例えば端子間配線を周方向で折り返す場合などに、端子間配線の折返し部における応力の集中が緩和される。 According to the tenth aspect, the dimension of the accommodating space can be reduced in the thickness direction of the inter-terminal wiring having a flat cross section. In addition, since bending and refraction in the thickness direction of the inter-terminal wiring is facilitated, for example, when the inter-terminal wiring is folded in the circumferential direction, stress concentration at the folded portion of the inter-terminal wiring is alleviated.
　本発明の第十一の態様は、第一～第十の何れか１つの態様に記載された後付コネクタにおいて、相互に組み合わされた前記第一の外装部材と前記第二の外装部材の複数組が軸方向で直列的に配設されて、軸方向で隣り合う該第一の外装部材と該第二の外装部材が相互に連結されていると共に、それら連結された第一の外装部材と第二の外装部材において前記第一の端子部と前記第二の端子部が互いに導通されているものである。 An eleventh aspect of the present invention is the retrofit connector according to any one of the first to tenth aspects, wherein a plurality of the first exterior member and the second exterior member combined with each other are combined. A set is arranged in series in the axial direction, and the first exterior member and the second exterior member adjacent in the axial direction are connected to each other, and the connected first exterior member and In the second exterior member, the first terminal portion and the second terminal portion are electrically connected to each other.
　第十一の態様によれば、相互に組み合わされた第一の外装部材と第二の外装部材の間に配される各端子間配線の長さを延長することなく、装着対象としてのロボットアームのリンクなどに対してより大きな相対回転を許容することができる。しかも、相互に組み合わされた第一の外装部材と第二の外装部材の複数組が軸方向で直列的に配されることから、後付コネクタの大径化を防ぐこともできる。 According to the eleventh aspect, the robot arm as a mounting target without extending the length of each inter-terminal wiring arranged between the first exterior member and the second exterior member combined with each other It is possible to allow a larger relative rotation with respect to the link. In addition, since a plurality of sets of the first exterior member and the second exterior member combined with each other are arranged in series in the axial direction, the diameter of the retrofit connector can be prevented.
　本発明の第十二の態様は、第一～第十の何れか１つの態様に記載された後付コネクタにおいて、相互に組み合わされた前記第一の外装部材と前記第二の外装部材の複数組が同軸的に配設されて、軸直角方向で隣り合う該第一の外装部材と該第二の外装部材が相互に連結されていると共に、それら連結された第一の外装部材と第二の外装部材において前記第一の端子部と前記第二の端子部が互いに導通されているものである。 A twelfth aspect of the present invention is the retrofit connector according to any one of the first to tenth aspects, wherein a plurality of the first exterior member and the second exterior member combined with each other are provided. A set is coaxially arranged, and the first exterior member and the second exterior member adjacent in the direction perpendicular to the axis are connected to each other, and the connected first exterior member and the second exterior member are connected to each other. In the exterior member, the first terminal portion and the second terminal portion are electrically connected to each other.
　第十二の態様によれば、相互に組み合わされた第一の外装部材と第二の外装部材の間に配される各端子間配線の長さを延長することなく、装着対象であるロボットアームのリンクなどにより大きな相対回転を許容することができる。しかも、相互に組み合わされた第一の外装部材と第二の外装部材の複数組が同軸的に配されることから、後付コネクタの軸方向長さが長くなるのを防ぐこともできる。 According to the twelfth aspect, the robot arm to be mounted without extending the length of each inter-terminal wiring arranged between the first exterior member and the second exterior member combined with each other A large relative rotation can be allowed by the link. In addition, since the plurality of sets of the first exterior member and the second exterior member combined with each other are coaxially arranged, it is possible to prevent the axial length of the retrofit connector from being increased.
　本発明の第十三の態様は、第一～第十二の何れか１つの態様に記載された後付コネクタにおいて、前記装着対象が第一のリンクと第二のリンクを含んで構成されて、それら第一のリンクと第二のリンクが関節部を介して回動可能に連結されており、前記第一の外装部材と前記第二の外装部材の少なくとも一方が内周面を該第一のリンク又は該第二のリンクの外周面に対応する面形状とされて該第一のリンク又は該第二のリンクに対して直接接触した外挿状態で装着されているものである。 A thirteenth aspect of the present invention is the retrofit connector according to any one of the first to twelfth aspects, wherein the mounting target includes a first link and a second link. The first link and the second link are rotatably connected via a joint portion, and at least one of the first exterior member and the second exterior member has an inner peripheral surface thereof. The surface shape corresponding to the outer peripheral surface of the second link or the second link is mounted in an extrapolated state in direct contact with the first link or the second link.
　第十三の態様によれば、リンクに対して外挿状態で装着される外装部材の内周面が、リンクの外周面に対応する面形状とされていることによって、外装部材がリンクに対して外挿状態で安定して装着される。 According to the thirteenth aspect, since the inner peripheral surface of the exterior member mounted in an extrapolated state with respect to the link has a surface shape corresponding to the outer peripheral surface of the link, the exterior member is attached to the link. It is mounted stably in the extrapolated state.
　なお、例えば、第一の外装部材と第二の外装部材の両方が、内周面を第一のリンクと第二のリンクの各一方の外周面に重ね合わせた外挿状態で装着されても良いが、第一の外装部材と第二の外装部材の何れか一方が、内周面がリンクの外周面に対して離隔した状態で他部材を介してリンクに装着されるようにしても良い。 Note that, for example, both the first exterior member and the second exterior member may be mounted in an extrapolated state in which the inner peripheral surface is superimposed on the outer peripheral surface of each of the first link and the second link. However, either the first exterior member or the second exterior member may be attached to the link via another member in a state where the inner peripheral surface is separated from the outer peripheral surface of the link. .
　本発明の第十四の態様は、第一～第十三の何れか１つの態様に記載された後付コネクタにおいて、前記第一の外装部材と前記第二の外装部材の少なくとも一方には、前記収容空間内を外部から視認可能とする窓部が設けられているものである。 In a fourteenth aspect of the present invention, in the retrofit connector described in any one of the first to thirteenth aspects, at least one of the first exterior member and the second exterior member includes: A window portion that allows the inside of the housing space to be visually recognized from the outside is provided.
　第十四の態様によれば、第一の外装部材と第二の外装部材の組み合わせを解除することなく、収容空間に配された端子間配線の位置や状態などを外部から容易に確認することができる。 According to the fourteenth aspect, the position and state of the inter-terminal wiring arranged in the accommodation space can be easily confirmed from the outside without releasing the combination of the first exterior member and the second exterior member. Can do.
　本発明の第十五の態様は、第一～第十四の何れか１つの態様に記載された後付コネクタにおいて、前記収容空間に配された前記端子間配線が該収容空間の周方向で伸縮可能とされているものである。 A fifteenth aspect of the present invention is the retrofit connector according to any one of the first to fourteenth aspects, wherein the inter-terminal wirings arranged in the accommodation space are arranged in the circumferential direction of the accommodation space. It is supposed to be stretchable.
　第十五の態様によれば、第一の外装部材と第二の外装部材の相対的な周方向変位だけでなく、端子間配線の伸縮によっても、端子間配線と外部配線の接続状態を維持しながら、装着対象のねじりや屈曲などの動作を許容することができる。 According to the fifteenth aspect, the connection state between the inter-terminal wiring and the external wiring is maintained not only by the relative circumferential displacement of the first exterior member and the second exterior member but also by the expansion and contraction of the inter-terminal wiring. However, operations such as twisting and bending of the mounting target can be allowed.
　本発明によれば、例えば、ロボットアームのような装着対象において関節部を挟んだ各リンクに対して、第一の外装部材と第二の外装部材の各一方を取り付けることにより、関節部の両側のケーブルなどを第一の端子部と第二の端子部の各一方に接続することでそれら両側のケーブルなどを相互につないで、関節部を跨ぐ配線が可能となる。しかも、周方向に延びる端子間配線によって、第一の外装部材と第二の外装部材の相対回転が許容されることから、ロボットアームのリンクのような第一の外装部材の装着対象と第二の外装部材の装着対象との相対回転などの相対変位が許容される。更に、第一の外装部材と第二の外装部材をロボットアームのリンクなどに後付けすることで、それらリンクなどの相対変位を許容しつつそれらリンクなどに跨って延びる配線が可能となる。加えて、収容空間に配された端子間配線は、周囲を第一の外装部材と第二の外装部材で保護されることから、端子間配線の耐久性の向上なども図られ得る。 According to the present invention, for example, by attaching one of the first exterior member and the second exterior member to each link sandwiching the joint portion in a mounting target such as a robot arm, both sides of the joint portion are attached. By connecting the cable or the like to one of the first terminal portion and the second terminal portion, the cables on both sides of the first terminal portion and the second terminal portion are connected to each other, and wiring across the joint portion becomes possible. In addition, since the relative rotation of the first exterior member and the second exterior member is allowed by the inter-terminal wiring extending in the circumferential direction, the mounting target of the first exterior member such as the link of the robot arm and the second Relative displacement such as relative rotation with the mounting target of the exterior member is allowed. Further, by retrofitting the first exterior member and the second exterior member to the link of the robot arm or the like, it is possible to perform wiring extending over the links while allowing relative displacement of the links. In addition, since the periphery of the inter-terminal wiring arranged in the accommodation space is protected by the first exterior member and the second exterior member, the durability of the inter-terminal wiring can be improved.
本発明の第一の実施形態としての後付コネクタを示す斜視図。The perspective view which shows the retrofit connector as 1st embodiment of this invention. 図１に示す後付コネクタの分解斜視図。The disassembled perspective view of the retrofit connector shown in FIG. 図１の後付コネクタを第二の部材を取り除いた状態で示す斜視図。The perspective view which shows the back connector of FIG. 1 in the state which removed the 2nd member. 図３に示す第二の部材を取り除いた状態の後付コネクタの正面図。The front view of the retrofit connector of the state which removed the 2nd member shown in FIG. 図１に示す後付コネクタの断面図であって、図４のＶ－Ｖ断面に相当する図。FIG. 5 is a cross-sectional view of the retrofit connector shown in FIG. 1, corresponding to the VV cross section of FIG. 4. 図１の後付コネクタをロボットアームに取り付けるための分割状態で示す斜視図。The perspective view shown in the division | segmentation state for attaching the retrofit connector of FIG. 1 to a robot arm. 図１に示す後付コネクタの作動を説明するための図であって、（ａ）が第一のリング状部材と第二のリング状部材が回転する前の初期状態を、（ｂ）が第一のリング状部材と第二のリング状部材が相対回転した状態を、それぞれ示す。It is a figure for demonstrating the action | operation of the retrofit connector shown in FIG. 1, Comprising: (a) is an initial state before a 1st ring-shaped member and a 2nd ring-shaped member rotate, (b) is a 1st. The state where the one ring-shaped member and the second ring-shaped member are relatively rotated is shown. 本発明の第二の実施形態としての後付コネクタを示す斜視図。The perspective view which shows the retrofit connector as 2nd embodiment of this invention. 図８に示す後付コネクタの正面図。The front view of the retrofit connector shown in FIG. 図９のＸ－Ｘ断面図。XX sectional drawing of FIG. 本発明の別の一実施形態としての後付コネクタを示す分解斜視図。The disassembled perspective view which shows the retrofit connector as another one Embodiment of this invention. 図１１に示す後付コネクタの断面図。Sectional drawing of the retrofit connector shown in FIG. 図１２の後付コネクタの要部を示す斜視断面図。FIG. 13 is a perspective cross-sectional view showing a main part of the rear connector of FIG. 12. 本発明のまた別の一実施形態としての後付コネクタを示す断面図。Sectional drawing which shows the retrofit connector as another one Embodiment of this invention. 本発明の第三の実施形態としての後付コネクタを第二の部材を取り除いた状態で示す斜視図。The perspective view which shows the retrofit connector as 3rd embodiment of this invention in the state which removed the 2nd member. 図１５に示す第二の部材を取り除いた状態の後付コネクタの正面図。The front view of the retrofit connector of the state which removed the 2nd member shown in FIG. 図１５に示す後付コネクタの断面図であって、図１６のＸＶＩＩ－ＸＶＩＩ断面に相当する図。FIG. 17 is a cross-sectional view of the retrofit connector shown in FIG. 15, corresponding to the XVII-XVII cross section of FIG. 16. 本発明の第四の実施形態としての後付コネクタを示す斜視図。The perspective view which shows the retrofit connector as 4th embodiment of this invention. 図１８の後付コネクタにおいて第二の部材を取り除いた状態を示す正面図。The front view which shows the state which removed the 2nd member in the retrofit connector of FIG. 本発明の第五の実施形態としての後付コネクタを示す斜視図。The perspective view which shows the retrofit connector as 5th embodiment of this invention. 図２０に示す後付コネクタの分解斜視図。The disassembled perspective view of the retrofit connector shown in FIG. 図２０に示す後付コネクタの正面図であって、第一の外装部材を第二の外装部材に対して初期位置から右回りに回転させた状態を示す図。It is a front view of the retrofit connector shown in FIG. 20, Comprising: The figure which shows the state which rotated the 1st exterior member clockwise from the initial position with respect to the 2nd exterior member. 図２０に示す後付コネクタの正面図であって、第一の外装部材を第二の外装部材に対して初期位置から左回りに回転させた状態を示す図。It is a front view of the retrofit connector shown in FIG. 20, Comprising: The figure which shows the state which rotated the 1st exterior member counterclockwise from the initial position with respect to the 2nd exterior member. 図２０に示す後付コネクタのロボットアームへの装着を説明する斜視図。The perspective view explaining mounting | wearing to the robot arm of the retrofit connector shown in FIG. 本発明の別の一実施形態としての後付コネクタを構成するカールコードを示す斜視図。The perspective view which shows the curl cord which comprises the retrofit connector as another embodiment of this invention. 本発明の別の一実施形態としての後付コネクタを示す正面図。The front view which shows the retrofit connector as another one Embodiment of this invention. 本発明の別の一実施形態としての後付コネクタを示す斜視図。The perspective view which shows the retrofit connector as another one Embodiment of this invention. 本発明の別の一実施形態としての後付コネクタを示す斜視図。The perspective view which shows the retrofit connector as another one Embodiment of this invention. 図２８に示す後付コネクタの側面図。The side view of the retrofit connector shown in FIG. 本発明のまた別の一実施形態としての後付コネクタを示す斜視図。The perspective view which shows the retrofit connector as another one Embodiment of this invention. 図３０に示す後付コネクタの正面図。The front view of the retrofit connector shown in FIG. 本発明の更に別の一実施形態としての後付コネクタをリンクへの装着状態で示す斜視図。The perspective view which shows the retrofit connector as another one Embodiment of this invention in the mounting state to a link. 図３２に示す後付コネクタの正面図。The front view of the retrofit connector shown in FIG.
　以下、本発明の実施形態について、図面を参照しつつ説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　図１～５には、本発明の第一の実施形態としての後付コネクタ１０が示されている。後付コネクタ１０は、図２～５に示すように、第一の外装部材としての第一のリング状部材１２と第二の外装部材としての第二のリング状部材１４が、相対的なねじり変位を許容された態様で相互に組み合わされた構造を有している。以下の説明では、原則として、上下方向とは図４中の上下方向を、軸方向とは図５中の左右方向を、それぞれ言う。 1 to 5 show a retrofit connector 10 as a first embodiment of the present invention. As shown in FIGS. 2 to 5, the retrofit connector 10 includes a first ring-shaped member 12 as a first exterior member and a second ring-shaped member 14 as a second exterior member, which are relatively twisted. It has a structure in which displacements are combined in an allowed manner. In the following description, in principle, the vertical direction refers to the vertical direction in FIG. 4, and the axial direction refers to the horizontal direction in FIG.
　より詳細には、第一のリング状部材１２は、例えば金属や合成樹脂などで形成された硬質の部材であって、全体として略一定の溝形断面で周方向に連続する環状とされており、本実施形態では、図５に示すように、第一の部材１６と第二の部材１８を軸方向で相互に重ね合わせて固定した構造を有している。 More specifically, the first ring-shaped member 12 is a hard member formed of, for example, metal or synthetic resin, and has an annular shape that is continuous in the circumferential direction with a substantially constant groove-shaped cross section as a whole. In the present embodiment, as shown in FIG. 5, the first member 16 and the second member 18 are fixed so as to overlap each other in the axial direction.
　第一の部材１６は、略半円筒形状とされた周壁部２０に対して、軸方向一方の端部で内周側へ突出する内フランジ部２２が一体形成された構造を有している。第二の部材１８は、略半円環板形状とされており、外径寸法が第一の部材１６の周壁部２０と略同じとされている。 The first member 16 has a structure in which an inner flange portion 22 that protrudes toward the inner peripheral side at one end in the axial direction is integrally formed with the peripheral wall portion 20 having a substantially semi-cylindrical shape. The second member 18 has a substantially semi-annular plate shape, and has an outer diameter that is substantially the same as that of the peripheral wall portion 20 of the first member 16.
　そして、第二の部材１８の外周端部が第一の部材１６の周壁部２０に軸方向他方側から重ね合わされて、それら第一の部材１６と第二の部材１８が、接着や溶着、溶接、ねじ継手、リベット継手などの各種公知の固定手段によって固定される。これにより、第一のリング状部材１２を構成する第一の半割体２４が形成されて、上下一対の第一の半割体２４ａ，２４ｂを組み合わせることで、本実施形態の第一のリング状部材１２が形成されている。 And the outer peripheral edge part of the 2nd member 18 is piled up on the surrounding wall part 20 of the 1st member 16 from the other side of an axial direction, and these 1st member 16 and the 2nd member 18 adhere, weld, and weld It is fixed by various known fixing means such as a threaded joint and a rivet joint. Thereby, the 1st half body 24 which comprises the 1st ring-shaped member 12 is formed, and the 1st ring of this embodiment is formed by combining a pair of upper and lower first half bodies 24a and 24b. A shaped member 12 is formed.
　本実施形態では、上下一対の第一の半割体２４ａ，２４ｂが、周方向の何れか一方の端部において第一の部材１６に設けられた連結部としてのヒンジ部２６で傾動可能に連結されており、一対の第一の半割体２４ａ，２４ｂがヒンジ部２６を中心として相対変位（傾動）することで、それら一対の第一の半割体２４ａ，２４ｂが周方向の何れか他方の端部において相互に離隔可能とされて相対的に開くようになっている（図６参照）。なお、一対の第一の半割体２４ａ，２４ｂの周方向の他方の端部には、それら一対の第一の半割体２４ａ，２４ｂの離隔を阻止するロック手段が設けられていても良い。 In the present embodiment, the pair of upper and lower first halves 24a and 24b are connected so as to be tiltable by a hinge portion 26 as a connecting portion provided in the first member 16 at either one end in the circumferential direction. The pair of first halves 24a and 24b are relatively displaced (tilted) around the hinge portion 26, so that the pair of first halves 24a and 24b is the other in the circumferential direction. The end portions of the two can be separated from each other so as to open relatively (see FIG. 6). In addition, the other edge part of the circumferential direction of a pair of 1st half body 24a, 24b may be provided with the locking means which prevents separation | separation of these 1st half body 24a, 24b. .
　また、一方の第一の半割体２４ａを構成する第一の部材１６には、内フランジ部２２から軸方向外側（図５中、左側）へ向けて突出する第一の端子部２８が設けられている。この第一の端子部２８は、一般的に知られている雌雄何れかの端子接続構造とされており、例えば、銅やアルミニウム、或いはそれらの少なくとも一方を含む合金などの導電性に優れた材料で形成された図示しない端子が、内フランジ部２２を貫通して配されて、内フランジ部２２に設けられた第一の端子部２８において露出している。なお、第一の端子部２８としては、一般的な多極コネクタなどが採用され得る。 Further, the first member 16 constituting one of the first halves 24a is provided with a first terminal portion 28 that protrudes from the inner flange portion 22 toward the axially outer side (left side in FIG. 5). It has been. The first terminal portion 28 has a generally known male or female terminal connection structure, for example, a material having excellent conductivity such as copper, aluminum, or an alloy containing at least one of them. The terminal (not shown) formed in (1) passes through the inner flange portion 22 and is exposed at the first terminal portion 28 provided on the inner flange portion 22. As the first terminal portion 28, a general multipolar connector or the like can be adopted.
　一方、第二のリング状部材１４は、金属や合成樹脂などで形成された硬質の部材であって、全体として略円筒形状を有していると共に、周方向で上下に分割されており、一対の第二の半割体３０ａ，３０ｂを組み合わせた構造とされている。更に、第二のリング状部材１４は、外周面が段付き形状とされて、軸方向一方の端部の外周面が他方の端部の外周面よりも小径とされており、第二のリング状部材１４の軸方向他方の端部には、外周へ突出する位置決め突部３２が一体形成されている。 On the other hand, the second ring-shaped member 14 is a hard member formed of metal, synthetic resin, or the like, has a substantially cylindrical shape as a whole, and is divided vertically in the circumferential direction. The second halves 30a and 30b are combined. Further, the second ring-shaped member 14 has a stepped outer peripheral surface, and the outer peripheral surface of one end in the axial direction has a smaller diameter than the outer peripheral surface of the other end. A positioning protrusion 32 that protrudes toward the outer periphery is integrally formed at the other end in the axial direction of the member 14.
　また、一方の第二の半割体３０ａには、軸方向外側（図４中の紙面直交方向の手前側）へ向けて突出する第二の端子部３４が設けられている。この第二の端子部３４は、一般的に知られている雌雄何れかの端子接続構造とされており、例えば、銅やアルミニウム、或いはそれらの少なくとも一方を含む合金などの導電性に優れた材料で形成された図示しない端子が、第二の半割体３０ａを貫通して配されて、第二の半割体３０ａに設けられた第二の端子部３４において露出している。なお、第二の端子部３４としては、第一の端子部２８と同様に、一般的な多極コネクタなどが採用され得る。 Further, one second half 30a is provided with a second terminal portion 34 protruding toward the outside in the axial direction (the front side in the direction orthogonal to the paper surface in FIG. 4). The second terminal portion 34 has a generally known male / female terminal connection structure, for example, copper, aluminum, or a material having excellent conductivity such as an alloy containing at least one of them. The terminal (not shown) formed in (2) is disposed through the second half 30a and exposed at the second terminal portion 34 provided in the second half 30a. As the second terminal portion 34, a general multipolar connector or the like can be adopted as with the first terminal portion 28.
　そして、第一のリング状部材１２の内周側に第二のリング状部材１４が組み合わされており、溝形断面を有する第一のリング状部材１２の内周側の開口部が第二のリング状部材１４によって覆蓋されている。本実施形態では、第二のリング状部材１４の位置決め突部３２が第一のリング状部材１２における内フランジ部２２と第二の部材１８の間に差し入れられることにより、第一のリング状部材１２と第二のリング状部材１４が相互に位置決めされるようになっている。 And the 2nd ring-shaped member 14 is combined with the inner peripheral side of the 1st ring-shaped member 12, and the opening part of the inner peripheral side of the 1st ring-shaped member 12 which has a groove-shaped cross section is 2nd. Covered by a ring-shaped member 14. In the present embodiment, the positioning protrusion 32 of the second ring-shaped member 14 is inserted between the inner flange portion 22 and the second member 18 of the first ring-shaped member 12, thereby the first ring-shaped member. 12 and the second ring-shaped member 14 are positioned relative to each other.
　本実施形態では、第二のリング状部材１４の第二の半割体３０ａが第一のリング状部材１２の第一の半割体２４ａに組み合わされていると共に、第二のリング状部材１４の第二の半割体３０ｂが第一のリング状部材１２の第一の半割体２４ｂに組み合わされている。これにより、第二のリング状部材１４の第二の半割体３０ａと第二の半割体３０ｂは、ヒンジ部２６を回転中心として相対的に変位可能とされている。要するに、第一のリング状部材１２と第二のリング状部材１４は、図６に示すように、ヒンジ部２６を回転中心として第一，第二の半割体２４ａ，３０ａと第一，第二の半割体２４ｂ，３０ｂが相対変位することで、周方向の一部において分割可能とされている。 In the present embodiment, the second half 30a of the second ring member 14 is combined with the first half 24a of the first ring member 12, and the second ring member 14 is used. The second half 30 b is combined with the first half 24 b of the first ring-shaped member 12. As a result, the second half 30a and the second half 30b of the second ring-shaped member 14 are relatively displaceable with the hinge 26 as the center of rotation. In short, as shown in FIG. 6, the first ring-shaped member 12 and the second ring-shaped member 14 have the first and second halves 24a and 30a and the first and second halves 24a and 30a as the rotation center. Since the second halves 24b and 30b are relatively displaced, they can be divided in a part of the circumferential direction.
　また、第一のリング状部材１２と第二のリング状部材１４は、相対的なねじり回転（周方向の相対回転）を許容された状態で組み合わされている。このような第一のリング状部材１２と第二のリング状部材１４の相対回転は、例えば、第一のリング状部材１２と第二のリング状部材１４の少なくとも一方を自己潤滑性を有する合成樹脂で形成することによって実現可能である。また、第一のリング状部材１２と第二のリング状部材１４の重ね合わせ面間に対して、摩擦係数の小さな材料で形成されたスリーブやボールベアリングなどの別部材を配することによっても、第一のリング状部材１２と第二のリング状部材１４の相対回転を許容することができる。本実施形態では、第二のリング状部材１４が第一のリング状部材１２に対して僅かな隙間をもって組み合わされることにより、第一のリング状部材１２と第二のリング状部材１４の相対回転時の摺動抵抗が低減されている。 Further, the first ring-shaped member 12 and the second ring-shaped member 14 are combined in a state where relative torsional rotation (relative rotation in the circumferential direction) is allowed. Such relative rotation of the first ring-shaped member 12 and the second ring-shaped member 14 is, for example, a composition in which at least one of the first ring-shaped member 12 and the second ring-shaped member 14 is self-lubricating. It can be realized by forming with resin. Further, by arranging another member such as a sleeve or a ball bearing formed of a material having a small friction coefficient between the overlapping surfaces of the first ring-shaped member 12 and the second ring-shaped member 14, Relative rotation of the first ring-shaped member 12 and the second ring-shaped member 14 can be allowed. In the present embodiment, the second ring-shaped member 14 is combined with the first ring-shaped member 12 with a slight gap so that the first ring-shaped member 12 and the second ring-shaped member 14 are relatively rotated. The sliding resistance at the time is reduced.
　かくの如き第一のリング状部材１２と第二のリング状部材１４を組み合わせた状態において、第一のリング状部材１２と第二のリング状部材１４の間には、収容空間３６が形成されている。収容空間３６は、溝形断面を有する第一のリング状部材１２の内周側の開口部が第二のリング状部材１４で覆われることによって形成されており、周方向に延びる環状の空間とされている。本実施形態の収容空間３６は、矩形断面を有しているが、収容空間３６の断面形状は特に限定されない。また、本実施形態の収容空間３６は、周方向に略一定の断面形状で延びているが、収容空間３６の断面形状は周方向で変化していても良い。 In such a state where the first ring-shaped member 12 and the second ring-shaped member 14 are combined, an accommodation space 36 is formed between the first ring-shaped member 12 and the second ring-shaped member 14. ing. The accommodation space 36 is formed by covering the inner circumferential side opening of the first ring-shaped member 12 having a groove-shaped cross section with the second ring-shaped member 14, and an annular space extending in the circumferential direction. Has been. The storage space 36 of the present embodiment has a rectangular cross section, but the cross-sectional shape of the storage space 36 is not particularly limited. Moreover, although the accommodation space 36 of the present embodiment extends in the circumferential direction with a substantially constant cross-sectional shape, the cross-sectional shape of the accommodation space 36 may change in the circumferential direction.
　この収容空間３６には、端子間配線３８が配設されている。端子間配線３８は、例えば外周面を絶縁体で被覆されたケーブルや電線などであって、収容空間３６の長さ方向である周方向に延びている。また、端子間配線３８としては、好適には、Ｆｌｅｘｉｂｌｅ
Ｐｒｉｎｔｅｄ　Ｃｉｒｃｕｉｔ（ＦＰＣ）やＦｌｅｘｉｂｌｅ　Ｆｌａｔ　Ｃａｂｌｅ（ＦＦＣ）などの扁平な断面形状を有するものが採用される。なお、図３，４に示す後付コネクタ１０は、内部に収容された端子間配線３８を見易くするために、第二の部材１８が取り除かれた状態で図示されている。 An interterminal wiring 38 is disposed in the accommodation space 36. The inter-terminal wiring 38 is, for example, a cable or an electric wire whose outer peripheral surface is covered with an insulator, and extends in the circumferential direction that is the length direction of the accommodation space 36. Further, as the inter-terminal wiring 38, it is preferable that the flexible cable be used.
Those having a flat cross-sectional shape such as a printed circuit (FPC) and a flexible flat cable (FFC) are employed. 3 and 4 are shown with the second member 18 removed in order to make the inter-terminal wiring 38 accommodated therein easier to see.
　さらに、本実施形態の端子間配線３８は、収容空間３６の周方向長さの略二倍の長さを有しており、長さ方向の中間部分に湾曲形状の折返し部４０を備えている。折返し部４０は、図４に示すように、端子間配線３８の長さ方向の一部を厚さ方向に湾曲させて周方向に折り返すことで形成されており、本実施形態では、端子間配線３８が平板乃至は平膜状であることから折返し部４０が略半円筒形状とされている。このような折返し部４０を備えていることによって、折り返された端子間配線３８は、折返し部４０の両側において軸直角方向（径方向）で対向して重なるように配設されている。 Furthermore, the inter-terminal wiring 38 of the present embodiment has a length that is substantially twice the circumferential length of the accommodation space 36, and includes a curved folded portion 40 at an intermediate portion in the length direction. . As shown in FIG. 4, the folded portion 40 is formed by bending a part in the length direction of the inter-terminal wiring 38 in the thickness direction and folding it back in the circumferential direction. In this embodiment, the inter-terminal wiring Since 38 is a flat plate or a flat membrane, the folded portion 40 has a substantially semi-cylindrical shape. By providing the folded portion 40 as described above, the folded inter-terminal wiring 38 is disposed on both sides of the folded portion 40 so as to oppose each other in the direction perpendicular to the axis (radial direction).
　そして、端子間配線３８は、収容空間３６に配されて全体として周方向に延びており、第一のリング状部材１２と第二のリング状部材１４によって周囲を覆われて保護されている。このように、端子間配線３８が収容空間３６に収容されることで、端子間配線３８に対する他部材や異物の接触などが第一，第二のリング状部材１２，１４で防止されて、耐久性の向上が図られる。 The inter-terminal wiring 38 is arranged in the accommodation space 36 and extends in the circumferential direction as a whole, and is covered and protected by the first ring-shaped member 12 and the second ring-shaped member 14. As described above, the inter-terminal wiring 38 is accommodated in the accommodating space 36, so that contact of other members or foreign matters to the inter-terminal wiring 38 is prevented by the first and second ring-shaped members 12, 14, and is durable. The improvement of the property is achieved.
　さらに、端子間配線３８は、両端部が第一の端子部２８と第二の端子部３４との各一方に接続されており、両端部が第一のリング状部材１２と第二のリング状部材１４の各一方に連結されている。これにより、第一の端子部２８と第二の端子部３４が、端子間配線３８を介して相互に導通されている。なお、端子間配線３８の折返し部４０は、第一のリング状部材１２と第二のリング状部材１４が相対回転していない初期状態において、端子間配線３８の両端部に対して周方向で離れた位置に配置されている。 Furthermore, the inter-terminal wiring 38 has both ends connected to one of the first terminal portion 28 and the second terminal portion 34, and both ends are connected to the first ring-shaped member 12 and the second ring shape. It is connected to each one of the members 14. As a result, the first terminal portion 28 and the second terminal portion 34 are electrically connected to each other via the inter-terminal wiring 38. Note that the folded portion 40 of the inter-terminal wiring 38 is circumferential with respect to both ends of the inter-terminal wiring 38 in an initial state where the first ring-shaped member 12 and the second ring-shaped member 14 are not relatively rotated. It is located at a distance.
　かくの如き構造とされた後付コネクタ１０は、例えば、図５に示すように、装着対象としてのロボットアーム４２に装着される。ロボットアーム４２は、第一のリンク４４と第二のリンク４６が関節部４８によって相対回転可能に接続された構造を有しており、後付コネクタ１０の第一のリング状部材１２が第一のリンク４４に取り付けられると共に、第二のリング状部材１４が第二のリンク４６に取り付けられるようになっている。 The retrofit connector 10 having such a structure is attached to a robot arm 42 as an attachment target, for example, as shown in FIG. The robot arm 42 has a structure in which a first link 44 and a second link 46 are connected to each other by a joint portion 48 so as to be relatively rotatable, and the first ring-shaped member 12 of the retrofit connector 10 is a first one. And the second ring-shaped member 14 is attached to the second link 46.
　第一，第二のリング状部材１２，１４の第一，第二のリンク４４，４６への取付構造は、特に限定されるものではないが、例えば、図５に示すように、後付コネクタ１０の外周部分を構成する第一のリング状部材１２が、第一のリンク４４に外挿状態で固定されるブラケット５０を介して第一のリンク４４に間接的に取り付けられる一方、後付コネクタ１０の内周部分を構成する第二のリング状部材１４が、第二のリンク４６に対して外挿状態で直接的に取り付けられる。本実施形態では、第一のリング状部材１２が、第一の取付部としてのブラケット５０によって、第一のリンク４４に取り付けられると共に、第二のリング状部材１４が、内周面で構成された第二の取付部において、第二のリンク４６に取り付けられる。なお、第二の取付部を構成する第二のリング状部材１４の内周面は、第二のリンク４６の外周面と対応する面形状とされており、本実施形態では第二のリング状部材１４の内周面が円筒面とされている。 The attachment structure of the first and second ring-shaped members 12 and 14 to the first and second links 44 and 46 is not particularly limited. For example, as shown in FIG. On the other hand, the first ring-shaped member 12 constituting the outer peripheral portion 10 is indirectly attached to the first link 44 via a bracket 50 that is fixed to the first link 44 in an extrapolated state. The second ring-shaped member 14 that constitutes the inner peripheral portion of 10 is directly attached to the second link 46 in an extrapolated state. In the present embodiment, the first ring-shaped member 12 is attached to the first link 44 by a bracket 50 as a first attachment portion, and the second ring-shaped member 14 is configured by an inner peripheral surface. The second attachment portion is attached to the second link 46. Note that the inner peripheral surface of the second ring-shaped member 14 constituting the second attachment portion has a surface shape corresponding to the outer peripheral surface of the second link 46, and in the present embodiment, the second ring-shaped member is formed. The inner peripheral surface of the member 14 is a cylindrical surface.
　本実施形態では、第一のリング状部材１２が径方向内側へ向けて開口する溝形断面を有していると共に、第二のリング状部材１４が第一のリング状部材１２の開口部を覆う筒状とされていることから、第二のリング状部材１４の内周面の面積を大きく得ることができる。それ故、第二のリング状部材１４において第二のリンク４６に接触する面積が大きくなって、第二のリンク４６に対する第二のリング状部材１４の固定強度をより大きく得ることができる。 In the present embodiment, the first ring-shaped member 12 has a groove-shaped cross section that opens radially inward, and the second ring-shaped member 14 opens the opening of the first ring-shaped member 12. Since it is set as the cylinder shape to cover, the area of the internal peripheral surface of the 2nd ring-shaped member 14 can be acquired largely. Therefore, the area in contact with the second link 46 in the second ring-shaped member 14 is increased, and the fixing strength of the second ring-shaped member 14 with respect to the second link 46 can be further increased.
　しかも、第二のリング状部材１４の内周面が第二のリンク４６の外周面に対応する円筒面とされていることから、第二のリング状部材１４の内周面と第二のリンク４６の外周面がより広い範囲において接触状態で重ね合わされて、接触面積が大きく確保されることによる固定強度の向上が図られる。 Moreover, since the inner peripheral surface of the second ring-shaped member 14 is a cylindrical surface corresponding to the outer peripheral surface of the second link 46, the inner peripheral surface of the second ring-shaped member 14 and the second link The outer peripheral surface of 46 is overlapped in a wider range in a contact state, so that a large contact area is ensured to improve the fixing strength.
　このような後付コネクタ１０のロボットアーム４２への装着状態において、第一のリンク４４と第二のリンク４６が相対的に回転駆動せしめられると、第一のリンク４４に取り付けられた第一のリング状部材１２と、第二のリンク４６に取り付けられた第二のリング状部材１４が、相対的に回転することで、それら第一のリンク４４と第二のリンク４６の相対回転が許容される。 In such a state that the retrofit connector 10 is mounted on the robot arm 42, when the first link 44 and the second link 46 are relatively driven to rotate, the first link 44 attached to the first link 44 is used. Since the ring-shaped member 12 and the second ring-shaped member 14 attached to the second link 46 are relatively rotated, relative rotation between the first link 44 and the second link 46 is allowed. The
　かかる第一のリング状部材１２と第二のリング状部材１４の相対回転は、図７に示すようにして許容される。なお、図７の（ａ）には、第一のリング状部材１２と第二のリング状部材１４が相対的に回転していない初期状態が示されていると共に、図７の（ｂ）には、第二のリング状部材１４が第一のリング状部材１２に対して左回りに相対回転した状態が示されている。 Such relative rotation of the first ring-shaped member 12 and the second ring-shaped member 14 is allowed as shown in FIG. FIG. 7A shows an initial state in which the first ring-shaped member 12 and the second ring-shaped member 14 are not relatively rotated, and FIG. This shows a state in which the second ring-shaped member 14 is rotated counterclockwise relative to the first ring-shaped member 12.
　図７に示すように、第二のリング状部材１４が第一のリング状部材１２に対して左回りに相対回転すると、第二の端子部３４の端子に接続された端子間配線３８の端部が移動することで端子間配線３８が引かれて、折返し部４０の位置が変化する。これにより、端子間配線３８が突っ張ることなく、第一のリング状部材１２に対する第二のリング状部材１４の相対回転が許容されて、第一のリング状部材１２に取り付けられる第一のリンク４４と第二のリング状部材１４に取り付けられる第二のリンク４６の相対回転が、端子間配線３８で妨げられることなく許容される。 As shown in FIG. 7, when the second ring-shaped member 14 rotates counterclockwise with respect to the first ring-shaped member 12, the end of the inter-terminal wiring 38 connected to the terminal of the second terminal portion 34. As the portion moves, the inter-terminal wiring 38 is pulled and the position of the folded portion 40 changes. Thereby, the relative rotation of the second ring-shaped member 14 with respect to the first ring-shaped member 12 is allowed without the inter-terminal wiring 38 being stretched, and the first link 44 attached to the first ring-shaped member 12 is allowed. The relative rotation of the second link 46 attached to the second ring-shaped member 14 is allowed without being disturbed by the inter-terminal wiring 38.
　本実施形態では、折返し部４０が湾曲形状とされていることから、端子間配線３８の端部が第二のリング状部材１４の回転によって移動する際に、折返し部４０の移動が引っ掛かりなくスムーズに生じて、第二のリング状部材１４が第一のリング状部材１２に対して端子間配線３８で妨げられることなく回転せしめられる。また、折返し部４０において端子間配線３８が折れることなく湾曲形状とされていることにより、応力の分散化による端子間配線３８の優れた耐久性も実現される。 In the present embodiment, since the folded portion 40 is curved, when the end portion of the inter-terminal wiring 38 is moved by the rotation of the second ring-shaped member 14, the folded portion 40 is smoothly moved without being caught. As a result, the second ring-shaped member 14 is rotated with respect to the first ring-shaped member 12 without being blocked by the inter-terminal wiring 38. Further, since the inter-terminal wiring 38 has a curved shape in the folded portion 40 without being broken, excellent durability of the inter-terminal wiring 38 due to stress distribution is also realized.
　なお、本実施形態では、端子間配線３８の中間部分に折返し部４０が設けられていることから、第二のリング状部材１４が第一のリング状部材１２に対して右回りに相対回転する場合にも、左回りの場合と同様にして、それら第一，第二のリング状部材１２，１４の相対回転が端子間配線３８によって妨げられることなく許容される。 In the present embodiment, since the folded portion 40 is provided in the intermediate portion of the inter-terminal wiring 38, the second ring-shaped member 14 rotates relative to the first ring-shaped member 12 clockwise. In this case as well, the relative rotation of the first and second ring-shaped members 12 and 14 is allowed without being hindered by the inter-terminal wiring 38, as in the case of the counterclockwise rotation.
　また、本実施形態では、端子間配線３８が２周弱の長さで延びており、第二のリング状部材１４が第一のリング状部材１２に対して左右両側へ各２周程度の回転を許容されている。尤も、端子間配線３８の長さは特に限定されるものではなく、より長い端子間配線３８を採用することで、より大きな回転量が許容されるようにしても良いし、より短い端子間配線３８を採用することで、より小さな回転量が許容されるようにしても良い。 Further, in the present embodiment, the inter-terminal wiring 38 extends with a length of less than two rounds, and the second ring-shaped member 14 rotates about two rounds to the left and right sides with respect to the first ring-shaped member 12. Is acceptable. However, the length of the inter-terminal wiring 38 is not particularly limited, and by adopting a longer inter-terminal wiring 38, a larger amount of rotation may be allowed, or a shorter inter-terminal wiring. By adopting 38, a smaller rotation amount may be allowed.
　また、折返し部４０で折り返された端子間配線３８が径方向で重なるように配設されており、収容空間３６の軸方向寸法を比較的に小さくすることが可能とされている。しかも、端子間配線３８は、径方向で薄肉の扁平な断面形状を有していることから、折り返された端子間配線３８を径方向で重なるように二重に配しても、収容空間３６の径方向寸法を比較的に小さくできる。加えて、端子間配線３８が断面において扁平とされた方向に折り返されていることで、折返し部４０において湾曲形状に折り返し易くなっている。 Further, the inter-terminal wirings 38 folded back by the folding portion 40 are disposed so as to overlap in the radial direction, and the axial dimension of the accommodation space 36 can be made relatively small. Moreover, since the inter-terminal wiring 38 has a thin and flat cross-sectional shape in the radial direction, even if the folded inter-terminal wiring 38 is doubled so as to overlap in the radial direction, the accommodation space 36 is provided. The radial dimension can be made relatively small. In addition, since the inter-terminal wiring 38 is folded back in the direction flattened in the cross section, the folded portion 40 can easily be folded back into a curved shape.
　そして、第一のリング状部材１２の第一の端子部２８に第一のリンク４４側の図示しないケーブルの端子部が接続されると共に、第二のリング状部材１４の第二の端子部３４に第二のリンク４６側の図示しないケーブルの端子部が接続される。これにより、第一のリンク４４側のケーブル（外部配線）と第二のリンク４６側のケーブル（外部配線）が、後付コネクタ１０の端子間配線３８を介して相互に接続されることから、相対回転する第一のリンク４４と第二のリンク４６に跨る配線が、後付コネクタ１０によって、第一のリンク４４と第二のリンク４６の相対回転を妨げない態様で実現される。 A terminal portion of a cable (not shown) on the first link 44 side is connected to the first terminal portion 28 of the first ring-shaped member 12, and the second terminal portion 34 of the second ring-shaped member 14. A terminal portion of a cable (not shown) on the second link 46 side is connected to the second link 46 side. Thereby, the cable (external wiring) on the first link 44 side and the cable (external wiring) on the second link 46 side are connected to each other via the inter-terminal wiring 38 of the retrofit connector 10. The wiring straddling the first link 44 and the second link 46 that rotate relative to each other is realized by the retrofit connector 10 in a manner that does not prevent the relative rotation of the first link 44 and the second link 46.
　さらに、後付コネクタ１０は、第一のリング状部材１２と第二のリング状部材１４を第一のリンク４４と第二のリンク４６の各一方に取り付けると共に、第一の端子部２８と第二の端子部３４に第一のリンク４４側と第二のリンク４６側の各ケーブルの端子部を接続することにより、それら第一，第二のリンク４４，４６の相対回転を許容した配線を、ロボットアーム４２に対して後付けで設けることができる。それ故、例えば、既存のロボットアーム４２に配線を追加する必要が生じた場合にも、ロボットアーム４２自体の設計変更を要することなく、配線を簡単に追加することができる。 Further, the retrofit connector 10 attaches the first ring-shaped member 12 and the second ring-shaped member 14 to one of the first link 44 and the second link 46, and also connects the first terminal portion 28 and the second ring-shaped member 14. By connecting the terminal portions of the cables on the first link 44 side and the second link 46 side to the second terminal portion 34, wiring that allows the relative rotation of the first and second links 44, 46 is performed. The robot arm 42 can be retrofitted. Therefore, for example, even when wiring needs to be added to the existing robot arm 42, wiring can be easily added without requiring a design change of the robot arm 42 itself.
　しかも、本実施形態では、第一のリング状部材１２が第一の半割体２４ａ，２４ｂで構成されていると共に、第二のリング状部材１４が第二の半割体３０ａ，３０ｂで構成されており、第一，第二の半割体２４ａ，３０ａが第一，第二の半割体２４ｂ，３０ｂに対してヒンジ部２６を中心とする相対変位を許容されている。これにより、第二のリンク４６を第二の半割体３０ａと第二の半割体３０ｂの内周側へヒンジ部２６と反対側の周方向端部間を通じて差し入れた後、それら第二の半割体３０ａと第二の半割体３０ｂのヒンジ部２６と反対側の周方向端部を閉じることで、第二のリング状部材１４を第二のリンク４６に対して簡単に外挿状態で取り付けることができる。 Moreover, in the present embodiment, the first ring-shaped member 12 is composed of the first halves 24a and 24b, and the second ring-shaped member 14 is composed of the second halves 30a and 30b. The first and second halves 24a and 30a are allowed to be displaced relative to the first and second halves 24b and 30b with the hinge portion 26 as the center. Thereby, after inserting the 2nd link 46 through the space | interval edge part on the opposite side to the hinge part 26 to the inner peripheral side of the 2nd half body 30a and the 2nd half body 30b, those 2nd The second ring-shaped member 14 can be easily extrapolated from the second link 46 by closing the circumferential ends of the half-divided body 30a and the second half-divided body 30b opposite to the hinge portion 26. It can be attached with.
　図８～１０には、本発明の第二の実施形態としての後付コネクタ６０が示されている。この後付コネクタ６０は、第一の外装部材としての第一のリング状部材６２と第二の外装部材としての第二のリング状部材６４が相互に組み合わされた構造を有している。以下の説明において、第一の実施形態と実質的に同一の部材および部位については、図中に同一の符号を付すことにより、説明を省略する。 8 to 10 show a retrofit connector 60 as a second embodiment of the present invention. The retrofit connector 60 has a structure in which a first ring-shaped member 62 as a first exterior member and a second ring-shaped member 64 as a second exterior member are combined with each other. In the following description, members and portions that are substantially the same as those in the first embodiment are denoted by the same reference numerals in the drawings, and the description thereof is omitted.
　より詳細には、第一のリング状部材６２は、例えば金属や合成樹脂などで形成された硬質の部材であって、図１０に示すように、全体として軸方向に開口する溝形断面で周方向に連続する環状の部材とされている。また、本実施形態の第一のリング状部材６２は、第一の部材６６と第二の部材６８を組み合わせて形成されている。 More specifically, the first ring-shaped member 62 is a hard member formed of, for example, metal or synthetic resin, and has a groove-shaped cross section that opens in the axial direction as a whole as shown in FIG. It is an annular member that is continuous in the direction. Further, the first ring-shaped member 62 of the present embodiment is formed by combining the first member 66 and the second member 68.
　第一の部材６６は、略半円筒形状を呈する外周壁部７０の軸方向一方の端部に、内周側へ突出する略半円環板形状の内フランジ部７２が一体形成された構造を有している。また、第一の部材６６の外周壁部７０の軸方向他方の端部には、内周面に開口して全周に亘って連続する凹溝７４が形成されている。第二の部材６８は、略半円筒形状を有する内周壁部７６の軸方向一方の端部に、外周側へ突出する略半円環板形状のフランジ部７８が一体形成された構造を有している。 The first member 66 has a structure in which a substantially semi-annular plate-shaped inner flange portion 72 projecting toward the inner peripheral side is integrally formed at one axial end of the outer peripheral wall portion 70 having a substantially semi-cylindrical shape. Have. Further, a concave groove 74 that is open to the inner peripheral surface and is continuous over the entire circumference is formed at the other axial end of the outer peripheral wall portion 70 of the first member 66. The second member 68 has a structure in which a substantially semi-annular plate-shaped flange portion 78 projecting toward the outer peripheral side is integrally formed at one axial end portion of the inner peripheral wall portion 76 having a substantially semi-cylindrical shape. ing.
　第一の部材６６と第二の部材６８は、第一の部材６６の内フランジ部７２に対して第二の部材６８のフランジ部７８が軸方向に重ね合わされた状態で相互に組み合わされており、これによって第一の半割体７９が構成されている。そして、二つの第一の半割体７９ａ，７９ｂによって、第一のリング状部材６２が構成されている。 The first member 66 and the second member 68 are combined with each other in a state where the flange portion 78 of the second member 68 is overlapped with the inner flange portion 72 of the first member 66 in the axial direction. Thus, the first half 79 is formed. And the 1st ring-shaped member 62 is comprised by the two 1st halves 79a and 79b.
　第二のリング状部材６４は、例えば第一のリング状部材６２と同様に金属や合成樹脂などで形成された硬質の部材であって、略円環板形状とされていると共に、内周端部には軸方向へ突出する環状突条８０，８２が径方向で相互に所定の隙間をもって形成されている。なお、第二のリング状部材６４は、半円環板形状とされた二つの第二の半割体８３ａ，８３ｂを組み合わせて構成されている。 The second ring-shaped member 64 is a hard member formed of, for example, a metal or a synthetic resin similarly to the first ring-shaped member 62 and has a substantially annular plate shape, and has an inner peripheral end. In the portion, annular ridges 80 and 82 projecting in the axial direction are formed with a predetermined gap in the radial direction. The second ring-shaped member 64 is configured by combining two second halves 83a and 83b having a semi-annular plate shape.
　そして、第一のリング状部材６２と第二のリング状部材６４は、第二のリング状部材６４の外周端部が第一の部材６６，６６の各外周壁部７０の凹溝７４に差し入れられると共に、第二の部材６８，６８の各内周壁部７６の端部が第二のリング状部材６４の環状突条８０，８２の径方向間に差し入れられることにより、相互に非固着で組み合わされている。また、第一のリング状部材６２と第二のリング状部材６４は、周方向で相対的に回転可能とされている。更に、第一のリング状部材６２の軸方向の開口部を覆うように第二のリング状部材６４が組み合わされることにより、第一のリング状部材６２と第二のリング状部材６４の間には環状の収容空間３６が形成されており、収容空間３６には端子間配線３８が配設されている。 And the 1st ring-shaped member 62 and the 2nd ring-shaped member 64 insert the outer peripheral edge part of the 2nd ring-shaped member 64 in the concave groove 74 of each outer peripheral wall part 70 of the 1st members 66 and 66. In addition, the end portions of the inner peripheral wall portions 76 of the second members 68 and 68 are inserted between the radial directions of the annular ridges 80 and 82 of the second ring-shaped member 64, so that they are not fixed to each other. Has been. Further, the first ring-shaped member 62 and the second ring-shaped member 64 are relatively rotatable in the circumferential direction. Furthermore, the second ring-shaped member 64 is combined so as to cover the opening in the axial direction of the first ring-shaped member 62, so that the first ring-shaped member 62 and the second ring-shaped member 64 are interposed. An annular housing space 36 is formed, and an inter-terminal wiring 38 is disposed in the housing space 36.
　本実施形態の後付コネクタ６０は、図１０に示すように、第一のリング状部材６２がロボットアーム４２の第一のリンク４４に対して外挿状態で直接的に取り付けられると共に、第二のリング状部材６４が第二のリンク４６に対して外挿状態で直接的に取り付けられており、第一の実施形態のようなブラケット５０は省略されている。要するに、本実施形態では、第一の取付部が第一のリング状部材６２の内周面で構成されていると共に、第二の取付部が第二のリング状部材６４の内周面で構成されている。尤も、第一，第二のリング状部材６２，６４のロボットアーム４２への取付態様は、あくまでも例示であって、例えば第一の実施形態のようなブラケット５０によって第一，第二のリンク４４，４６に間接的に取り付けられるようにしても良い。 As shown in FIG. 10, the retrofit connector 60 of the present embodiment has a first ring-shaped member 62 attached directly to the first link 44 of the robot arm 42 in an extrapolated state, and a second The ring-shaped member 64 is directly attached to the second link 46 in an extrapolated state, and the bracket 50 as in the first embodiment is omitted. In short, in the present embodiment, the first mounting portion is configured by the inner peripheral surface of the first ring-shaped member 62, and the second mounting portion is configured by the inner peripheral surface of the second ring-shaped member 64. Has been. However, the manner of attaching the first and second ring-shaped members 62 and 64 to the robot arm 42 is merely an example, and the first and second links 44 are provided by the bracket 50 as in the first embodiment, for example. , 46 may be attached indirectly.
　このような本実施形態に従う構造の後付コネクタ６０によれば、第一のリング状部材６２が軸方向に開口する溝形断面とされていると共に、第二のリング状部材６４が第一のリング状部材６２に対して軸方向開口部を覆うように組み合わされている。それ故、第一の端子部２８が内フランジ部７２において軸方向へ突出するように設け易くされていると共に、第二の端子部３４が第二のリング状部材６４において軸方向へ突出するように設け易くされている。これにより、第一のリンク４４側のケーブルの端子部を第一の端子部２８に接続すると共に、第二のリンク４６側のケーブルの端子部を第二の端子部３４に接続することで、ロボットアーム４２の関節部４８を跨ぐ配線がより容易に実現される。 According to such a retrofit connector 60 according to the present embodiment, the first ring-shaped member 62 has a groove-shaped cross section that opens in the axial direction, and the second ring-shaped member 64 has the first ring-shaped member 64. The ring-shaped member 62 is combined so as to cover the axial opening. Therefore, the first terminal portion 28 is easily provided so as to protrude in the axial direction at the inner flange portion 72, and the second terminal portion 34 is protruded in the axial direction at the second ring-shaped member 64. It is easy to install in. Thereby, while connecting the terminal part of the cable on the first link 44 side to the first terminal part 28, and connecting the terminal part of the cable on the second link 46 side to the second terminal part 34, Wiring across the joint portion 48 of the robot arm 42 is more easily realized.
　また、第一のリング状部材６２の内周面が、第一の部材６６の内フランジ部７２と第二の部材６８の内周壁部７６とによって大きな面積を確保されていることから、第一のリング状部材６２の第一のリンク４４に対する取付強度を大きく得易くなる。 Further, since the inner peripheral surface of the first ring-shaped member 62 has a large area secured by the inner flange portion 72 of the first member 66 and the inner peripheral wall portion 76 of the second member 68, The attachment strength of the ring-shaped member 62 to the first link 44 can be easily obtained.
　さらに、第一のリング状部材６２の内周面と第一のリンク４４の外周面が相互に対応する円筒面とされていると共に、第二のリング状部材６４の内周面と第二のリンク４６の外周面が相互に対応する円筒面とされている。それ故、第一，第二のリング状部材６２，６４の内周面が、第一，第二のリンク４４，４６の外周面に対して大きな面積で重ね合わされて、第一，第二のリング状部材６２，６４の第一，第二のリンク４４，４６に対する固定強度を大きく得ることができる。 Furthermore, the inner peripheral surface of the first ring-shaped member 62 and the outer peripheral surface of the first link 44 are cylindrical surfaces corresponding to each other. The outer peripheral surface of the link 46 is a cylindrical surface corresponding to each other. Therefore, the inner peripheral surfaces of the first and second ring-shaped members 62 and 64 are overlapped with the outer peripheral surfaces of the first and second links 44 and 46 in a large area, so that the first and second The fixing strength of the ring-shaped members 62 and 64 with respect to the first and second links 44 and 46 can be increased.
　ところで、図１１～１３に示す後付コネクタ９０のように、端子間配線９２は軸方向で重なるように折り返されていても良い。図１１～１３の構造において、端子間配線９２は、軸方向で扁平とされた絶縁被覆を有するＦＰＣやＦＦＣなどであって、長さ方向の中間部分に折返し部９４を備えている。 By the way, like the retrofit connector 90 shown in FIGS. 11 to 13, the inter-terminal wiring 92 may be folded back so as to overlap in the axial direction. In the structure shown in FIGS. 11 to 13, the inter-terminal wiring 92 is an FPC or FFC having an insulation coating that is flat in the axial direction, and includes a folded portion 94 at an intermediate portion in the length direction.
　折返し部９４は、端子間配線９２の厚さ方向である軸方向で半円弧状に湾曲しており、これによって端子間配線９２における折返し部９４の両側が軸方向で相互に離隔対向した状態で重なるように配されている。尤も、端子間配線９２は、柔軟に変形可能なものであることから、変形によって相互に当接状態で軸方向に重なる部分があっても良い。 The folded portion 94 is curved in a semicircular arc shape in the axial direction, which is the thickness direction of the inter-terminal wiring 92, so that both sides of the folded portion 94 in the inter-terminal wiring 92 are spaced apart from each other in the axial direction. They are arranged to overlap. However, since the inter-terminal wiring 92 can be flexibly deformed, there may be a portion overlapping in the axial direction while being in contact with each other due to deformation.
　このような軸方向に折り返された端子間配線９２を有する後付コネクタ９０によれば、大径化を要することなく、長い端子間配線９２を採用することができる。 According to the retrofit connector 90 having the inter-terminal wiring 92 folded back in the axial direction, the long inter-terminal wiring 92 can be employed without requiring an increase in diameter.
　また、端子間配線９２が軸方向で薄肉とされた扁平な形状とされていることから、端子間配線９２が軸方向に折り返された構造であっても、後付コネクタ９０の軸方向寸法が大きくなるのを抑えることができる。 In addition, since the inter-terminal wiring 92 has a flat shape that is thin in the axial direction, even if the inter-terminal wiring 92 is folded back in the axial direction, the axial dimension of the retrofit connector 90 is small. It can suppress the increase.
　なお、図１４に示す後付コネクタ９６のように、端子間配線９８は円形断面の被覆電線であっても良く、必ずしもＦＰＣやＦＦＣのような扁平な断面形状のケーブルや電線に限定されない。 In addition, like the retrofit connector 96 shown in FIG. 14, the interterminal wiring 98 may be a covered electric wire having a circular cross section, and is not necessarily limited to a cable or electric wire having a flat cross sectional shape such as an FPC or FFC.
　図１５～１７には、本発明の第三の実施形態としての後付コネクタ１００が示されている。後付コネクタ１００は、第一のリング状部材１２と第二のリング状部材１４の間に設けられた収容空間３６に対して、端子間配線１０２が配設された構造を有している。 15 to 17 show a retrofit connector 100 as a third embodiment of the present invention. The retrofit connector 100 has a structure in which the inter-terminal wiring 102 is disposed in the accommodation space 36 provided between the first ring-shaped member 12 and the second ring-shaped member 14.
　端子間配線１０２は、収容空間３６の径方向中央の一周に満たない長さとされて、径方向および軸方向に重なることなく、且つ長さ方向の中間部分に折返し部４０を備えることなく、周方向で延びるように収容空間３６に配されている。そして、端子間配線１０２は、外周側へ延び出す一方の端部が第一の端子部２８に接続されていると共に、内周側へ延び出す他方の端部が第二の端子部３４に接続されている。なお、本実施形態では、端子間配線１０２の両端部は、中間部分に対して外周側又は内周側へ角をなして折れているが、角をなさないように湾曲していても良い。 The inter-terminal wiring 102 has a length that is less than one circumference of the center in the radial direction of the accommodating space 36, does not overlap in the radial direction and the axial direction, and does not include the folded portion 40 in the middle portion in the length direction. It is arranged in the accommodation space 36 so as to extend in the direction. The inter-terminal wiring 102 has one end extending to the outer peripheral side connected to the first terminal portion 28 and the other end extending to the inner peripheral side connected to the second terminal portion 34. Has been. In the present embodiment, both end portions of the inter-terminal wiring 102 are bent toward the outer peripheral side or the inner peripheral side with respect to the intermediate portion, but may be curved so as not to form a corner.
　このような本実施形態に従う構造とされた後付コネクタ１００は、図示しないロボットアームへの装着状態において、第二のリング状部材１４の第一のリング状部材１２に対する左回りの相対回転が許容される。従って、後付コネクタ１００によれば、ロボットアームの第一のリンクと第二のリンクの相対回転方向が周方向の何れか一方に限定される場合などに、より簡単な構造によって第一，第二のリンクに跨る配線を実現することができる。 The retrofit connector 100 having the structure according to the present embodiment is allowed to rotate counterclockwise relative to the first ring-shaped member 12 of the second ring-shaped member 14 in a mounted state on a robot arm (not shown). Is done. Therefore, according to the retrofitted connector 100, when the relative rotation direction of the first link and the second link of the robot arm is limited to any one of the circumferential directions, the first and the first can be achieved with a simpler structure. Wiring over two links can be realized.
　図１８には、本発明の第四の実施形態としての後付コネクタ１１０が示されている。後付コネクタ１１０は、第一のリング状部材１２と第二のリング状部材１４の間に設けられた収容空間３６に対して、端子間配線１１１が配設された構造を有している。 FIG. 18 shows a retrofit connector 110 as a fourth embodiment of the present invention. The retrofit connector 110 has a structure in which the inter-terminal wiring 111 is disposed in the accommodation space 36 provided between the first ring-shaped member 12 and the second ring-shaped member 14.
　端子間配線１１１は、略円形断面を有する線状とされており、例えば、金属線などの導体の周囲が合成樹脂などで形成された絶縁被覆で覆われた絶縁電線とされている。なお、端子間配線１１１の収容空間３６における配設態様は、周方向に延びていれば特に限定されるものではなく、周方向の一部で折り返されて延びていても良いし、周方向の一方向に延びていても良い。 The inter-terminal wiring 111 has a linear shape with a substantially circular cross section, and is, for example, an insulated wire in which a conductor such as a metal wire is covered with an insulating coating formed of synthetic resin or the like. In addition, the arrangement | positioning aspect in the accommodation space 36 of the wiring 111 between terminals is not specifically limited if it extends in the circumferential direction, It may be folded and extended in a part of circumferential direction, and the circumferential direction may be sufficient as it. It may extend in one direction.
　そして、収容空間３６に配された端子間配線１１１の一方の端部は、図１８に示すように、第一のリング状部材１２に形成された第一の挿通孔１１２（図１９参照）を通じて軸方向一方へ延び出して、第一のリング状部材１２から離れて設けられた第一の端子部１１４に接続されている。更に、端子間配線１１１の他方の端部は、第二のリング状部材１４に形成された第二の挿通孔１１６を通じて軸方向他方へ延び出して、第二のリング状部材１４から離れて設けられた第二の端子部１１８に接続されている。 Then, one end of the inter-terminal wiring 111 arranged in the accommodation space 36 is passed through a first insertion hole 112 (see FIG. 19) formed in the first ring-shaped member 12, as shown in FIG. It extends in one axial direction and is connected to a first terminal portion 114 provided away from the first ring-shaped member 12. Further, the other end portion of the inter-terminal wiring 111 extends to the other side in the axial direction through a second insertion hole 116 formed in the second ring-shaped member 14, and is provided away from the second ring-shaped member 14. Connected to the second terminal portion 118.
　なお、第一のリング状部材１２側で第一のリング状部材１２から離れて設けられた第一の端子部１１４は、第一のリング状部材１２が取り付けられる図示しない第一のリンク側の外部配線に接続される。更に、第二のリング状部材１４側で第二のリング状部材１４から離れて設けられた第二の端子部１１８は、第二のリング状部材１４が取り付けられる図示しない第二のリンク側の外部配線に接続される。 In addition, the 1st terminal part 114 provided apart from the 1st ring-shaped member 12 by the 1st ring-shaped member 12 side is the 1st link side (not shown) to which the 1st ring-shaped member 12 is attached. Connected to external wiring. Furthermore, the second terminal portion 118 provided away from the second ring-shaped member 14 on the second ring-shaped member 14 side is provided on the second link side (not shown) to which the second ring-shaped member 14 is attached. Connected to external wiring.
　このような本実施形態に従う構造とされた後付コネクタ１１０によれば、端子間配線１１１の両端部分が第一，第二のリング状部材１２，１４の第一，第二の挿通孔１１２，１１６を通じて外部に延び出していることによって、第一，第二の端子部１１４，１１８を第一，第二のリング状部材１２，１４から離れて設けることが可能とされている。これにより、第一，第二の端子部１１４，１１８の配設位置の自由度が大きくなって、外部配線との接続も容易になると共に、第一，第二のリング状部材１２，１４において第一，第二の端子部１１４，１１８の配設スペースを確保する必要がなくなる。 According to such a retrofit connector 110 configured in accordance with this embodiment, both end portions of the inter-terminal wiring 111 are formed in the first and second insertion holes 112 of the first and second ring-shaped members 12 and 14. The first and second terminal portions 114 and 118 can be provided away from the first and second ring-shaped members 12 and 14 by extending outward through 116. As a result, the degree of freedom of the arrangement positions of the first and second terminal portions 114 and 118 is increased, the connection to the external wiring is facilitated, and the first and second ring-shaped members 12 and 14 It is not necessary to secure a space for arranging the first and second terminal portions 114 and 118.
　図２０には、本発明の第五の実施形態としての後付コネクタ１２０が示されている。後付コネクタ１２０は、第一の外装部材１２２と第二の外装部材１２４の間に設けられた収容空間１２５に対して、端子間配線９２が配設された構造を有している。 FIG. 20 shows a retrofit connector 120 as a fifth embodiment of the present invention. The retrofit connector 120 has a structure in which the inter-terminal wiring 92 is disposed in the accommodation space 125 provided between the first exterior member 122 and the second exterior member 124.
　より詳細には、第一の外装部材１２２は、図２０，２１に示すように、軸方向一方に向けて開口する矩形溝形断面で、周方向へ一周に満たない長さで延びている。本実施形態の第一の外装部材１２２は、周方向へ半周程度の長さで延びる略半円弧状とされており、周方向一方の端部に第一の端子部２８を備えている。 More specifically, as shown in FIGS. 20 and 21, the first exterior member 122 has a rectangular groove-shaped cross section that opens toward one side in the axial direction, and extends in the circumferential direction with a length that is less than one round. The first exterior member 122 of the present embodiment has a substantially semicircular arc shape extending in the circumferential direction with a length of about a half circumference, and includes a first terminal portion 28 at one end portion in the circumferential direction.
　第二の外装部材１２４は、軸方向他方に向けて開口する矩形溝形断面で、周方向へ一周に満たない長さで延びている。本実施形態の第二の外装部材１２４は、周方向へ半周程度の長さで延びる略半円弧状とされており、周方向一方の端部に第二の端子部３４を備えている。なお、第二の外装部材１２４は、第一の外装部材１２２よりも小さな断面形状を有しており、第一の外装部材１２２に対して軸方向で差し入れることが可能とされている。 The second exterior member 124 has a rectangular groove-shaped cross section that opens toward the other side in the axial direction, and extends in the circumferential direction with a length that is less than one round. The second exterior member 124 of the present embodiment has a substantially semicircular arc shape extending in the circumferential direction with a length of about a half circumference, and includes a second terminal portion 34 at one end portion in the circumferential direction. The second exterior member 124 has a smaller cross-sectional shape than the first exterior member 122 and can be inserted into the first exterior member 122 in the axial direction.
　そして、第二の外装部材１２４が第一の外装部材１２２に軸方向で差し入れられて、第一の外装部材１２２と第二の外装部材１２４が相互に組み合わされており、それら第一の外装部材１２２と第二の外装部材１２４の軸方向間に収容空間１２５が形成される。本実施形態の収容空間１２５は、周方向に半周程度の長さで延びており、端子間配線９２が収容されている。なお、収容空間１２５に配された端子間配線９２は、両端部が第一，第二の端子部２８，３４の各一方に接続されていると共に、中間部分が折返し部９４において収容空間１２５内で折り返されている。 And the 2nd exterior member 124 is inserted in the 1st exterior member 122 in the axial direction, and the 1st exterior member 122 and the 2nd exterior member 124 are mutually combined, and these 1st exterior members An accommodation space 125 is formed between the axial direction of 122 and the second exterior member 124. The accommodation space 125 of the present embodiment extends in the circumferential direction with a length of about a half circumference, and accommodates the inter-terminal wiring 92. Note that the inter-terminal wiring 92 arranged in the accommodation space 125 is connected to one of the first and second terminal portions 28 and 34 at both ends, and an intermediate portion in the accommodation space 125 at the folded portion 94. It is folded at.
　このような構造とされた本実施形態の後付コネクタ１２０は、第一の外装部材１２２が図示しない装着対象としての第一のリンクに取り付けられると共に、第二の外装部材１２４が図示しない装着対象としての第二のリンクに取り付けられる。そして、第一の端子部２８が第一のリンク側の図示しない外部配線に接続されると共に、第二の端子部３４が第二のリンク側の図示しない外部配線に接続されることにより、相対的にねじり変位可能とされた第一のリンクと第二のリンクに跨がる配線が実現される。 In the retrofit connector 120 of this embodiment having such a structure, the first exterior member 122 is attached to a first link as an attachment object (not shown), and the second exterior member 124 is an attachment object (not shown). As attached to the second link. Then, the first terminal portion 28 is connected to an external wiring (not shown) on the first link side, and the second terminal portion 34 is connected to an external wiring (not shown) on the second link side. Thus, the wiring straddling the first link and the second link that can be torsionally displaced is realized.
　また、後付コネクタ１２０は、図２２，２３に示すように、第一の外装部材１２２と第二の外装部材１２４が周方向で相対的に変位可能とされている。そして、第一の外装部材１２２と第二の外装部材１２４の相対的な周方向変位（ねじり変位）によって、第一の端子部２８と第二の端子部３４の相対的な位置が周方向で変更可能とされている。これにより、第一の外装部材１２２に取り付けられる図示しない第一のリンクと、第二の外装部材１２４が取り付けられる図示しない第二のリンクとが、端子間配線９２が外部配線に接続された状態で相対的なねじり変位を許容される。 Further, as shown in FIGS. 22 and 23, the rear connector 120 is configured such that the first exterior member 122 and the second exterior member 124 are relatively displaceable in the circumferential direction. Then, the relative circumferential displacement (torsional displacement) of the first exterior member 122 and the second exterior member 124 causes the relative positions of the first terminal portion 28 and the second terminal portion 34 to be circumferential. It can be changed. As a result, the first link (not shown) attached to the first exterior member 122 and the second link (not shown) attached to the second exterior member 124 are in a state where the inter-terminal wiring 92 is connected to the external wiring. Relative torsional displacement is allowed.
　なお、第一の外装部材１２２と第二の外装部材１２４が周方向で相対変位すると、それら第一の外装部材１２２と第二の外装部材１２４の軸方向に重なり合う領域が周方向で小さくなる。これによって、端子間配線９２は、図２２，２３にも示すように、それら第一の外装部材１２２と第二の外装部材１２４の間から外部に露出し得る。更に、第一の外装部材１２２と第二の外装部材１２４の周方向での相対変位に伴って、端子間配線９２の折返し部９４の位置が周方向で変化することから、折返し部９４が第一の外装部材１２２と第二の外装部材１２４が軸方向で重なり合う領域から周方向に外れて外部に露出する場合もある（図２３参照）。尤も、端子間配線９２の少なくとも一部は、第一の外装部材１２２と第二の外装部材１２４が軸方向で重なる領域に配されており、端子間配線９２の折返し部９４は、第一の外装部材１２２と第二の外装部材１２４が初期位置に配された状態において、それら第一の外装部材１２２と第二の外装部材１２４が軸方向で重なる領域に配されている。 Note that when the first exterior member 122 and the second exterior member 124 are relatively displaced in the circumferential direction, a region where the first exterior member 122 and the second exterior member 124 overlap in the axial direction becomes smaller in the circumferential direction. As a result, the inter-terminal wiring 92 can be exposed to the outside from between the first exterior member 122 and the second exterior member 124 as shown in FIGS. Furthermore, since the position of the folded portion 94 of the inter-terminal wiring 92 changes in the circumferential direction with relative displacement in the circumferential direction between the first exterior member 122 and the second exterior member 124, the folded portion 94 is In some cases, the first exterior member 122 and the second exterior member 124 may be exposed to the outside in a circumferential direction from a region where they overlap in the axial direction (see FIG. 23). However, at least a part of the inter-terminal wiring 92 is arranged in a region where the first exterior member 122 and the second exterior member 124 overlap in the axial direction, and the folded portion 94 of the inter-terminal wiring 92 In a state where the exterior member 122 and the second exterior member 124 are disposed at the initial position, the first exterior member 122 and the second exterior member 124 are disposed in a region overlapping in the axial direction.
　本実施形態では、第一の外装部材１２２と第二の外装部材１２４がそれぞれ略半周に亘って延びる略半円弧状とされていることから、第一の外装部材１２２と第二の外装部材１２４は、第一の端子部２８と第二の端子部３４が周方向で略同じ位置に配された図２０に示す初期位置から、周方向両側へそれぞれ半周よりも小さな範囲で変位可能とされている。 In the present embodiment, since the first exterior member 122 and the second exterior member 124 each have a substantially semicircular arc shape extending over a substantially half circumference, the first exterior member 122 and the second exterior member 124 are formed. The first terminal portion 28 and the second terminal portion 34 can be displaced from the initial position shown in FIG. 20 in which the first terminal portion 28 and the second terminal portion 34 are arranged at substantially the same position in the circumferential direction to the both sides in the circumferential direction within a range smaller than a half circumference. Yes.
　尤も、第一の外装部材１２２と第二の外装部材１２４を周方向で半周よりも長い優弧状として、第一の外装部材１２２と第二の外装部材１２４の周方向長さの合計を１周よりも長く設定しても良い。これによれば、第一の外装部材１２２の第二の外装部材１２４に対する相対変位を、初期位置から周方向両側へ各半周より大きく許容することも可能であり、例えば、第一の外装部材１２２の第二の外装部材１２４に対する１周以上の相対変位も可能となる。 However, the first exterior member 122 and the second exterior member 124 are formed in a dominant arc shape that is longer than a half circumference in the circumferential direction, and the total circumferential length of the first exterior member 122 and the second exterior member 124 is one round. It may be set longer. According to this, relative displacement of the first exterior member 122 with respect to the second exterior member 124 can be allowed to be larger than each half circumference from the initial position to both sides in the circumferential direction, for example, the first exterior member 122. The relative displacement more than one round with respect to the second exterior member 124 is also possible.
　なお、本実施形態の後付コネクタ１２０は、上述の如く相対的にねじり変位可能とされた第一，第二のリンクの外周面に取り付けることも可能であるが、例えば、図２４に示すロボットアーム１２６の曲げ関節部１２８に跨るように配することもできる。即ち、ロボットアーム１２６は、装着対象としての第一のリンク１３０と装着対象としての第二のリンク１３２が曲げ関節部１２８によって一軸周りでの相対傾動を許容された態様で連結された構造を有している。そして、後付コネクタ１２０の第一，第二の外装部材１２２，１２４が第一，第二のリンク１３０，１３２の各一方に固定されると共に、第一，第二の端子部２８，３４が第一，第二のリンク１３０，１３２に設けられる図示しない配線に接続される。これにより、第一のリンク１３０側の配線と第二のリンク１３２側の配線を端子間配線９２によって電気的に接続された状態に保持しながら、第一のリンク１３０と第二のリンク１３２の相対傾動を許容することができる。 Note that the retrofit connector 120 of this embodiment can be attached to the outer peripheral surfaces of the first and second links that can be relatively twisted and displaced as described above. For example, the robot shown in FIG. It can also distribute | arrange so that the bending joint part 128 of the arm 126 may be straddled. That is, the robot arm 126 has a structure in which the first link 130 as the mounting target and the second link 132 as the mounting target are connected by the bending joint portion 128 in a manner in which relative tilt around one axis is allowed. is doing. The first and second exterior members 122 and 124 of the retrofit connector 120 are fixed to one of the first and second links 130 and 132, and the first and second terminal portions 28 and 34 are provided. The first and second links 130 and 132 are connected to wiring (not shown). Thus, the first link 130 and the second link 132 are kept in a state where the wiring on the first link 130 side and the wiring on the second link 132 side are electrically connected by the inter-terminal wiring 92. Relative tilt can be allowed.
　本実施形態に従う構造とされた後付コネクタ１２０によれば、第一，第二の外装部材１２２，１２４が環状ではなく、周方向で部分的に開いた形状とされていることから、接続対象に対して外挿状態に限定されることなく大きな自由度で取り付けることが可能とされる。その結果、ねじり関節で連結された第一，第二のリンクだけでなく、曲げ関節部１２８で連結された第一，第二のリンク１３０，１３２などにも後付コネクタ１２０を取り付けることが可能となる。 According to the retrofitted connector 120 having the structure according to the present embodiment, the first and second exterior members 122 and 124 are not ring-shaped but are partially opened in the circumferential direction. However, it can be attached with a large degree of freedom without being limited to the extrapolated state. As a result, it is possible to attach the retrofit connector 120 not only to the first and second links connected by the torsional joint but also to the first and second links 130 and 132 connected by the bending joint 128. It becomes.
　以上、本発明の実施形態について詳述してきたが、本発明はその具体的な記載によって限定されない。例えば、前記実施形態では、端子間配線が収容空間に対して周方向の中間部分で折り返されて配された態様や、周方向に一周に満たない長さで延びるように配された態様を示したが、一周よりも長い端子間配線が収容空間に対して螺旋状に配されていても良い。 As mentioned above, although embodiment of this invention has been explained in full detail, this invention is not limited by the specific description. For example, in the above-described embodiment, an aspect in which the inter-terminal wiring is folded and arranged at the intermediate portion in the circumferential direction with respect to the accommodation space, or an aspect in which the inter-terminal wiring is arranged to extend with a length less than one round in the circumferential direction is shown. However, the inter-terminal wiring longer than one turn may be arranged spirally with respect to the accommodation space.
　さらに、端子間配線として伸縮性を有するものを採用することによって、第一の外装部材と第二の外装部材の相対的なねじり変位に加えて、端子間配線の伸縮によっても、第一，第二のリンクのねじり変位などを許容することが可能となって、第一，第二のリンクの変位をより大きく許容することができる。具体的には、例えば、端子間配線として図２５に示すような螺旋状に延びるカールコード１３４を採用すれば、収容空間内で収容空間の周方向に伸縮させることが可能となる。また、端子間配線として、伸縮変形可能な材料で形成された伸縮電線を用いることも可能であり、具体的には、例えば、旭化成株式会社の製品名ＡＫＲ１００３や製品名ＡＫＲ１００４などを端子間配線として採用することができる。 Further, by adopting a stretchable inter-terminal wiring, in addition to the relative torsional displacement of the first exterior member and the second exterior member, the first and the second The torsional displacement of the second link can be allowed, and the displacement of the first and second links can be allowed to be larger. Specifically, for example, when a curl cord 134 that extends in a spiral shape as shown in FIG. 25 is employed as the inter-terminal wiring, it is possible to extend and contract in the circumferential direction of the housing space within the housing space. In addition, as the inter-terminal wiring, it is also possible to use an expansion / contraction electric wire formed of a material capable of expansion / contraction deformation. Can be adopted.
　更にまた、前記実施形態では、第一の端子部と第二の端子部が端子間配線とは別体とされて、端子間配線の両端が第一の端子部と第二の端子部の各一方に取り付けられた構造を例示したが、端子間配線と第一，第二の端子部は一体構造とされていても良く、例えば、端子間配線が導体の表面を絶縁層で被覆した構造とされて、端子間配線の両端部において導体が露出せしめられることで第一，第二の端子部を構成するようにもできる。 Furthermore, in the embodiment, the first terminal portion and the second terminal portion are separated from the inter-terminal wiring, and both ends of the inter-terminal wiring are each of the first terminal portion and the second terminal portion. The structure attached to one side is illustrated, but the inter-terminal wiring and the first and second terminal portions may be integrated, for example, the inter-terminal wiring has a structure in which the surface of the conductor is covered with an insulating layer Thus, the first and second terminal portions can be configured by exposing the conductor at both ends of the inter-terminal wiring.
　また、端子間配線を収容空間内において軸方向や径方向で所定の位置に保持するガイド部材を配設することも可能であり、例えば、端子間配線がガイド部材に対して周方向へ相対変位可能とされたり、ガイド部材が第一，第二のリング状部材に対して周方向へ相対変位可能とされたりすることによって、端子間配線の第一，第二のリング状部材に対する周方向の相対変位が許容される。 It is also possible to dispose a guide member that holds the inter-terminal wiring in a predetermined position in the housing space in the axial direction or the radial direction. For example, the inter-terminal wiring is relatively displaced in the circumferential direction with respect to the guide member. Or by allowing the guide member to be displaced relative to the first and second ring-shaped members in the circumferential direction. Relative displacement is allowed.
　また、図２６に示す後付コネクタ１４０のように、収容空間３６内を外部から確認するために、窓部１４２を設けることもできる。即ち、後付コネクタ１４０の第一のリング状部材１２には、軸方向に貫通する窓部１４２が部分的に設けられており、窓部１４２を通じて収容空間３６を視認可能とされている。これにより、窓部１４２を通じて収容空間３６に配された端子間配線３８の位置などを、分解などを要することなく簡単に確認可能となる。特に、窓部１４２が外部に開放された孔とされていれば、手指や器具を窓部１４２を通じて収容空間３６に差し入れることも可能となって、例えば端子間配線３８の位置を整えるなどの作業を容易に行うこともできる。 Also, like the retrofit connector 140 shown in FIG. 26, a window 142 can be provided to confirm the inside of the accommodation space 36 from the outside. That is, the first ring-shaped member 12 of the retrofit connector 140 is partially provided with a window portion 142 penetrating in the axial direction, and the accommodation space 36 can be visually recognized through the window portion 142. Thereby, the position of the inter-terminal wiring 38 arranged in the accommodation space 36 through the window 142 can be easily confirmed without requiring disassembly. In particular, if the window 142 is a hole opened to the outside, it is possible to insert fingers and instruments into the accommodation space 36 through the window 142, for example, adjusting the position of the inter-terminal wiring 38. Work can also be performed easily.
　なお、上述のような窓部は、端子間配線が収容空間から外部へ抜け出すのを防止可能であれば、各種態様のものが採用され得る。具体的には、例えば、窓部を軸方向一方の端面の全面に亘って連続的に形成すると共に、窓部の外周縁と内周縁の少なくとも一方から窓部へ突出する突起や径方向に延びる桟などを周方向で部分的に設けることで、端子間配線の窓部を通じた抜け出しが突起や桟などによって防止されるようにしても良い。更に、例えば、窓部の開口をメッシュ状の部材で覆うことによっても、端子間配線の抜け出しを防止することができる。更にまた、窓部は必ずしも開放された孔状に限定されず、例えば、外部から収容空間を視認可能な態様で透明な樹脂によって塞がれていても良い。なお、第一の外装部材と第二の外装部材の少なくとも一方の全体が透明な材料で形成されていても良く、その場合には第一の外装部材と第二の外装部材の透明部分によって窓部が構成される。 In addition, the thing of various aspects can be employ | adopted for the above window parts, if it can prevent that the wiring between terminals escapes from the accommodation space outside. Specifically, for example, the window portion is formed continuously over the entire surface of one end surface in the axial direction, and also extends in the radial direction or a protrusion protruding from at least one of the outer peripheral edge and the inner peripheral edge of the window portion. By partially providing a crosspiece or the like in the circumferential direction, the inter-terminal wiring may be prevented from coming out through the window by a protrusion or a crosspiece. Furthermore, for example, the inter-terminal wiring can be prevented from coming out by covering the opening of the window with a mesh-like member. Furthermore, the window portion is not necessarily limited to an open hole shape, and may be closed with a transparent resin in a manner in which the accommodation space can be visually recognized from the outside, for example. Note that at least one of the first exterior member and the second exterior member may be entirely formed of a transparent material, in which case the window is formed by the transparent portion of the first exterior member and the second exterior member. The part is composed.
　また、前記実施形態では、第一の端子部２８と第二の端子部３４が各一つ設けられていると共に、それら第一の端子部２８と第二の端子部３４を導通する一つの端子間配線３８が配された構造を例示したが、第一の端子部２８と第二の端子部３４と端子間配線３８をそれぞれ複数設けることもできる。具体的には、例えば、第一のリング状部材１２に複数の第一の端子部２８が設けられていると共に、第二のリング状部材１４に複数の第二の端子部３４が設けられており、第一の端子部２８と第二の端子部３４の複数組が複数の端子間配線３８によってそれぞれ導通されていても良い。これによれば、ロボットアーム４２などの関節部４８を跨ぐ複数の配線を後付コネクタによって実現することができる。 Moreover, in the said embodiment, while the 1st terminal part 28 and the 2nd terminal part 34 are each provided, one terminal which conducts these 1st terminal parts 28 and the 2nd terminal part 34 electrically Although the structure in which the inter-wirings 38 are arranged is illustrated, a plurality of the first terminal portions 28, the second terminal portions 34, and the inter-terminal wirings 38 may be provided. Specifically, for example, the first ring-shaped member 12 is provided with a plurality of first terminal portions 28 and the second ring-shaped member 14 is provided with a plurality of second terminal portions 34. In addition, a plurality of sets of the first terminal portion 28 and the second terminal portion 34 may be respectively conducted by a plurality of inter-terminal wirings 38. According to this, a plurality of wires straddling the joint portion 48 such as the robot arm 42 can be realized by the retrofit connector.
　第一のリング状部材１２と第二のリング状部材１４は、例えば、ゴムなどの弾性体で形成されていても良く、装着対象を構成するリンクなどに対して外挿状態で締め付けるように嵌着されることによって、リンクなどに対してより簡単に後付けされ得る。 The first ring-shaped member 12 and the second ring-shaped member 14 may be formed of, for example, an elastic body such as rubber, and are fitted so as to be tightened in an extrapolated state with respect to a link or the like constituting the mounting target. By being worn, it can be more easily retrofitted to links and the like.
　また、第一のリング状部材１２と第二のリング状部材１４を周方向の一部で分割可能とするためのヒンジ部２６は、必須ではない。具体的には、例えば、第一，第二の半割体２４ａ，３０ａを相互に組み合わせた上半部と、第一，第二の半割体２４ｂ，３０ｂを相互に組み合わせた下半部が相互に独立して設けられて、それら上半部と下半部がリンクなどに対して各別に上下両側から取付け可能とされていると共に、それら上半部と下半部の周方向端部を相互に連結する連結手段が設けられた構造も採用可能である。これにより、互いに独立した上半部と下半部をリンクなどへの装着状態で連結手段によって連結することで、第一のリング状部材１２と第二のリング状部材１４をリンクなどへの装着状態で形成することができる。なお、連結手段は、上半部と下半部を連結するものであれば特に限定されないが、例えば、機械的な係止構造やねじ継手、リベット継手、接着、溶着、溶接などが採用され得る。 Moreover, the hinge part 26 for enabling the first ring-shaped member 12 and the second ring-shaped member 14 to be divided in a part in the circumferential direction is not essential. Specifically, for example, an upper half portion obtained by combining the first and second halves 24a and 30a and a lower half portion obtained by combining the first and second halves 24b and 30b are provided. Provided independently of each other, the upper and lower halves can be attached to the link etc. from both the upper and lower sides separately, and the circumferential ends of the upper and lower halves are provided. It is also possible to adopt a structure provided with connecting means for connecting with each other. Thus, the first ring-shaped member 12 and the second ring-shaped member 14 are attached to the link or the like by connecting the upper half and the lower half independent from each other by the connecting means in the state of being attached to the link or the like. It can be formed in a state. The connecting means is not particularly limited as long as it connects the upper half and the lower half. For example, a mechanical locking structure, a screw joint, a rivet joint, adhesion, welding, welding, or the like can be adopted. .
　さらに、図２７に示す後付コネクタ１５０のように、全周に亘って連続して分割部分のない環状の第一のリング状部材１５２と第二のリング状部材１５４を第一の外装部材と第二の外装部材として採用することもできる。この場合には、例えば、第一のリング状部材１５２と第二のリング状部材１５４を図示しないロボットアームの第一，第二のリンクに軸方向で挿通することにより、第一，第二のリング状部材１５２，１５４を第一，第二のリンクの各一方に取り付けることができる。 Furthermore, like the retrofit connector 150 shown in FIG. 27, the annular first ring-shaped member 152 and the second ring-shaped member 154 having no divided parts continuously over the entire circumference are connected to the first exterior member. It can also be employed as a second exterior member. In this case, for example, by inserting the first ring-shaped member 152 and the second ring-shaped member 154 into the first and second links of the robot arm (not shown) in the axial direction, Ring-shaped members 152 and 154 can be attached to one of the first and second links.
　また、図２８，２９に示すように、第一のリング状部材１２と第二のリング状部材１４を組み合わせた構造を有する後付コネクタ１０の複数を略同一中心軸上で軸方向に並ぶように配設することで、第一のリンクと第二のリンクの間で許容される相対回転量を増大させることもできる。 Further, as shown in FIGS. 28 and 29, a plurality of retrofit connectors 10 having a structure in which the first ring-shaped member 12 and the second ring-shaped member 14 are combined are arranged in the axial direction on substantially the same central axis. It is also possible to increase the amount of relative rotation allowed between the first link and the second link.
　より具体的には、軸方向で隣り合って配される一方の後付コネクタ１０の第一のリング状部材１２と、他方の後付コネクタ１０の第二のリング状部材１４とを、相互に連結する。更に、一方の後付コネクタ１０の第一のリング状部材１２の第一の端子部２８と、他方の後付コネクタ１０の第二のリング状部材１４の第二の端子部３４とを接続して、相互に導通させることで、それら後付コネクタ１０，１０を直列的に接続する。本実施形態では、３つの後付コネクタ１０，１０，１０が軸方向に並んで配されて直列的に接続されているが、軸方向に直列に設けられる後付コネクタ１０の数は、特に限定されない。そして、軸方向両端に位置する後付コネクタ１０，１０における第一のリング状部材１２の第一の端子部２８と、第二のリング状部材１４の第二の端子部３４に対して、図示しない第一のリンク側と第二のリンク側に設けられた各ケーブル（外部配線）の端子部を接続する。 More specifically, the first ring-shaped member 12 of one retrofit connector 10 and the second ring-shaped member 14 of the other retrofit connector 10 are arranged adjacent to each other in the axial direction. Link. Further, the first terminal portion 28 of the first ring-shaped member 12 of the one rear connector 10 is connected to the second terminal portion 34 of the second ring-shaped member 14 of the other rear connector 10. By connecting them with each other, the retrofit connectors 10 and 10 are connected in series. In this embodiment, the three retrofit connectors 10, 10, 10 are arranged side by side in the axial direction and connected in series. However, the number of the retrofit connectors 10 provided in series in the axial direction is particularly limited. Not. And with respect to the 1st terminal part 28 of the 1st ring-shaped member 12 and the 2nd terminal part 34 of the 2nd ring-shaped member 14 in the retrofit connectors 10 and 10 located in an axial direction both ends, it is illustrated. The terminal part of each cable (external wiring) provided on the first link side and the second link side not connected is connected.
　なお、軸方向で隣り合う後付コネクタ１０，１０間における第一のリング状部材１２と第二のリング状部材１４の連結構造は、特に限定されるものではないが、本実施形態では、一方の後付コネクタ１０の第一のリング状部材１２から軸方向に突出する連結腕部１５６が設けられており、その連結腕部１５６が他方の後付コネクタ１０の第二のリング状部材１４に固定される構造とされている。 In addition, although the connection structure of the 1st ring-shaped member 12 and the 2nd ring-shaped member 14 between the retrofit connectors 10 and 10 adjacent in an axial direction is not specifically limited, In this embodiment, A connecting arm portion 156 that protrudes in the axial direction from the first ring-shaped member 12 of the rear connector 10 is provided, and the connecting arm portion 156 is provided on the second ring-shaped member 14 of the other rear connector 10. The structure is fixed.
　これにより、各後付コネクタ１０において、第一のリング状部材１２と第二のリング状部材１４の相対回転がそれぞれ許容されることから、第一のリンクと第二のリンクの相対回転量が、一つの後付コネクタ１０を用いる場合よりも大きく確保される。 Thereby, in each retrofit connector 10, since the relative rotation of the 1st ring-shaped member 12 and the 2nd ring-shaped member 14 is each permitted, the relative rotation amount of a 1st link and a 2nd link is sufficient. This is ensured to be larger than when one retrofit connector 10 is used.
　さらに、図３０，３１に示すように、複数の後付コネクタ１０を同軸的に径方向で重ね合わせるように配することによっても、第一のリンクと第二のリンクの間で許容される相対回転量を増大させることができる。 Furthermore, as shown in FIGS. 30 and 31, the relative allowance between the first link and the second link can also be achieved by arranging the plurality of retrofit connectors 10 so as to be coaxially overlapped in the radial direction. The amount of rotation can be increased.
　すなわち、相互に径寸法の異なる複数の後付コネクタ１０ａ，１０ｂを同心的に配して、隣り合う一方の後付コネクタ１０ａの第二のリング状部材１４と他方の後付コネクタ１０ｂの第一のリング状部材１２とを相互に連結すると共に、径方向で隣り合う後付コネクタ１０ａの第二の端子部（図示せず）と後付コネクタ１０ｂの第一の端子部（図示せず）を接続して導通させることにより、それら複数の後付コネクタ１０を直列的に接続する。 That is, a plurality of rear connectors 10a and 10b having different diameters are concentrically arranged, and the second ring-shaped member 14 of one adjacent rear connector 10a and the first of the other rear connector 10b are arranged. Are connected to each other, and a second terminal portion (not shown) of the rear connector 10a and a first terminal portion (not shown) of the rear connector 10b that are adjacent in the radial direction are connected to each other. By connecting and conducting, the plurality of retrofit connectors 10 are connected in series.
　そして、最外周に位置する後付コネクタ１０ａの第一のリング状部材１２を図示しない第一のリンクに取り付けて、第一のリンク側のケーブル（外部配線）の端子部を後付コネクタ１０ａの第一の端子部２８に接続すると共に、最内周に位置する後付コネクタ１０ｂの第二のリング状部材１４を同じく図示しない第二のリンクに取り付けて、第二のリンク側のケーブル（外部配線）の端子部を後付コネクタ１０ｂの第二の端子部３４に接続する。 Then, the first ring-shaped member 12 of the rear connector 10a located on the outermost periphery is attached to a first link (not shown), and the terminal portion of the cable (external wiring) on the first link side is attached to the rear connector 10a. The second ring-shaped member 14 of the rear connector 10b located on the innermost periphery is connected to the second link (not shown) and connected to the first terminal portion 28, and the second link side cable (external The terminal portion of (wiring) is connected to the second terminal portion 34 of the retrofit connector 10b.
　このような構造によっても、各後付コネクタ１０ａ，１０ｂにおいて、第一のリング状部材１２と第二のリング状部材１４の相対回転がそれぞれ許容されることから、第一のリンクと第二のリンクの相対回転量が大きく確保される。なお、図３０，３１に示す構造では、二つの後付コネクタ１０ａ，１０ｂが同心的に配されており、外周側の後付コネクタ１０ａの第一の端子部２８と内周側の後付コネクタ１０ｂの第二の端子部３４が、第一の実施形態と同様に軸方向の各一方側へ突出していると共に、図示しない外周側の後付コネクタ１０ａの第二の端子部と内周側の後付コネクタ１０ｂの第一の端子部は、例えば内蔵状態において径方向で相互に接続して導通可能な構造とされている。 Even in such a structure, since the relative rotation of the first ring-shaped member 12 and the second ring-shaped member 14 is allowed in each of the retrofit connectors 10a and 10b, the first link and the second link A large amount of relative rotation of the link is secured. 30 and 31, the two rear connectors 10a and 10b are concentrically arranged, and the first terminal portion 28 of the outer peripheral rear connector 10a and the inner peripheral rear connector. Similarly to the first embodiment, the second terminal portion 34 of 10b protrudes to one side in the axial direction, and the second terminal portion and the inner peripheral side of the rear connector 10a on the outer peripheral side (not shown). For example, the first terminal portion of the retrofit connector 10b is configured to be electrically connected to each other in the radial direction in a built-in state.
　また、複数の後付コネクタ１０を並列的に設けることにより、第一のリンク４４と第二のリンク４６に跨る複数の配線を実現することもできる。なお、複数の後付コネクタ１０は、例えば軸方向に並んで配される他、相互に異なる直径とされて同軸的にも配され得る。 Also, a plurality of wirings straddling the first link 44 and the second link 46 can be realized by providing a plurality of retrofit connectors 10 in parallel. The plurality of retrofit connectors 10 may be arranged coaxially with different diameters, for example, in addition to being arranged side by side in the axial direction.
　また、前記実施形態では、第一のリング状部材と第二のリング状部材がそれぞれ略円環形状とされた例を示したが、第一のリング状部材と第二のリング状部材は、必ずしも円環形状に限定されず、第一のリング状部材と第二のリング状部材の相対回転が許容されていれば、それらリング状部材の内周面や外周面は多角筒状や異形筒状とされ得る。具体的には、例えば、図３２，３３に示す後付コネクタ１６０のように、第二の外装部材としての第二のリング状部材１６２の内周面が角丸四角筒形とされて、第二のリング状部材１６２が角丸四角筒形の外周面を有する第二のリンク４６に対して外挿状態で取り付けられるようにもできる。このように、第一の外装部材と第二の外装部材は、リンクなどで構成された装着対象に対して外挿状態で取付け可能且つ相対回転可能であれば、必ずしも円環形状に限定されない。なお、第二のリング状部材１６２は、内周面が角丸四角筒形とされている以外の構造は、第一の実施形態の第二のリング状部材１４と略同じとされている。また、図２２，２３の構造において、第一のリング状部材１２の外周面を円筒状以外の面形状とすることも可能であり、例えば多角筒状や異形筒状とされ得る。 Moreover, in the said embodiment, although the 1st ring-shaped member and the 2nd ring-shaped member each showed the substantially annular shape, the 1st ring-shaped member and the 2nd ring-shaped member are The ring-shaped member is not necessarily limited to an annular shape, and if the first ring-shaped member and the second ring-shaped member are allowed to rotate relative to each other, the inner peripheral surface and outer peripheral surface of the ring-shaped member may be a polygonal cylinder or a deformed cylinder. Can be made. Specifically, for example, like the retrofit connector 160 shown in FIGS. 32 and 33, the inner peripheral surface of the second ring-shaped member 162 as the second exterior member is formed into a rounded square cylinder, The second ring-shaped member 162 may be attached in an extrapolated state with respect to the second link 46 having a rounded square cylindrical outer peripheral surface. As described above, the first exterior member and the second exterior member are not necessarily limited to an annular shape as long as they can be attached to a mounting target configured by a link or the like and can be relatively rotated. The second ring-shaped member 162 has substantially the same structure as the second ring-shaped member 14 of the first embodiment, except that the inner peripheral surface is a rounded square cylinder. 22 and 23, the outer peripheral surface of the first ring-shaped member 12 may be a surface shape other than a cylindrical shape, and may be, for example, a polygonal cylindrical shape or a deformed cylindrical shape.
　また、後付コネクタが装着される装着対象は、第一，第二のリンク４４，４６を含むロボットアーム４２に限定されるものではなく、例えば、人型ロボットの腰部にねじりを許容する関節（腰関節）を設けて、その腰関節を跨ぐようにケーブルなどを配線する場合には、第一のリング状部材１２と第二のリング状部材１４が人型ロボットの胴部における腰関節を挟んだ上側と下側の各一方に取り付けられることから、装着対象は人型ロボットの胴部の上側を構成する第一のリンクおよび胴部の下側を構成する第二のリンクを含んで構成される。 In addition, the mounting target to which the retrofit connector is mounted is not limited to the robot arm 42 including the first and second links 44 and 46. For example, a joint that allows torsion to the waist of a humanoid robot ( In the case where a cable or the like is provided so as to straddle the hip joint, the first ring-shaped member 12 and the second ring-shaped member 14 sandwich the hip joint in the torso of the humanoid robot. Since it is attached to one of the upper side and the lower side, the mounting target is configured to include a first link that constitutes the upper side of the trunk of the humanoid robot and a second link that constitutes the lower side of the trunk. The
　さらに、後付コネクタが装着される装着対象は、例えば、ターンテーブルやハンドルのような工場におけるロボット以外の回転駆動設備などであっても良い。更にまた、例えば、自動車のステアリング装置を構成するステアリングコラムに対して、本発明に係る後付コネクタを装着して用いることなどもできる。 Furthermore, the mounting target to which the retrofit connector is mounted may be, for example, a rotational drive facility other than the robot in the factory such as a turntable or a handle. Furthermore, for example, a retrofit connector according to the present invention can be attached to a steering column that constitutes a steering device of an automobile.
１０，６０，９０，９６，１００，１１０，１４０，１５０，１６０：後付コネクタ、１２，６２，１５２：第一のリング状部材（第一の外装部材）、１４，６４，１１２，１５４：第二のリング状部材（第二の外装部材）、２８，１１４：第一の端子部、３４，１１８：第二の端子部、３６，１２５：収容空間、３８，９２，９８，１０２，１２１：端子間配線、４０，９４：折返し部、４２，１２６：ロボットアーム（装着対象）、４４，１３０：第一のリンク、４６，１３２：第二のリンク、４８：関節部、１１２：第一の挿通孔、１１６：第二の挿通孔、１２２：第一の外装部材、１２４：第二の外装部材、１３４：カールコード（端子間配線）、１４２：窓部 10, 60, 90, 96, 100, 110, 140, 150, 160: Retrofit connector, 12, 62, 152: First ring-shaped member (first exterior member), 14, 64, 112, 154: Second ring-shaped member (second exterior member), 28, 114: first terminal portion, 34, 118: second terminal portion, 36, 125: accommodation space, 38, 92, 98, 102, 121 : Wiring between terminals, 40, 94: Folded part, 42, 126: Robot arm (attachment target), 44, 130: First link, 46, 132: Second link, 48: Joint part, 112: First Insertion hole, 116: second insertion hole, 122: first exterior member, 124: second exterior member, 134: curl cord (inter-terminal wiring), 142: window portion

Claims (15)

  1. 　装着対象に外挿状態で装着される第一の外装部材と第二の外装部材が相対的なねじり回転を可能とされた態様で相互に組み合わされていると共に、それら第一の外装部材と第二の外装部材の間には周方向に延びる収容空間が形成されており、該収容空間には端子間配線が周方向に延びるように配設されて、該第一の外装部材に設けられた第一の端子部と該第二の外装部材に設けられた第二の端子部が該端子間配線によって相互に導通された構造を有することを特徴とする後付コネクタ。 The first exterior member and the second exterior member that are mounted on the mounting target in an extrapolated state are combined with each other in a manner that allows relative torsional rotation, and the first exterior member and the first exterior member An accommodation space extending in the circumferential direction is formed between the two exterior members, and the inter-terminal wiring is disposed in the accommodation space so as to extend in the circumferential direction, and is provided in the first exterior member. A retrofit connector having a structure in which a first terminal portion and a second terminal portion provided on the second exterior member are electrically connected to each other by the inter-terminal wiring.
  2. 　装着対象に装着される第一の外装部材と第二の外装部材が相対的な周方向変位を可能とされた態様で相互に組み合わされて、それら第一の外装部材と第二の外装部材の間には周方向に延びる収容空間が形成されており、該収容空間には外部配線にそれぞれ接続される第一の端子部と第二の端子部が両端に設けられた端子間配線が周方向に延びるように配設されていると共に、該第一の外装部材に設けられた第一の挿通孔と該第二の外装部材に設けられた第二の挿通孔との各一方を通じて該端子間配線の両端部分が該収容空間から外部へ延び出していることを特徴とする後付コネクタ。 The first exterior member and the second exterior member to be mounted on the mounting target are combined with each other in a manner that allows relative circumferential displacement, and the first exterior member and the second exterior member An accommodation space extending in the circumferential direction is formed between the terminals, and the inter-terminal wiring provided with the first terminal portion and the second terminal portion respectively connected to the external wiring at both ends is circumferential direction. Between the terminals through one of a first insertion hole provided in the first exterior member and a second insertion hole provided in the second exterior member. A retrofit connector, characterized in that both end portions of the wiring extend from the housing space to the outside.
  3. 　装着対象に装着される第一の外装部材と第二の外装部材が一周に満たない長さで周方向に延びており、それら第一の外装部材と第二の外装部材が相対的な周方向変位を可能とされた態様で相互に組み合わされていると共に、それら第一の外装部材と第二の外装部材の間には周方向に延びる収容空間が形成されて、該収容空間には端子間配線が周方向に延びるように配設されており、該端子間配線が両端に設けられた第一の端子部と第二の端子部を通じて該第一の外装部材側および該第二の外装部材側におけるそれぞれの外部配線に接続されるようになっていることを特徴とする後付コネクタ。 The first exterior member and the second exterior member to be mounted on the mounting object extend in the circumferential direction with a length that is less than one round, and the first exterior member and the second exterior member are in a relative circumferential direction. An accommodation space extending in the circumferential direction is formed between the first exterior member and the second exterior member in a manner that allows displacement, and the terminal space has a space between terminals. The first exterior member side and the second exterior member are arranged so that the wiring extends in the circumferential direction, and the inter-terminal wiring is provided at both ends through the first terminal portion and the second terminal portion. A retrofit connector characterized by being connected to each external wiring on the side.
  4. 　前記第一の外装部材と前記第二の外装部材は、何れも周方向の少なくとも一箇所において分割可能とされている請求項１～３の何れか一項に記載の後付コネクタ。 The retrofit connector according to any one of claims 1 to 3, wherein each of the first exterior member and the second exterior member can be divided at at least one place in a circumferential direction.
  5. 　前記第一の外装部材と前記第二の外装部材の少なくとも一方には分割部分を周方向に連結する連結部が設けられており、該第一の外装部材と該第二の外装部材における該連結部を挟んだ両側が該連結部によって相対的に開くようにされている請求項４に記載の後付コネクタ。 At least one of the first exterior member and the second exterior member is provided with a connection portion that connects the divided portions in the circumferential direction, and the connection between the first exterior member and the second exterior member. The retrofit connector according to claim 4, wherein both sides sandwiching the portion are relatively opened by the connecting portion.
  6. 　前記端子間配線が前記収容空間内に設定された湾曲形状の折返し部において周方向に折り返されている請求項１～５の何れか一項に記載の後付コネクタ。 The retrofit connector according to any one of claims 1 to 5, wherein the inter-terminal wiring is folded back in a circumferential direction at a curved folded portion set in the accommodation space.
  7. 　前記折返し部において周方向に折り返された前記端子間配線が、軸方向と軸直角方向の少なくとも一方で重なるように配設されている請求項６に記載の後付コネクタ。 The retrofit connector according to claim 6, wherein the inter-terminal wiring folded back in the circumferential direction at the folded-back portion is disposed so as to overlap at least one of the axial direction and the direction perpendicular to the axial direction.
  8. 　前記第一の外装部材が軸方向に開口する溝形断面を有していると共に、前記第二の外装部材が該第一の外装部材の軸方向の開口部を覆蓋するように該第一の外装部材と組み合わされている請求項１～７の何れか一項に記載の後付コネクタ。 The first exterior member has a groove-shaped cross section that opens in the axial direction, and the second exterior member covers the axial opening of the first exterior member. The retrofit connector according to any one of claims 1 to 7, which is combined with an exterior member.
  9. 　前記第一の外装部材が軸直角方向へ向けて開口する溝形断面を有していると共に、前記第二の外装部材が該第一の外装部材の軸直角方向の開口部を覆蓋するように該第一の外装部材と組み合わされている請求項１～７の何れか一項に記載の後付コネクタ。 The first exterior member has a groove-shaped cross section that opens in the direction perpendicular to the axis, and the second exterior member covers the opening in the direction perpendicular to the axis of the first exterior member. The retrofit connector according to any one of claims 1 to 7, which is combined with the first exterior member.
  10. 　前記端子間配線が扁平な断面形状を有している請求項１～９の何れか一項に記載の後付コネクタ。 The retrofit connector according to any one of claims 1 to 9, wherein the inter-terminal wiring has a flat cross-sectional shape.
  11. 　相互に組み合わされた前記第一の外装部材と前記第二の外装部材の複数組が軸方向で直列的に配設されて、軸方向で隣り合う該第一の外装部材と該第二の外装部材が相互に連結されていると共に、それら連結された第一の外装部材と第二の外装部材において前記第一の端子部と前記第二の端子部が互いに導通されている請求項１～１０の何れか一項に記載の後付コネクタ。 A plurality of sets of the first exterior member and the second exterior member combined with each other are arranged in series in the axial direction, and the first exterior member and the second exterior that are adjacent in the axial direction. The members are connected to each other, and the first terminal portion and the second terminal portion are electrically connected to each other in the connected first exterior member and second exterior member. The retrofit connector as described in any one of.
  12. 　相互に組み合わされた前記第一の外装部材と前記第二の外装部材の複数組が同軸的に配設されて、軸直角方向で隣り合う該第一の外装部材と該第二の外装部材が相互に連結されていると共に、それら連結された第一の外装部材と第二の外装部材において前記第一の端子部と前記第二の端子部が互いに導通されている請求項１～１０の何れか一項に記載の後付コネクタ。 A plurality of sets of the first exterior member and the second exterior member combined with each other are arranged coaxially, and the first exterior member and the second exterior member adjacent in the direction perpendicular to the axis are The first terminal portion and the second terminal portion are connected to each other and are electrically connected to each other in the connected first and second exterior members. A retrofit connector according to claim 1.
  13. 　前記装着対象が第一のリンクと第二のリンクを含んで構成されて、それら第一のリンクと第二のリンクが関節部を介して回動可能に連結されており、前記第一の外装部材と前記第二の外装部材の少なくとも一方が内周面を該第一のリンク又は該第二のリンクの外周面に対応する面形状とされて該第一のリンク又は該第二のリンクに対して直接接触した外挿状態で装着されている請求項１～１２の何れか一項に記載の後付コネクタ。 The mounting target includes a first link and a second link, and the first link and the second link are rotatably connected via a joint portion, and the first exterior At least one of the member and the second exterior member has an inner peripheral surface formed into a surface shape corresponding to the outer peripheral surface of the first link or the second link, and the first link or the second link. The retrofit connector according to any one of claims 1 to 12, which is mounted in an extrapolated state in direct contact with the connector.
  14. 　前記第一の外装部材と前記第二の外装部材の少なくとも一方には、前記収容空間内を外部から視認可能とする窓部が設けられている請求項１～１３の何れか一項に記載の後付コネクタ。 The window according to any one of claims 1 to 13, wherein at least one of the first exterior member and the second exterior member is provided with a window portion that allows the inside of the housing space to be visually recognized from the outside. Retrofit connector.
  15. 　前記収容空間に配された前記端子間配線が該収容空間の周方向で伸縮可能とされている請求項１～１４の何れか一項に記載の後付コネクタ。 The retrofit connector according to any one of claims 1 to 14, wherein the inter-terminal wiring arranged in the accommodation space is extendable in a circumferential direction of the accommodation space.
PCT/JP2018/016782 2017-05-19 2018-04-25 Retrofitted connector WO2018211929A1 (en)

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JP2017100045 2017-05-19
JP2017-100045 2017-05-19
JP2018-058132 2018-03-26
JP2018058132A JP2018195568A (en) 2017-05-19 2018-03-26 Post-attached connector

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03121791A (en) * 1989-10-05 1991-05-23 Kawasaki Heavy Ind Ltd Industrial robot
JPH07107650A (en) * 1993-09-30 1995-04-21 Toyota Motor Corp Structure for fixing cable/hose to turning section
JP2002216924A (en) * 2001-01-18 2002-08-02 Alps Electric Co Ltd Rotating connector
JP2009044809A (en) * 2007-08-07 2009-02-26 Tsubakimoto Chain Co Slewing type cable protective guidance device
JP2010172116A (en) * 2009-01-23 2010-08-05 Yazaki Corp Harness winding type power supply device
JP2014033502A (en) * 2012-08-01 2014-02-20 Mitsubishi Motors Corp Rotary connector device
JP2014514903A (en) * 2011-04-01 2014-06-19 ツバキ カーベルシュレップ ゲーエムベーハー Power transmission device with large helix angle
JP2014521294A (en) * 2011-07-11 2014-08-25 イグス ゲゼルシャフト ミット ベシュレンクター ハフトゥング Line guide system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03121791A (en) * 1989-10-05 1991-05-23 Kawasaki Heavy Ind Ltd Industrial robot
JPH07107650A (en) * 1993-09-30 1995-04-21 Toyota Motor Corp Structure for fixing cable/hose to turning section
JP2002216924A (en) * 2001-01-18 2002-08-02 Alps Electric Co Ltd Rotating connector
JP2009044809A (en) * 2007-08-07 2009-02-26 Tsubakimoto Chain Co Slewing type cable protective guidance device
JP2010172116A (en) * 2009-01-23 2010-08-05 Yazaki Corp Harness winding type power supply device
JP2014514903A (en) * 2011-04-01 2014-06-19 ツバキ カーベルシュレップ ゲーエムベーハー Power transmission device with large helix angle
JP2014521294A (en) * 2011-07-11 2014-08-25 イグス ゲゼルシャフト ミット ベシュレンクター ハフトゥング Line guide system
JP2014033502A (en) * 2012-08-01 2014-02-20 Mitsubishi Motors Corp Rotary connector device

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