WO2020021863A1 - Line connector - Google Patents

Line connector Download PDF

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Publication number
WO2020021863A1
WO2020021863A1 PCT/JP2019/022033 JP2019022033W WO2020021863A1 WO 2020021863 A1 WO2020021863 A1 WO 2020021863A1 JP 2019022033 W JP2019022033 W JP 2019022033W WO 2020021863 A1 WO2020021863 A1 WO 2020021863A1
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line
exterior member
rotation
connection
connection connector
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PCT/JP2019/022033
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French (fr)
Japanese (ja)
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侑 佐藤
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住友理工株式会社
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Publication of WO2020021863A1 publication Critical patent/WO2020021863A1/en

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    • 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

Abstract

Provided is a line connector with a novel structure with which it is possible to install a connection line, such as wiring, piping, or the like on a turning member of an existing robot or the like by way of a structure that can be retrofitted to the turning member. A line connector 10 mounted to a multiaxial turning member 12 has a first exterior member 16 that is assembled to be able to turn with respect to an exterior member body 14, and a second exterior member 18 that is assembled to be able to turn with respect to the exterior member body 14. A first line arrangement space 26 is provided between the exterior member body 14 and the first exterior member 16, and a second line arrangement space 30 is provided between the exterior member body 14 and the second exterior member 18.

Description

ライン接続コネクタLine connection connector
　本発明は、複数のリンクなどを相対回動可能に接続した多軸回動部材に対して接続ライン（配線や配管など）を配設可能とするライン接続コネクタに関するものである。 The present invention relates to a line connector that allows connection lines (wiring, piping, and the like) to be disposed on a multi-axis rotating member in which a plurality of links and the like are rotatably connected.
　従来から、複数のリンクが関節部分において回動軸回りで相対変位可能に接続された回動部材が、例えばロボットアームなどにおいて採用されている。 回 動 Conventionally, a rotating member in which a plurality of links are connected so as to be relatively displaceable about a rotation axis at a joint portion has been employed in, for example, a robot arm.
　ところで、例えばロボットアームでは、電力の供給や電気信号の送受信のための配線や、空気圧や油圧を及ぼすための配管などが、基端側から回動部材の関節部分を跨いで先端側へ延びるように設けられる場合がある。この場合、ロボットアームの駆動時に配線や配管などの接続ラインが過度に引っ張られることによる接続ラインの損傷や、ロボットアームの屈伸やねじりなどの動きの阻害、接続ラインの過度な弛みなどが、何れも防止されるように接続ラインを配する必要がある。 By the way, for example, in a robot arm, wiring for supplying electric power and transmitting and receiving electric signals, piping for applying air pressure and hydraulic pressure, and the like extend from the base end side to the distal end side across the joint portion of the rotating member. In some cases. In this case, any damage to the connection line due to excessive pulling of the connection line such as wiring and piping when the robot arm is driven, hindrance to movement of the robot arm such as bending and extension or twisting, excessive slack in the connection line, etc. It is necessary to arrange the connection line so as to prevent the above.
　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分において、線条体（接続ライン）をＵ字形状に折り返して配設することで、リンクの相対回転を許容可能とした関節駆動装置が提案されている。 Japanese Patent Application Laid-Open No. 2015-54357 (Patent Document 1) discloses that a striated body (connection line) is folded back into a U-shape at a joint portion that connects the link so that the link can be relatively displaced. There has been proposed a joint drive device that allows relative rotation of the joint.
　ところが、特許文献１の構造は、ロボットの関節部分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 advance in the joints of the robot, it was difficult to apply the structure to an existing robot later. Therefore, when a new wiring is provided for the purpose of adding a function to an existing robot or the like, a large design change of the robot itself is required, and the structure of Patent Document 1 is adopted. And a new structure was required.
特開２０１５－５４３５７号公報JP-A-2005-54357
　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の回動部材に後付けすることも可能となる構造によって、回動部材に配線や配管などの接続ラインを設けることができる、新規な構造のライン接続コネクタを提供することにある。 The present invention has been made in view of the above circumstances, and the problem to be solved is a structure that can be retrofitted to a rotating member such as an existing robot. It is an object of the present invention to provide a line connection connector having a novel structure capable of providing the connection line of (1).
　先ず、本発明者は、配線や配管などの接続ラインを収容するライン接続コネクタを、１つの回動軸を有する単軸回動部材に対して、外装状態で後付けすることも可能な構造とすることに思い至り、試作と検討を繰り返して、単軸回動部材における一軸回りでの回動を許容しながら接続ラインを配設可能とするライン接続コネクタを実現した。 First, the present inventor has a structure in which a line connector that accommodates connection lines such as wiring and piping can be retrofitted to a single-axis rotating member having one rotating shaft in an exterior state. By repeating the trial production and study, a line connection connector that allows the connection line to be arranged while allowing the single-axis rotation member to rotate around one axis was realized.
　しかしながら、複数の回動軸が近接して配された多軸回動部材を有するロボットアームなどにおいて、各回動軸にライン接続コネクタをそれぞれ外装状態で装着して接続ラインを設けようとすると、ライン接続コネクタ同士が干渉することで装着が困難な場合があった。そこで、このような多軸回動部材に対して装着することが可能なライン接続コネクタを提供するために、本発明をなすに至った。 However, in a robot arm or the like having a multi-axis rotation member in which a plurality of rotation axes are arranged close to each other, if a line connection connector is attached to each of the rotation axes in an exterior state to provide a connection line, In some cases, mounting was difficult due to interference between the connectors. Therefore, the present invention has been made in order to provide a line connection connector that can be attached to such a multi-axis rotating member.
　以下、本発明者が新たに得た知見に基づいて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 based on the inventor's newly obtained knowledge will be described. The components employed in each of the embodiments described below can be employed in any combination as possible.
　すなわち、本発明の第一の態様は、多軸回動部材に装着されるライン接続コネクタであって、外装部材本体に対して回動可能に組み付けられた第一の外装部材と、該外装部材本体に対して回動可能に組み付けられた第二の外装部材とを有し、該外装部材本体と該第一の外装部材の間に第一のライン配設スペースが設けられていると共に、該外装部材本体と該第二の外装部材との間に第二のライン配設スペースが設けられていることを、特徴とする。 That is, a first aspect of the present invention is a line connection connector attached to a multi-axis rotating member, wherein the first exterior member rotatably assembled to the exterior member main body, and the exterior member A second exterior member rotatably assembled to the main body, and a first line arrangement space is provided between the exterior member main body and the first exterior member; A second line arrangement space is provided between the exterior member main body and the second exterior member.
　このような第一の態様に従う構造とされたライン接続コネクタによれば、第一の外装部材と第二の外装部材が共通の外装部材本体に対して回動可能に組み付けられていることから、例えば第一の外装部材と第二の外装部材を多軸回動部材の近接する回動軸に外装する際に、外装部材本体が干渉することがない。したがって、複数の回動軸が近接して設けられた多軸回動部材において、相対回動部分を跨ぐラインを設けることが可能となる。 According to the line connection connector having the structure according to the first aspect, since the first exterior member and the second exterior member are rotatably attached to the common exterior member body, For example, when the first exterior member and the second exterior member are exteriorly mounted on a rotating shaft close to the multi-axis rotating member, the exterior member body does not interfere. Therefore, it is possible to provide a line that straddles the relative rotation portion in the multi-axis rotation member in which a plurality of rotation shafts are provided close to each other.
　本発明の第二の態様は、第一の態様に記載されたライン接続コネクタにおいて、前記外装部材本体における前記第一の外装部材と前記第二の外装部材の組付け部分には、それぞれ開口する環状周縁部が設けられており、それら環状周縁部が隣接部分において一体的につながる交差部分を有しているものである。 According to a second aspect of the present invention, in the line connection connector according to the first aspect, the first exterior member and the second exterior member in the exterior member main body are each opened at an assembly portion. An annular peripheral portion is provided, and the annular peripheral portion has an intersecting portion integrally connected at an adjacent portion.
　第二の態様によれば、外装部材本体の環状周縁部が交差部分において一体的につながっていることにより、例えば、多軸回動部材において複数の回動軸が相互に近い位置に設けられている場合にも、各回動軸に外装される環状周縁部が相互に干渉することがなく、ライン接続コネクタを多軸回動部材に問題なく装着することができる。 According to the second aspect, since the annular peripheral edges of the exterior member main body are integrally connected at the intersection, for example, a plurality of rotation axes are provided at positions near each other in the multi-axis rotation member. In this case as well, the annular peripheral portions provided on the respective rotation shafts do not interfere with each other, and the line connection connector can be mounted on the multi-axis rotation member without any problem.
　本発明の第三の態様は、第二の態様に記載されたライン接続コネクタにおいて、前記第一のライン配設スペースと前記第二のライン配設スペースが前記交差部分において相互に連通されているものである。 A third aspect of the present invention is the line connection connector according to the second aspect, wherein the first line arrangement space and the second line arrangement space communicate with each other at the intersection. Things.
　第三の態様によれば、交差部分において第一のライン配設スペースと第二のライン配設スペースを隔てる壁をなくすことで、交差部分のライン配設スペースを広く確保することができて、複数の環状周縁部の相互干渉を防ぎながら、接続ラインの配設スペースを十分に確保することができる。 According to the third aspect, by eliminating the wall separating the first line installation space and the second line installation space at the intersection, it is possible to widely secure the line installation space at the intersection, A sufficient space for arranging the connection lines can be secured while preventing mutual interference between the plurality of annular peripheral portions.
　本発明の第四の態様は、第二の態様に記載されたライン接続コネクタにおいて、前記交差部分において前記第一のライン配設スペースと前記第二のライン配設スペースを仕切る仕切壁部が設けられているものである。 According to a fourth aspect of the present invention, in the line connection connector according to the second aspect, a partition wall portion that partitions the first line arrangement space and the second line arrangement space at the intersection is provided. It is what is being done.
　第四の態様によれば、第一のライン配設スペースと第二のライン配設スペースに配された第一，第二の接続ラインが、交差部分で相互に接するのを防ぐことができる。しかも、独立した環状周縁部を周方向の一部で重ね合わせる場合に比して、仕切壁部を二重構造にする必要がなく、仕切壁部を単層として薄肉とすることができることから、交差部分においてライン配設スペースを大きく確保し易い。 According to the fourth aspect, it is possible to prevent the first and second connection lines arranged in the first line arrangement space and the second line arrangement space from touching each other at the intersection. Moreover, compared to the case where the independent annular peripheral portions are overlapped in a part of the circumferential direction, the partition wall does not need to have a double structure, and the partition wall can be made as a single layer and thin. It is easy to secure a large space for arranging lines at the intersection.
　本発明の第五の態様は、第一～第四の何れか１つの態様に記載されたライン接続コネクタにおいて、前記外装部材本体における前記第一の外装部材と前記第二の外装部材の組付け部分と、該第一の外装部材と、該第二の外装部材とが、何れも周方向の少なくとも一部で分割可能とされているものである。 According to a fifth aspect of the present invention, in the line connection connector according to any one of the first to fourth aspects, assembling the first exterior member and the second exterior member in the exterior member body. The part, the first exterior member, and the second exterior member are all configured to be dividable at least partially in the circumferential direction.
　第五の態様によれば、第一，第二の外装部材と外装部材本体とを、多軸回動部材に対して外装状態で装着し易くなる。 According to the fifth aspect, the first and second exterior members and the exterior member main body can be easily attached to the multi-axis rotating member in an exterior state.
　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ライン接続コネクタにおいて、前記外装部材本体に対する前記第一の外装部材の回動の中心軸と、該外装部材本体に対する前記第二の外装部材の回動の中心軸とが、互いに交差する方向に延びているものである。 According to a sixth aspect of the present invention, in the line connection connector according to any one of the first to fifth aspects, a center axis of rotation of the first exterior member with respect to the exterior member body; The central axis of rotation of the second exterior member with respect to the member body extends in a direction intersecting with each other.
　第六の態様によれば、例えば直交二軸方向のような互いに交差する方向に延びる複数の回動軸を有する多軸回動部材に対して、ライン接続コネクタを好適に適用することができる。なお、第一の外装部材の回動の中心軸と第二の外装部材の回動の中心軸とが互いに交差する方向に延びているとは、それら回動の中心軸が互いに同一平面上で交差している場合だけでなく、互いに立体的に交差している場合を含む。 According to the sixth aspect, the line connection connector can be suitably applied to a multi-axis rotating member having a plurality of rotating shafts extending in directions intersecting each other, for example, orthogonal two-axis directions. Note that the central axis of rotation of the first exterior member and the central axis of rotation of the second exterior member extend in a direction intersecting with each other when the central axes of rotation are on the same plane. This includes not only the case where they intersect but also the case where they three-dimensionally intersect each other.
　本発明の第七の態様は、第一～第五の何れか１つの態様に記載されたライン接続コネクタにおいて、前記外装部材本体に対する前記第一の外装部材の回動の中心軸と、該外装部材本体に対する前記第二の外装部材の回動の中心軸とが、互いに平行に延びているものである。 According to a seventh aspect of the present invention, in the line connection connector according to any one of the first to fifth aspects, a center axis of rotation of the first exterior member with respect to the exterior member body; A central axis of rotation of the second exterior member with respect to the member main body extends in parallel with each other.
　第七の態様によれば、並列的に延びる複数の回動軸を有する多軸回動部材に対して、ライン接続コネクタを好適に適用することができる。 According to the seventh aspect, the line connection connector can be suitably applied to a multi-axis rotating member having a plurality of rotating shafts extending in parallel.
　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ライン接続コネクタにおいて、周方向に延びる第一の接続ラインが前記第一のライン配設スペースに収容されていると共に、周方向に延びる第二の接続ラインが前記第二のライン配設スペースに収容されているものである。 According to an eighth aspect of the present invention, in the line connection connector according to any one of the first to seventh aspects, a first connection line extending in a circumferential direction is accommodated in the first line arrangement space. And a second connection line extending in the circumferential direction is accommodated in the second line arrangement space.
　第八の態様によれば、第一の接続ラインと第二の接続ラインによって、多軸回動部材の回動部分を跨ぐ配線や配管を実現することができる。 According to the eighth aspect, the first connection line and the second connection line make it possible to realize wiring or piping that straddles the turning portion of the multi-axis turning member.
　本発明の第九の態様は、第八の態様に記載されたライン接続コネクタにおいて、前記第一の接続ラインが前記第一のライン配設スペース内で周方向に折り返されていると共に、前記第二の接続ラインが前記第二のライン配設スペース内で周方向に折り返されているものである。 A ninth aspect of the present invention is the line connection connector according to the eighth aspect, wherein the first connection line is folded back in the circumferential direction within the first line arrangement space, and The two connection lines are folded back in the circumferential direction in the second line arrangement space.
　第九の態様によれば、第一，第二の接続ラインが折り返されていることによって、第一，第二の外装部材と外装部材本体との相対的な回転をより大きく許容することができると共に、第一，第二の外装部材と外装部材本体の相対回転を周方向両側で許容することもできる。 According to the ninth aspect, since the first and second connection lines are folded back, the relative rotation between the first and second exterior members and the exterior member body can be more allowed. In addition, the relative rotation between the first and second exterior members and the exterior member main body can be allowed on both sides in the circumferential direction.
　本発明によれば、第一の外装部材と第二の外装部材が共通の外装部材本体に対して相対回動可能に組み付けられていることから、第一の外装部材と第二の外装部材が多軸回動部材の各回動軸に外装される際に、例えばそれら回動軸が近接していても、外装部材本体が干渉することなく、ライン配設スペースを設けることが可能となる。 According to the present invention, since the first exterior member and the second exterior member are assembled so as to be relatively rotatable with respect to the common exterior member main body, the first exterior member and the second exterior member are provided. When the multi-axis rotation member is externally mounted on each rotation axis, for example, even if the rotation axes are close to each other, it is possible to provide a line arrangement space without interference of the exterior member main body.
本発明の第一の実施形態としてのライン接続コネクタを多軸回動部材への装着状態で示す斜視図。FIG. 1 is a perspective view showing a line connector according to a first embodiment of the present invention in a state where the line connector is mounted on a multi-axis rotating member. 図１に示す装着状態のライン接続コネクタの平面図。FIG. 2 is a plan view of the line connection connector in the mounted state shown in FIG. 1. 図１に示す装着状態のライン接続コネクタの正面図。FIG. 2 is a front view of the line connection connector in the mounted state shown in FIG. 1. 図１に示す装着状態のライン接続コネクタの右側面図。FIG. 2 is a right side view of the line connection connector in the mounted state shown in FIG. 1. 図１に示すライン接続コネクタの斜視図。FIG. 2 is a perspective view of the line connection connector shown in FIG. 1. 図５に示すライン接続コネクタの平面図。The top view of the line connection connector shown in FIG. 図５に示すライン接続コネクタの正面図。The front view of the line connection connector shown in FIG. 図５に示すライン接続コネクタから第一の外装部材と第二の外装部材を取り除いた上半部分を示す斜視図。FIG. 6 is an exemplary perspective view showing an upper half of the line connection connector shown in FIG. 5 from which a first exterior member and a second exterior member have been removed; 図８に示すライン接続コネクタの上半部分の正面図。FIG. 9 is a front view of the upper half of the line connection connector shown in FIG. 8. 図８に示すライン接続コネクタの上半部分の底面図。FIG. 9 is a bottom view of the upper half of the line connector shown in FIG. 8. 図９のＸＩ－ＸＩ断面図。XI-XI sectional drawing of FIG. 本発明の別の一実施形態としてのライン接続コネクタを示す平面図。FIG. 9 is a plan view showing a line connection connector as another embodiment of the present invention. 本発明の第二の実施形態としてのライン接続コネクタを多軸回動部材への装着状態で示す斜視図。The perspective view which shows the line connection connector as a 2nd embodiment of the present invention in the state where it attached to the multi-axis rotation member. 図１３に示す装着状態のライン接続コネクタの平面図。FIG. 14 is a plan view of the line connection connector in the mounted state shown in FIG. 13. 図１３に示す装着状態のライン接続コネクタの正面図。FIG. 14 is a front view of the line connection connector in the mounted state shown in FIG. 13. 図１３に示すライン接続コネクタの斜視図。FIG. 14 is a perspective view of the line connection connector shown in FIG. 13. 図１６に示すライン接続コネクタの平面図。FIG. 17 is a plan view of the line connection connector shown in FIG. 16. 図１６に示すライン接続コネクタの正面図。FIG. 17 is a front view of the line connection connector shown in FIG. 16. 図１６に示すライン接続コネクタから第一の外装部材と第二の外装部材を取り除いた正面図。The front view which removed the 1st exterior member and the 2nd exterior member from the line connection connector shown in FIG. 本発明のまた別の一実施形態としてのライン接続コネクタを多軸回動部材への装着状態で示す平面図。The top view which shows the line connection connector as another one Embodiment of this invention in the attached state to the multi-axis rotation member. 本発明のさらに別の一実施形態としてのライン接続コネクタを示す斜視図。FIG. 13 is a perspective view showing a line connection connector as still another embodiment of the present invention. 本発明の更にまた別の一実施形態としてのライン接続コネクタの要部を示す断面図。Sectional drawing which shows the principal part of the line connection connector as another one Embodiment of this invention. 本発明のまた別の一実施形態としてのライン接続コネクタの要部を示す断面図。Sectional drawing which shows the principal part of the line connection connector as another one Embodiment of this invention.
　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１～４には、本発明の第一の実施形態としてのライン接続コネクタ１０が、多軸回動部材１２に装着された状態で示されている。ライン接続コネクタ１０は、図５～７にも示すように、外装部材本体１４に対して第一の外装部材１６と第二の外装部材１８が組み付けられた構造を有する硬質のハウジング２０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３中の上下方向を、前後方向とは図２中の上下方向を、左右方向とは図２中の左右方向を、それぞれ言う。 FIGS. 1 to 4 show a line connection connector 10 according to a first embodiment of the present invention in a state mounted on a multi-axis rotating member 12. As shown in FIGS. 5 to 7, the line connection connector 10 has a rigid housing 20 having a structure in which the first exterior member 16 and the second exterior member 18 are assembled to the exterior member body 14. ing. In the following description, in principle, the up-down direction refers to the up-down direction in FIG. 3, the front-back direction refers to the up-down direction in FIG. 2, and the left-right direction refers to the left-right direction in FIG.
　より詳細には、外装部材本体１４は、金属や硬質の合成樹脂などで形成されて、それぞれ略円環形状とされた２つの環状周縁部２２，２３が相互に隣接して設けられた構造を有している。環状周縁部２２，２３は、何れも軸方向一方の端面に開口する溝状断面を有していると共に、周方向の一部に設けられた交差部分２４において、互いに交差して一体的につながっており、それら環状周縁部２２，２３が一体形成されている。本実施形態の外装部材本体１４は、環状周縁部２２，２３が互いに略同じ円環形状を有していると共に、環状周縁部２２，２３の各中心軸（図６の一点鎖線）が互いに略直交する方向に延びている。また、外装部材本体１４の環状周縁部２２，２３には、第一の外装部材１６と第二の外装部材１８の各一方が組み付けられている。 More specifically, the exterior member main body 14 has a structure in which two annular peripheral portions 22 and 23 each having a substantially annular shape are provided adjacent to each other and are formed of metal, hard synthetic resin, or the like. Have. Each of the annular peripheral edge portions 22 and 23 has a groove-shaped cross section opened at one end surface in the axial direction, and intersects integrally at an intersection portion 24 provided at a part in the circumferential direction. The annular peripheral portions 22 and 23 are integrally formed. In the exterior member body 14 of the present embodiment, the annular peripheral portions 22 and 23 have substantially the same annular shape as each other, and the central axes of the annular peripheral portions 22 and 23 (dashed lines in FIG. 6) are substantially the same. It extends in an orthogonal direction. Further, one of the first exterior member 16 and the second exterior member 18 is attached to the annular peripheral portions 22 and 23 of the exterior member body 14.
　第一の外装部材１６は、金属や硬質の合成樹脂などで形成された略円環板形状の部材であって、一方の環状周縁部２２の開口部を塞ぐように外装部材本体１４に組み付けられており、それら第一の外装部材１６と環状周縁部２２の間に環状の第一のライン配設スペース２６が形成されている。さらに、第一の外装部材１６は、内周端部と外周端部が、環状周縁部２２の側壁部の溝内面に形成された溝部２７（図１０参照）に差し入れられており、第一の外装部材１６の内周端部と外周端部が溝部２７に沿って周方向に摺動することにより、環状周縁部２２に対して周方向に相対回転可能な態様で、外装部材本体１４に組み付けられている。更にまた、第一の外装部材１６の周方向の一部には、第一の端子部２８が設けられている。第一の端子部２８は、第一の外装部材１６を貫通して設けられており、第一の外装部材１６の軸方向両面に突出している。 The first exterior member 16 is a substantially annular plate-shaped member made of metal, hard synthetic resin, or the like, and is assembled to the exterior member main body 14 so as to close the opening of one of the annular peripheral portions 22. An annular first line arrangement space 26 is formed between the first exterior member 16 and the annular peripheral portion 22. Further, the inner peripheral end and the outer peripheral end of the first exterior member 16 are inserted into a groove 27 (see FIG. 10) formed on the inner surface of the groove of the side wall of the annular peripheral portion 22. The inner peripheral end and the outer peripheral end of the exterior member 16 are slid in the circumferential direction along the groove 27 so as to be assembled to the exterior member main body 14 in such a manner as to be relatively rotatable in the circumferential direction with respect to the annular peripheral portion 22. Have been. Furthermore, a first terminal portion 28 is provided on a part of the first exterior member 16 in the circumferential direction. The first terminal portion 28 is provided so as to penetrate the first exterior member 16 and protrudes from both surfaces of the first exterior member 16 in the axial direction.
　第二の外装部材１８は、金属や硬質の合成樹脂などで形成された略円環板形状の部材であって、他方の環状周縁部２３の開口部を塞ぐように外装部材本体１４に組み付けられており、それら第二の外装部材１８と環状周縁部２３の間に環状の第二のライン配設スペース３０が形成されている。さらに、第二の外装部材１８は、内周端部と外周端部が、環状周縁部２３の側壁部の溝内面に形成された溝部３１（図１０参照）に差し入れられており、第二の外装部材１８の内周端部と外周端部が溝部３１に沿って周方向に摺動することにより、環状周縁部２３に対して周方向に相対回転可能な態様で、外装部材本体１４に組み付けられている。更にまた、第二の外装部材１８の周方向の一部には、第二の端子部３２が設けられている。第二の端子部３２は、第二の外装部材１８を貫通して設けられており、第二の外装部材１８の軸方向両面に突出している。 The second exterior member 18 is a substantially annular plate-shaped member formed of a metal, a hard synthetic resin, or the like, and is assembled to the exterior member main body 14 so as to close an opening of the other annular peripheral portion 23. An annular second line arrangement space 30 is formed between the second exterior member 18 and the annular peripheral portion 23. Further, the inner peripheral end and the outer peripheral end of the second exterior member 18 are inserted into a groove 31 (see FIG. 10) formed on the inner surface of the groove on the side wall of the annular peripheral portion 23. The inner peripheral end and the outer peripheral end of the exterior member 18 slide in the circumferential direction along the groove 31 so as to be assembled to the exterior member main body 14 in such a manner as to be rotatable relative to the annular peripheral portion 23 in the circumferential direction. Have been. Furthermore, a second terminal portion 32 is provided on a part of the second exterior member 18 in the circumferential direction. The second terminal portion 32 is provided so as to penetrate the second exterior member 18 and protrudes from both surfaces of the second exterior member 18 in the axial direction.
　なお、第一の外装部材１６と外装部材本体１４の環状周縁部２２との相対回動の中心軸（回動軸）と、第二の外装部材１８と外装部材本体１４の環状周縁部２３との相対回動の中心軸（回動軸）は、互いに交差する方向に延びており、特に本実施形態では、図６中に一点鎖線で示すように、互いに略直交している。 The center axis (rotation axis) of the relative rotation between the first exterior member 16 and the annular peripheral portion 22 of the exterior member body 14, the second exterior member 18 and the annular peripheral portion 23 of the exterior member body 14, The central axes (rotation axes) of the relative rotations extend in directions intersecting with each other, and in particular, in the present embodiment, are substantially orthogonal to each other, as shown by a dashed line in FIG.
　また、本実施形態のハウジング２０は、上下に二分割可能な分割構造とされている。すなわち、外装部材本体１４が環状周縁部２２，２３の各半周部分において上下に分割されていると共に、第一，第二の外装部材１６，１８がそれぞれ半周部分において上下に分割されており、それら外装部材本体１４と第一，第二の外装部材１６，１８の上半部分（１４ａ，１６ａ，１８ａ）と下半部分（１４ｂ，１６ｂ，１８ｂ）とを組み合わせることで、ハウジング２０が形成されている。なお、外装部材本体１４の上半部分に符号１４ａを付すとともに下半部分に符号１４ｂを付した。同様に、図中において、第一の外装部材１６は、上半部分に１６ａ、下半部分に１６ｂを付し、第二の外装部材１８は、上半部分に１８ａ、下半部分に１８ｂを付した。 ハ ウ ジ ン グ Further, the housing 20 of the present embodiment has a divided structure that can be vertically divided into two parts. That is, the exterior member main body 14 is vertically divided at each semi-peripheral portion of the annular peripheral portions 22 and 23, and the first and second exterior members 16 and 18 are vertically divided at each semi-circular portion. The housing 20 is formed by combining the exterior member body 14, the upper half portions (14a, 16a, 18a) and the lower half portions (14b, 16b, 18b) of the first and second exterior members 16, 18. I have. Note that the upper half of the exterior member body 14 is denoted by reference numeral 14a and the lower half of the exterior member body 14 is denoted by reference numeral 14b. Similarly, in the drawing, the first exterior member 16 has an upper half 16a and a lower half 16b, and the second exterior member 18 has an upper half 18a and a lower half 18b. Attached.
　さらに、外装部材本体１４の上半部分１４ａと下半部分１４ｂの突合せ端部には、相互に連結するための連結手段を設けることもできる。この連結手段は、特に限定されるものではないが、例えば、接着やねじ乃至はピンによる固定、係止構造による上下方向の係止などが、好適に採用され得る。 Furthermore, connecting means for connecting the upper half portion 14a and the lower half portion 14b of the exterior member body 14 to each other may be provided at the abutting ends. The connecting means is not particularly limited, but for example, adhesion, fixing with screws or pins, vertical locking by a locking structure, and the like can be suitably adopted.
　また、ハウジング２０の内部スペースには、接続ラインが収容されている。より具体的には、図８～１１に示すように、ハウジング２０の第一のライン配設スペース２６に対して、周方向に延びる第一の接続ライン３４が配設されていると共に、ハウジング２０の第二のライン配設スペース３０に対して、周方向に延びる第二の接続ライン３６が配設されている。図８～１１では、第一，第二のライン配設スペース２６，３０の上半部分のみが示されているが、第一，第二のライン配設スペース２６，３０は、下半部分も連続して形成されており、全体として環状の空間とされている。なお、図８～１１は、内部構造を理解し易くするために、外装部材本体の下半部分１４ｂおよび第一，第二の外装部材１６，１８は、図示が省略されている。 接 続 The connection line is accommodated in the internal space of the housing 20. More specifically, as shown in FIGS. 8 to 11, a first connection line 34 extending in the circumferential direction is provided in the first line installation space 26 of the housing 20, and A second connection line 36 extending in the circumferential direction is provided for the second line installation space 30. 8 to 11, only the upper halves of the first and second line arranging spaces 26 and 30 are shown, but the lower halves of the first and second line arranging spaces 26 and 30 are also shown. It is formed continuously and is an annular space as a whole. 8 to 11, the lower half portion 14b of the exterior member main body and the first and second exterior members 16 and 18 are omitted for easy understanding of the internal structure.
　第一の接続ライン３４は、Ｆｌｅｘｉｂｌｅ　Ｐｒｉｎｔｅｄ　Ｃｉｒｃｕｉｔ（ＦＰＣ）のような薄肉帯状の電気配線であって、全体として略一周分の長さを有していると共に、周方向の略中央に設けられた折返し部３８で周方向に折り返されており、略全体が初期状態において第一のライン配設スペース２６の上半部分に配設されている。また、第一の接続ライン３４の一方の端部が、第一の外装部材１６の第一の端子部２８（図５～７参照）に接続されて、外部に電気的に取り出されていると共に、他方の端部が図１０に示すように、外装部材本体１４に固定された中間接続端子部４０に接続されている。 The first connection line 34 is a thin strip-shaped electric wiring such as Flexible Printed Circuit (FPC), has a length of substantially one whole as a whole, and is provided substantially at the center in the circumferential direction. It is folded in the circumferential direction at the folded portion 38, and substantially the entirety is disposed in the upper half of the first line arrangement space 26 in the initial state. In addition, one end of the first connection line 34 is connected to the first terminal 28 (see FIGS. 5 to 7) of the first exterior member 16 and is electrically extracted to the outside. The other end is connected to an intermediate connection terminal portion 40 fixed to the exterior member body 14 as shown in FIG.
　第二の接続ライン３６は、第一の接続ライン３４と同様の薄肉帯状の電気配線であって、全体として略一周分の長さを有していると共に、周方向の略中央に設けられた折返し部３８で周方向に折り返されており、略全体が初期状態において第二のライン配設スペース３０の上半部分に配設されている。また、第二の接続ライン３６の一方の端部が、第二の外装部材１８の第二の端子部３２（図５～７参照）に接続されて、外部に電気的に取り出されていると共に、他方の端部が図１０に示すように、外装部材本体１４に固定された中間接続端子部４０に接続されている。 The second connection line 36 is a thin strip-shaped electric wiring similar to the first connection line 34, has a length of substantially one round as a whole, and is provided at a substantially center in the circumferential direction. It is folded in the circumferential direction at the folded portion 38, and substantially the entirety is arranged in the upper half of the second line arrangement space 30 in the initial state. In addition, one end of the second connection line 36 is connected to the second terminal portion 32 (see FIGS. 5 to 7) of the second exterior member 18 and is electrically extracted to the outside. The other end is connected to an intermediate connection terminal portion 40 fixed to the exterior member body 14 as shown in FIG.
　要するに、第一の接続ライン３４と第二の接続ライン３６は、中間接続端子部４０を介して、電気的に直列接続されていると共に、端部が第一，第二の端子部２８，３２によって外部に電気的に取り出されている。 In short, the first connection line 34 and the second connection line 36 are electrically connected in series via the intermediate connection terminal part 40, and the ends are the first and second terminal parts 28, 32. Is electrically extracted outside.
　そして、第一の外装部材１６と外装部材本体１４の環状周縁部２２が相対的に回動すると、第一の外装部材１６と外装部材本体１４の各一方に固定された第一の接続ライン３４の両端部が、周方向で相対的に移動することで、第一の外装部材１６と環状周縁部２２の相対回動が、第一の接続ライン３４で制限されることなく許容される。同様に、第二の外装部材１８と外装部材本体１４の環状周縁部２３が相対的に回動すると、第二の外装部材１８と外装部材本体１４の各一方に固定された第二の接続ライン３６の両端部が、周方向で相対的に移動することで、第二の外装部材１８と環状周縁部２３の相対回動が、第二の接続ライン３６で制限されることなく許容される。 When the first outer member 16 and the annular peripheral portion 22 of the outer member body 14 rotate relatively, the first connection line 34 fixed to each one of the first outer member 16 and the outer member body 14. Are relatively moved in the circumferential direction, so that the relative rotation between the first exterior member 16 and the annular peripheral portion 22 is allowed without being restricted by the first connection line 34. Similarly, when the second outer member 18 and the annular peripheral portion 23 of the outer member body 14 relatively rotate, the second connection line fixed to each one of the second outer member 18 and the outer member body 14 is formed. The relative rotation between the second exterior member 18 and the annular peripheral portion 23 is allowed without being restricted by the second connection line 36 by the relative movement of the both ends of the 36 in the circumferential direction.
　かくの如き構造を有するライン接続コネクタ１０は、図１～４に示すように、多軸回動部材１２に装着される。多軸回動部材１２は、例えば複数の関節部分を備えるロボットアームなどであって、基端側部材４２と、基端側部材４２に対して後述する第一の回動軸５２回りで回動する中間部材４４と、中間部材４４に対して後述する第二の回動軸５６回りで回動する先端側部材４６とを、備えている。 The line connector 10 having the above structure is mounted on the multi-axis rotating member 12, as shown in FIGS. The multi-axis rotation member 12 is, for example, a robot arm having a plurality of joints, and rotates around a base member 42 and a first rotation axis 52 described below with respect to the base member 42. An intermediate member 44 and a distal end side member 46 that rotates about a second rotation shaft 56 to be described later with respect to the intermediate member 44 are provided.
　基端側部材４２は、例えば、図示しない作業台などに支持されて上下方向に延びる基端部４８を備えていると共に、基端部４８に対して略直交する方向へ延び出す第一の軸部５０を備えている。なお、図２に一点鎖線で示す第一の軸部５０の中心軸が、第一の回動軸５２とされている。また、基端側部材４２の基端部４８は、図示しない作業台などに対して、固定されていてもよいし、中心軸回りで相対的に回動可能とされていてもよい。 The proximal member 42 includes, for example, a proximal end 48 that is supported by a work table (not shown) and extends in the vertical direction, and a first shaft that extends in a direction substantially orthogonal to the proximal end 48. A section 50 is provided. The central axis of the first shaft portion 50 indicated by a dashed line in FIG. Further, the base end portion 48 of the base end side member 42 may be fixed to a work table (not shown) or the like, or may be relatively rotatable around a central axis.
　中間部材４４は、基端側部材４２の第一の軸部５０に対して相対回動可能に接続されて、第一の回動軸５２の延伸方向へ延びていると共に、第一の回動軸５２に対して略直交する方向へ延び出す第二の軸部５４を備えている。なお、図２に一点鎖線で示す第二の軸部５４の中心軸が、第二の回動軸５６とされており、第一の回動軸５２と第二の回動軸５６が相互に略直交する方向に延びている。 The intermediate member 44 is connected to the first shaft portion 50 of the proximal member 42 so as to be relatively rotatable, extends in the direction in which the first rotation shaft 52 extends, and A second shaft portion 54 extending in a direction substantially perpendicular to the shaft 52 is provided. In addition, the center axis of the second shaft portion 54 indicated by a chain line in FIG. 2 is a second rotation shaft 56, and the first rotation shaft 52 and the second rotation shaft 56 It extends in a direction substantially orthogonal.
　先端側部材４６は、中間部材４４の第二の軸部５４に対して相対回動可能に接続されて、第二の回動軸５６の延伸方向へ延びていると共に、第二の回動軸５６に対して略直交する方向へ延び出す先端側回動部５８を備えている。先端側回動部５８は、突出方向に延びる中心軸を回動中心とする回動（ねじり変位）を許容されている。 The distal member 46 is connected to the second shaft 54 of the intermediate member 44 so as to be relatively rotatable, extends in the direction in which the second rotating shaft 56 extends, and There is provided a distal-end-side rotating portion 58 extending in a direction substantially orthogonal to the direction 56. The distal-end-side rotating portion 58 is allowed to rotate (torsional displacement) around a central axis extending in the protruding direction as a rotation center.
　このように、本実施形態の多軸回動部材１２は、基端側部材４２の第一の軸部５０と中間部材４４との接続部分と、中間部材４４の第二の軸部５４と先端側部材４６との接続部分とが、何れも相対回動を許容する関節部分とされている。なお、基端側部材４２と中間部材４４の第一の回動軸５２回りの相対回動と、中間部材４４と先端側部材４６の第二の回動軸５６回りの相対回動は、何れも図示しない電動モータなどによって外部から及ぼされる駆動力で生ぜしめられるようになっている。 As described above, the multi-axis rotating member 12 according to the present embodiment includes a connection portion between the first shaft portion 50 of the base end member 42 and the intermediate member 44, and a connection between the second shaft portion 54 of the intermediate member 44 and the distal end. Each of the connection portions with the side member 46 is a joint portion that allows relative rotation. The relative rotation of the base member 42 and the intermediate member 44 about the first rotation axis 52 and the relative rotation of the intermediate member 44 and the distal member 46 about the second rotation axis 56 This is also generated by a driving force externally applied by an electric motor (not shown) or the like.
　そして、多軸回動部材１２には、ライン接続コネクタ１０が装着される。すなわち、上下に分割された状態のハウジング２０が、上下両側から多軸回動部材１２を挟み込むように取り付けられて、外装部材本体１４の環状周縁部２２と第一の外装部材１６が、多軸回動部材１２の第一の軸部５０に外挿された状態で装着されると共に、外装部材本体１４の環状周縁部２３と第二の外装部材１８が、多軸回動部材１２の第二の軸部５４に外挿された状態で装着される。 Then, the line connection connector 10 is attached to the multi-axis rotating member 12. That is, the housing 20 in a vertically divided state is attached so as to sandwich the multi-axis rotating member 12 from both upper and lower sides, and the annular peripheral portion 22 of the outer member main body 14 and the first outer member 16 are The outer peripheral member 23 of the exterior member body 14 and the second exterior member 18 are attached to the first shaft portion 50 of the rotation member 12 while being externally inserted. It is mounted in a state of being extrapolated to the shaft part 54 of.
　さらに、外装部材本体１４の環状周縁部２２が中間部材４４に固定されると共に、第一の外装部材１６が基端側部材４２に固定されて、それら環状周縁部２２と第一の外装部材１６が、第一の回動軸５２に対して周方向に延びるように配される。これにより、基端側部材４２と中間部材４４の第一の回動軸５２回りでの相対回転が、環状周縁部２２と第一の外装部材１６の相対回転によって許容される。また、外装部材本体１４の環状周縁部２３が中間部材４４に固定されると共に、第二の外装部材１８が先端側部材４６に固定されて、それら環状周縁部２３と第二の外装部材１８が、第二の回動軸５６に対して周方向に延びるように配される。これにより、中間部材４４と先端側部材４６の第二の回動軸５６回りでの相対回転が、環状周縁部２３と第二の外装部材１８の相対回転によって許容される。 Further, the annular peripheral portion 22 of the exterior member main body 14 is fixed to the intermediate member 44, and the first exterior member 16 is fixed to the proximal end member 42, so that the annular peripheral portion 22 and the first exterior member 16 are fixed. Are arranged so as to extend in the circumferential direction with respect to the first rotation shaft 52. Accordingly, the relative rotation of the base member 42 and the intermediate member 44 about the first rotation axis 52 is allowed by the relative rotation of the annular peripheral portion 22 and the first exterior member 16. Further, the annular peripheral portion 23 of the exterior member body 14 is fixed to the intermediate member 44, and the second exterior member 18 is fixed to the distal end side member 46, so that the annular peripheral portion 23 and the second exterior member 18 are fixed. , Are arranged to extend in the circumferential direction with respect to the second rotation shaft 56. Accordingly, the relative rotation of the intermediate member 44 and the distal end member 46 around the second rotation axis 56 is allowed by the relative rotation of the annular peripheral portion 23 and the second exterior member 18.
　なお、外装部材本体１４は、例えば、環状周縁部２２の内周面が中間部材４４の外周面に固着されると共に、環状周縁部２３の内周面が中間部材４４の第二の軸部５４の外周面に固着されることにより、中間部材４４に固定状態で装着される。一方、第一の外装部材１６は、図示しないブラケットなどによって基端側部材４２に固定状態で装着されると共に、第二の外装部材１８は、図示しないブラケットなどによって先端側部材４６に固定状態で装着される。また、ハウジング２０は、メンテナンスや故障時の交換などを考慮して、好適には、多軸回動部材１２に対して取外し可能な態様で取り付けられる。 The exterior member body 14 has, for example, a structure in which the inner peripheral surface of the annular peripheral portion 22 is fixed to the outer peripheral surface of the intermediate member 44 and the inner peripheral surface of the annular peripheral portion 23 is the second shaft portion 54 of the intermediate member 44. Is fixed to the intermediate member 44 by being fixed to the outer peripheral surface of the intermediate member 44. On the other hand, the first exterior member 16 is fixedly attached to the proximal member 42 by a bracket or the like (not shown), and the second exterior member 18 is fixed to the distal member 46 by a bracket or the like (not shown). Be attached. The housing 20 is preferably attached to the multi-axis rotating member 12 in a detachable manner in consideration of maintenance, replacement at the time of failure, and the like.
　また、第一の接続ライン３４と第二の接続ライン３６は、上下に分割されたハウジング２０の上半部分に予め収容されており、ハウジング２０が多軸回動部材１２に装着されることで、第一の接続ライン３４が基端側部材４２と中間部材４４に跨って配されると共に、第二の接続ライン３６が中間部材４４と先端側部材４６に跨って配される。さらに、第一の接続ライン３４と第二の接続ライン３６は、中間接続端子部４０を介して直列接続されていることから、ライン接続コネクタ１０が多軸回動部材１２に装着されることによって、基端側部材４２から先端側部材４６に至る接続ラインが多軸回動部材１２に対して後付けで設けられる。更にまた、図中には示されていないが、第一の端子部２８に基端側部材４２側の外部ラインが接続されると共に、第二の端子部３２に先端側部材４６側の外部ラインが接続されて、それら外部ラインが第一，第二の接続ライン３４，３６によって相互に接続される。そして、例えば、第一の端子部２８に外部ラインを介して電源が接続されると共に、第二の端子部３２に外部ラインを介して先端側のセンサが接続されることにより、センサに電源を供給することなどが可能になる。尤も、第一の端子部２８と第二の端子部３２に外部ラインを介して接続される機器などは、特に限定されるものではない。 In addition, the first connection line 34 and the second connection line 36 are housed in advance in the upper half portion of the housing 20 which is divided into upper and lower parts, and the housing 20 is mounted on the multi-axis rotation member 12. The first connection line 34 is disposed across the base member 42 and the intermediate member 44, and the second connection line 36 is disposed across the intermediate member 44 and the distal member 46. Furthermore, since the first connection line 34 and the second connection line 36 are connected in series via the intermediate connection terminal part 40, when the line connection connector 10 is mounted on the multi-axis rotation member 12, A connection line from the base end member 42 to the front end member 46 is provided to the multi-axis rotating member 12 in a retrofit manner. Furthermore, although not shown in the drawing, an external line on the proximal member 42 side is connected to the first terminal portion 28, and an external line on the distal member 46 side is connected to the second terminal portion 32. Are connected, and the external lines are connected to each other by first and second connection lines 34 and 36. Then, for example, a power supply is connected to the first terminal unit 28 via an external line, and a sensor on the distal end side is connected to the second terminal unit 32 via an external line. It becomes possible to supply. However, devices connected to the first terminal portion 28 and the second terminal portion 32 via an external line are not particularly limited.
　さらに、多軸回動部材１２の中間部材４４が基端側部材４２に対して第一の回動軸５２回りで回動して、外装部材本体１４の環状周縁部２２が第一の外装部材１６に対して第一の回動軸５２回りで追従して回動する際に、第一の接続ライン３４が変形することで回動を阻害しないようになっている。同様に、多軸回動部材１２の先端側部材４６が中間部材４４に対して第二の回動軸５６回りで回動して、第二の外装部材１８が外装部材本体１４の環状周縁部２３に対して第二の回動軸５６回りで追従して回動する際に、第二の接続ライン３６が変形することで回動を阻害しないようになっている。 Further, the intermediate member 44 of the multi-axis rotating member 12 rotates around the first rotating shaft 52 with respect to the base-side member 42, and the annular peripheral portion 22 of the exterior member main body 14 becomes the first exterior member. When the first connection line 34 is rotated following the first rotation axis 52 with respect to the first rotation shaft 16, the first connection line 34 is deformed so as not to hinder the rotation. Similarly, the tip side member 46 of the multi-axis rotating member 12 rotates around the second rotating shaft 56 with respect to the intermediate member 44, and the second exterior member 18 is moved to the annular peripheral portion of the exterior member body 14. When the second connection line 36 is rotated following the second rotation shaft 56 around the second connection line 36, the second connection line 36 is deformed so as not to hinder the rotation.
　特に、第一の接続ライン３４と第二の接続ライン３６がそれぞれ折返し部３８で折り返されて周方向に延びていることから、中間部材４４の基端側部材４２に対する回動と、先端側部材４６の中間部材４４に対する回動とが、それぞれ回動軸回りの両側において許容される。本実施形態では、第一の接続ライン３４と第二の接続ライン３６がそれぞれ略一周分の長さとされていると共に、それぞれ周方向の中央に折返し部３８が設けられていることから、回動軸回りの両側へ各一周程度の回動が許容されるようになっている。 In particular, since the first connection line 34 and the second connection line 36 are each folded at the folded portion 38 and extend in the circumferential direction, the rotation of the intermediate member 44 with respect to the proximal member 42 and the distal member The rotation of the 46 with respect to the intermediate member 44 is allowed on both sides around the rotation axis. In the present embodiment, the first connection line 34 and the second connection line 36 each have a length of substantially one round, and the turning portion 38 is provided at the center in the circumferential direction. Rotation of about one turn to both sides around the axis is allowed.
　このように、本実施形態に従う構造とされたライン接続コネクタ１０を多軸回動部材１２に対して装着することにより、多軸回動部材１２の相対回動する各部４２，４４，４６間に跨る第一，第二の接続ライン３４，３６を、それら各部４２，４４，４６の相対回動を阻害することなく設けることが可能になる。特に、本実施形態のライン接続コネクタ１０は、環状周縁部２２に対する第一の外装部材１６の相対回動の中心軸と、環状周縁部２３に対する第二の外装部材１８の相対回動の中心軸とが、互いに交差する方向に延びていることにより、相互に近接して交差方向に延びる第一の軸部５０と第二の軸部５４を備えた多軸回動部材１２に対して、ライン接続コネクタ１０を装着して、第一，第二の接続ライン３４，３６を設けることができる。 As described above, by attaching the line connection connector 10 having the structure according to the present embodiment to the multi-axis rotation member 12, the multi-axis rotation member 12 can rotate between the respective portions 42, 44, 46 which are relatively rotated. The first and second connection lines 34 and 36 that straddle can be provided without obstructing the relative rotation of the respective parts 42, 44 and 46. In particular, the line connection connector 10 of the present embodiment includes a central axis of relative rotation of the first exterior member 16 with respect to the annular peripheral portion 22 and a central axis of relative rotation of the second exterior member 18 with respect to the annular peripheral portion 23. Are extended in the direction intersecting with each other, so that the multi-axis rotating member 12 including the first shaft portion 50 and the second shaft portion The first and second connection lines 34 and 36 can be provided by attaching the connection connector 10.
　しかも、ライン接続コネクタ１０の環状周縁部２２および第一の外装部材１６と環状周縁部２３および第二の外装部材１８を、多軸回動部材１２の第一の軸部５０と第二の軸部５４に外装する際に、環状周縁部２２，２３が一体形成されて外装部材本体１４とされていることから、それら環状周縁部２２，２３が相互に干渉しない。それ故、第一の軸部５０と第二の軸部５４が近接して配された構造の多軸回動部材１２に対して、ライン接続コネクタ１０を装着して基端側部材４２から先端側部材４６に跨る第一，第二の接続ライン３４，３６を設けることができる。 Moreover, the annular peripheral portion 22 and the first exterior member 16 of the line connector 10 and the annular peripheral portion 23 and the second exterior member 18 are connected to the first shaft portion 50 and the second shaft portion of the multi-axis rotating member 12. Since the annular peripheral portions 22 and 23 are integrally formed to form the exterior member body 14 when the package 54 is packaged in the portion 54, the annular peripheral portions 22 and 23 do not interfere with each other. Therefore, the line connecting connector 10 is attached to the multi-axis rotating member 12 having the structure in which the first shaft portion 50 and the second shaft portion First and second connection lines 34 and 36 can be provided to extend over the side member 46.
　また、環状周縁部２２と第一の外装部材１６の間に形成される第一のライン配設スペース２６と、環状周縁部２３と第二の外装部材１８の間に形成される第二のライン配設スペース３０とが、交差部分２４において相互に連通されている。これにより、交差部分２４において第一のライン配設スペース２６と第二のライン配設スペース３０を隔てる壁をなくすことで、交差部分２４のライン配設スペース２６，３０を優れたスペース効率で形成して、環状周縁部２２，２３の相互干渉を防ぎながら、第一，第二の接続ライン３４，３６や中間接続端子部４０の配設スペースを十分に確保することができる。 Also, a first line arrangement space 26 formed between the annular peripheral portion 22 and the first exterior member 16 and a second line formed between the annular peripheral portion 23 and the second exterior member 18 The arrangement space 30 communicates with each other at the intersection 24. This eliminates the wall separating the first line arrangement space 26 and the second line arrangement space 30 at the intersection 24, thereby forming the line arrangement spaces 26, 30 of the intersection 24 with excellent space efficiency. As a result, a sufficient space for disposing the first and second connection lines 34 and 36 and the intermediate connection terminal 40 can be ensured while preventing mutual interference between the annular peripheral portions 22 and 23.
　また、本実施形態では、外装部材本体１４の環状周縁部２２，２３と、第一の外装部材１６と、第二の外装部材１８とが、何れも上下に分割可能な構造とされていることから、ハウジング２０全体を上下に分割して多軸回動部材１２に上下両側から装着することにより、ライン接続コネクタ１０の多軸回動部材１２への装着作業が容易とされている。しかも、第一，第二の接続ライン３４，３６が第一，第二のライン配設スペース２６，３０の上半部分に配されていることから、第一，第二の接続ライン３４，３６を第一，第二のライン配設スペース２６，３０に予め収容した状態で、ライン接続コネクタ１０全体を上下に分割することが可能とされており、ライン接続コネクタ１０の多軸回動部材１２への装着が一層容易とされている。 Further, in the present embodiment, the annular peripheral portions 22 and 23 of the exterior member main body 14, the first exterior member 16 and the second exterior member 18 are all configured to be vertically splittable. Therefore, the entire housing 20 is vertically divided and mounted on the multi-axis rotating member 12 from both the upper and lower sides, so that the work of mounting the line connection connector 10 on the multi-axis rotating member 12 is facilitated. Moreover, since the first and second connection lines 34 and 36 are arranged in the upper half of the first and second line arrangement spaces 26 and 30, the first and second connection lines 34 and 36 are provided. Can be divided into upper and lower parts in a state in which the multi-axis rotation member 12 of the line connection connector 10 is housed in advance in the first and second line arrangement spaces 26 and 30. It is said that mounting on the device is easier.
　なお、前記第一の実施形態では、第一の接続ライン３４と第二の接続ライン３６がハウジング２０内のライン配設スペース２６，３０に設けられた中間接続端子部４０によって接続される構造を例示したが、例えば、図１２に示すライン接続コネクタ６０のように、図示しない第一の接続ラインと第二の接続ラインが、ハウジング２０の外部へ延び出す中継ライン６２に接続されて、中継ライン６２によって電気的に直列接続されていてもよい。この中継ライン６２の形状や長さ、配設態様などは、特に限定されるものではなく、薄肉の扁平な断面形状であってもよいし、ハウジング２０の外面に沿って延びるように配設されていてもよい。また、第一の接続ラインと第二の接続ラインと中継ラインとを、連続する一体のラインによって構成することも可能であり、それら第一の接続ラインと第二の接続ラインと中継ラインは、必ずしも複数の独立したラインを直列的に接続して構成されるものに限定されない。 In the first embodiment, the first connection line 34 and the second connection line 36 are connected by the intermediate connection terminal 40 provided in the line arrangement spaces 26 and 30 in the housing 20. Although illustrated, for example, like a line connection connector 60 shown in FIG. 12, a first connection line and a second connection line (not shown) are connected to a relay line 62 extending to the outside of the housing 20 to form a relay line. 62 may be electrically connected in series. The shape, length, arrangement mode, and the like of the relay line 62 are not particularly limited, and may be a thin, flat cross-sectional shape, or may be provided so as to extend along the outer surface of the housing 20. May be. Further, the first connection line, the second connection line, and the relay line can also be configured by a continuous integrated line, and the first connection line, the second connection line, and the relay line are: The configuration is not necessarily limited to a configuration in which a plurality of independent lines are connected in series.
　図１３～１５には、本発明の第二の実施形態としてのライン接続コネクタ７０が、多軸回動部材７２への装着状態で示されている。ライン接続コネクタ７０は、図１６～１８に示すように、外装部材本体７４に第一の外装部材１６と第二の外装部材１８を組み付けた構造のハウジング７６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で説明を省略する。 FIGS. 13 to 15 show a line connection connector 70 according to a second embodiment of the present invention in a state where the line connection connector 70 is mounted on a multi-axis rotating member 72. FIG. As shown in FIGS. 16 to 18, the line connection connector 70 has a housing 76 having a structure in which the first exterior member 16 and the second exterior member 18 are assembled to an exterior member main body 74. In the following description, members and portions substantially the same as those in the first embodiment are denoted by the same reference numerals in the drawings, and description thereof is omitted.
　外装部材本体７４は、２つの環状周縁部７８，７９を並列的に備えており、それら環状周縁部７８，７９が周方向の一部に設けられた交差部分８０において一体的につながっている。本実施形態において、環状周縁部７８，７９は、その中心軸（図１４中の一点鎖線）が互いに平行に並んで延びている。なお、本実施形態の環状周縁部７８，７９は、第一の実施形態の環状周縁部７８，７９と同様に、軸方向一方に向けて開口する溝状断面で周方向に延びている。また、図中において、外装部材本体７４の上半部分に符号７４ａを付すと共に、外装部材本体７４の下半部分に符号７４ｂを付した。 The exterior member body 74 includes two annular peripheral portions 78 and 79 in parallel, and the annular peripheral portions 78 and 79 are integrally connected at an intersection 80 provided in a part in the circumferential direction. In the present embodiment, the annular peripheral portions 78 and 79 have their central axes (dashed lines in FIG. 14) extending in parallel with each other. Note that, like the annular peripheral portions 78, 79 of the first embodiment, the annular peripheral portions 78, 79 of the present embodiment extend circumferentially in a groove-shaped cross section that opens in one axial direction. In the figure, reference numeral 74a is assigned to the upper half of the exterior member main body 74, and reference numeral 74b is assigned to the lower half of the exterior member main body 74.
　そして、外装部材本体７４の環状周縁部７８，７９に対して、第一の外装部材１６と第二の外装部材１８の各一方が、第一の実施形態と同様に相対回動を許容された態様で組み付けられている。これにより、外装部材本体７４の環状周縁部７８と第一の外装部材１６との相対回動の中心軸と、外装部材本体７４の環状周縁部７９と第二の外装部材１８との相対回動の中心軸とが、環状周縁部７８，７９の各一方の中心軸と一致して互いに平行に延びている。 Then, relative to the annular peripheral portions 78 and 79 of the exterior member main body 74, each of the first exterior member 16 and the second exterior member 18 is allowed to rotate relative to each other as in the first embodiment. Assembled in a manner. Accordingly, the central axis of the relative rotation between the annular peripheral portion 78 of the exterior member main body 74 and the first exterior member 16 and the relative rotation between the annular peripheral portion 79 of the exterior member main body 74 and the second exterior member 18. And extends parallel to each other so as to coincide with the central axis of one of the annular peripheral portions 78, 79.
　さらに、外装部材本体７４と第一の外装部材１６の間に、環状に延びる第一のライン配設スペース８２が形成されていると共に、外装部材本体７４と第二の外装部材１８の間に、環状に延びる第二のライン配設スペース８４が形成されている。要するに、本実施形態では、図１９に示すように、第一のライン配設スペース８２と第二のライン配設スペース８４が並列的に形成されていると共に、それら第一のライン配設スペース８２と第二のライン配設スペース８４が交差部分８０において周方向の一部で連通されている。 Further, a first line arrangement space 82 extending annularly is formed between the exterior member main body 74 and the first exterior member 16, and between the exterior member main body 74 and the second exterior member 18. A second line arrangement space 84 extending in an annular shape is formed. In short, in the present embodiment, as shown in FIG. 19, the first line disposing space 82 and the second line disposing space 84 are formed in parallel, and the first line disposing space 82 And the second line arrangement space 84 are communicated with each other at a part in the circumferential direction at the intersection 80.
　なお、図１９に示すように、第一のライン配設スペース８２に第一の接続ライン３４が収容されていると共に、第二のライン配設スペース８４に第二の接続ライン３６が収容されており、交差部分８０に設けられた中間接続端子部４０によって第一の接続ライン３４と第二の接続ライン３６が直列的に接続されている。さらに、第一の接続ライン３４が図１６～１８に示す第一の端子部２８に接続されていると共に、第二の接続ライン３６が第二の端子部３２に接続されている。 As shown in FIG. 19, the first connection line 34 is accommodated in the first line arrangement space 82, and the second connection line 36 is accommodated in the second line arrangement space 84. The first connection line 34 and the second connection line 36 are connected in series by the intermediate connection terminal 40 provided at the intersection 80. Further, the first connection line 34 is connected to the first terminal portion 28 shown in FIGS. 16 to 18, and the second connection line 36 is connected to the second terminal portion 32.
　かくの如き構造とされたライン接続コネクタ７０は、図１３～１５に示すように、多軸回動部材７２に装着される。多軸回動部材７２は、回動部材本体８６と、回動部材本体８６から延び出す第一の軸部８８と、回動部材本体８６から延び出す第二の軸部９０とを、備えている。なお、回動部材本体８６は、ここでは直方体として示されているが、形状は特に限定されない。 As shown in FIGS. 13 to 15, the line connector 70 having the above structure is mounted on the multi-axis rotating member 72. The multi-axis rotation member 72 includes a rotation member main body 86, a first shaft portion 88 extending from the rotation member main body 86, and a second shaft portion 90 extending from the rotation member main body 86. I have. In addition, although the rotating member main body 86 is shown here as a rectangular parallelepiped, the shape is not particularly limited.
　第一の軸部８８と第二の軸部９０は、互いに略平行に延びており、それぞれ回動部材本体８６に対して中心軸回りで相対回動可能とされている。さらに、第一の軸部８８の中心軸が、第一の軸部８８の回動部材本体８６に対する相対回動の中心軸となる第一の回動軸９２とされていると共に、第二の軸部９０の中心軸が、第二の軸部９０の回動部材本体８６に対する相対回動の中心軸となる第二の回動軸９４とされており、それら第一の回動軸９２と第二の回動軸９４が互いに平行に延びている。 The first shaft portion 88 and the second shaft portion 90 extend substantially in parallel with each other, and are each relatively rotatable around the central axis with respect to the rotating member main body 86. Further, the center axis of the first shaft portion 88 is a first rotation shaft 92 serving as a center axis of relative rotation of the first shaft portion 88 with respect to the rotation member main body 86, and the second rotation shaft 92 The center axis of the shaft portion 90 is a second rotation shaft 94 serving as a center axis of relative rotation of the second shaft portion 90 with respect to the rotation member main body 86. The second rotation shafts 94 extend in parallel with each other.
　そして、ライン接続コネクタ７０は、上下に二分割されたハウジング７６が、第一の軸部８８と第二の軸部９０に対して、上下両側から挟み込むように取り付けられている。さらに、ハウジング７６の外装部材本体７４が回動部材本体８６に固定されている一方、第一の外装部材１６が第一の軸部８８に固定されていると共に、第二の外装部材１８が第二の軸部９０に固定されている。かかるライン接続コネクタ７０の多軸回動部材７２への装着状態において、環状周縁部７８，７９の中心軸は、第一，第二の回動軸９２，９４と略一致している。なお、図中には示されていないが、第一の外装部材１６と第一の軸部８８および第二の外装部材１８と第二の軸部９０は、例えば、図示しないブラケットなどの他部材を介してそれぞれ連結される。 ラ イ ン The line connector 70 is attached so that the vertically divided housing 76 is sandwiched between the first shaft portion 88 and the second shaft portion 90 from both upper and lower sides. Further, while the exterior member body 74 of the housing 76 is fixed to the rotating member body 86, the first exterior member 16 is fixed to the first shaft portion 88, and the second exterior member 18 is It is fixed to the second shaft portion 90. In a state where the line connector 70 is attached to the multi-axis rotating member 72, the central axes of the annular peripheral portions 78 and 79 are substantially coincident with the first and second rotating shafts 92 and 94. Although not shown in the drawing, the first exterior member 16 and the first shaft portion 88, and the second exterior member 18 and the second shaft portion 90 are, for example, other members such as a bracket (not shown). Are connected to each other.
　このように、ライン接続コネクタ７０が多軸回動部材７２に装着された状態において、第一の軸部８８が回動部材本体８６に対して相対的に回動すると、ライン接続コネクタ７０の第一の外装部材１６が外装部材本体７４に対して相対的に回動する。それら第一の外装部材１６と外装部材本体７４の相対回動は、第一の接続ライン３４が第一のライン配設スペース８２内で変形することにより許容されることから、第一の軸部８８の回動部材本体８６に対する相対回動が、第一の接続ライン３４で阻害されることなく許容される。 In this manner, when the first shaft portion 88 is relatively rotated with respect to the rotation member main body 86 in a state where the line connection connector 70 is mounted on the multi-axis rotation member 72, One exterior member 16 rotates relatively to the exterior member main body 74. Since the relative rotation between the first exterior member 16 and the exterior member main body 74 is allowed by the first connection line 34 being deformed in the first line arrangement space 82, the first shaft portion The relative rotation of the turning member 88 with respect to the turning member main body 86 is allowed without being hindered by the first connection line 34.
　同様に、第二の軸部９０が回動部材本体８６に対して相対的に回動すると、ライン接続コネクタ７０の第二の外装部材１８が外装部材本体７４に対して相対的に回動する。それら第二の外装部材１８と外装部材本体７４の相対回動は、第二の接続ライン３６が第二のライン配設スペース８４内で変形することにより許容されることから、第二の軸部９０の回動部材本体８６に対する相対回動が、第二の接続ライン３６で阻害されることなく許容される。 Similarly, when the second shaft portion 90 rotates relatively to the rotating member main body 86, the second exterior member 18 of the line connection connector 70 rotates relatively to the exterior member main body 74. . Since the relative rotation between the second exterior member 18 and the exterior member body 74 is allowed by the deformation of the second connection line 36 in the second line arrangement space 84, the second shaft portion The relative rotation of the 90 with respect to the rotation member main body 86 is allowed without being hindered by the second connection line 36.
　以上のように、本実施形態に係るライン接続コネクタ７０によれば、第一の回動軸９２と第二の回動軸９４が相互に近接した位置で互いに略平行に延びる構造の多軸回動部材７２であっても、近接する第一の軸部８８と第二の軸部９０にライン接続コネクタ７０を装着して、それら第一，第二の軸部８８，９０と回動部材本体８６の間に跨る接続ラインを設けることができる。 As described above, according to the line connector 70 according to the present embodiment, the multi-rotational shaft has a structure in which the first rotation shaft 92 and the second rotation shaft 94 extend substantially parallel to each other at positions close to each other. Even in the case of the moving member 72, the line connecting connector 70 is attached to the adjacent first shaft portion 88 and second shaft portion 90, and the first and second shaft portions 88 and 90 and the rotating member main body. A connection line spanning between 86 can be provided.
　なお、上記第二の実施形態では、上下に分割可能な構造のライン接続コネクタ７０を示したが、例えば、第一，第二の軸部８８，９０を環状周縁部７８，７９に対して軸方向に差し入れるようにしてライン接続コネクタ７０を多軸回動部材７２に装着可能な場合など、ライン接続コネクタ７０は分割可能な構造に限定されない。要するに、本発明のライン接続コネクタにおいて、分割可能な構造とされていることは必須ではなく、多軸回動部材に対して装着可能であれば、分割されない構造であってもよい。 In the above-described second embodiment, the line connection connector 70 having a structure that can be divided into upper and lower parts is shown. However, for example, the first and second shaft parts 88 and 90 are The line connector 70 is not limited to a dividable structure, such as when the line connector 70 can be attached to the multi-axis rotating member 72 so as to be inserted in the direction. In short, in the line connection connector of the present invention, it is not essential that the line connector has a structure that can be divided, and the line connection connector may have a structure that is not divided as long as it can be attached to the multi-axis rotating member.
　ところで、第二の実施形態では、第一の接続ライン３４と第二の接続ライン３６がライン配設スペース２６，３０内で中間接続端子部４０によって直列的に接続された構造を例示したが、図２０に示すライン接続コネクタ１００のように、ハウジング７６の外部に延び出した中継ライン１０２によって図示しない第一の接続ラインと第二の接続ラインを相互に接続することもできる。 By the way, in the second embodiment, the structure in which the first connection line 34 and the second connection line 36 are connected in series in the line arrangement spaces 26 and 30 by the intermediate connection terminal 40 has been exemplified. As in a line connection connector 100 shown in FIG. 20, a first connection line and a second connection line (not shown) can be connected to each other by a relay line 102 extending outside the housing 76.
　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、第一，第二の接続ラインは、ＦＰＣに限定されず、単線又は撚線で構成された導電体の周囲を絶縁性の皮膜で覆った被覆電線やＦｌｅｘｉｂｌｅ　Ｆｌａｔ　Ｃａｂｌｅ（ＦＦＣ）などの電気配線の他、空気圧や油圧などを伝達するための配管なども、接続ラインとして採用され得る。 Although the embodiments of the present invention have been described above in detail, the present invention is not limited to the specific descriptions. For example, the first and second connection lines are not limited to the FPC, and may be an electric wire such as a coated wire or a flexible flat cable (FFC) in which a conductor formed of a single wire or a stranded wire is covered with an insulating film. In addition to wiring, piping for transmitting air pressure, hydraulic pressure, and the like can also be adopted as the connection line.
　さらに、第一，第二の接続ラインの長さは、適宜に設定されるものであって、半周程度などの一周に満たない長さであってもよいし、一周を超える長さであってもよい。さらに、第一，第二の接続ラインは、必ずしも折返し部を備えていなくてよく、折返し部を設ける場合にその位置は第一，第二の接続ラインの中央に限定されない。例えば、折返し部を第一の接続ラインの両端の何れかに近い位置に偏倚して設けることにより、外装部材本体と第一の外装部材の相対回動を、周方向の一方において他方よりも大きく許容することなども可能になる。 Further, the length of the first and second connection lines is appropriately set, and may be less than one round, such as about half a round, or may be longer than one round. Is also good. Further, the first and second connection lines do not necessarily have to have the folded portion, and when the folded portion is provided, the position is not limited to the center of the first and second connection lines. For example, by providing the folded portion at a position closer to any one of both ends of the first connection line, the relative rotation between the exterior member body and the first exterior member is greater in one of the circumferential directions than in the other. It is also possible to allow.
　更にまた、前記実施形態では、第一，第二の接続ライン３４，３６が第一，第二の端子部２８，３２に接続されて外部に取り出される例を示したが、例えば、第一の外装部材１６と第二の外装部材１８にライン挿通孔を形成して、そのライン挿通孔を通じて第一，第二の接続ライン３４，３６が直接外部に延び出すことで、第一，第二の接続ライン３４，３６の端部を各外部ラインに接続可能とすることもできる。 Furthermore, in the above-described embodiment, an example is shown in which the first and second connection lines 34 and 36 are connected to the first and second terminal portions 28 and 32 and are taken out. Line insertion holes are formed in the exterior member 16 and the second exterior member 18, and the first and second connection lines 34 and 36 extend directly to the outside through the line insertion holes, so that the first and second connection lines are formed. The ends of the connection lines 34 and 36 may be connectable to each external line.
　加えて、第一の接続ライン３４と第二の接続ライン３６は、互いに接続されることなく各別の外部ラインに接続されるようになっていてもよい。例えば、多軸回動部材１２の中間部材４４が作業台などに支持されており、中間部材４４に対して基端側部材４２と先端側部材４６が回動可能とされている場合などにおいて、第一の接続ライン３４と第二の接続ライン３６を互いに独立してそれぞれ異なる外部ラインに接続することにより、中間部材４４に対する基端側部材４２と先端側部材４６の動作を独立して各別に制御することなども可能になる。 In addition, the first connection line 34 and the second connection line 36 may be connected to different external lines without being connected to each other. For example, when the intermediate member 44 of the multi-axis rotating member 12 is supported by a workbench or the like, and the base member 42 and the distal member 46 are rotatable with respect to the intermediate member 44, By connecting the first connection line 34 and the second connection line 36 to different external lines independently of each other, the operation of the proximal member 42 and the distal member 46 with respect to the intermediate member 44 can be independently and individually performed. Control becomes possible.
　また、第一の回動軸５２と第二の回動軸５６が交差方向に延びる場合に、それら回動軸５２，５６の延びる方向は、前記第一の実施形態のような互いに直交する方向に限定されるものではなく、鋭角又は鈍角をなすように相互に傾斜して交差する方向に延びていてもよい。換言すれば、前記第一の実施形態では、環状周縁部２２の中心軸と環状周縁部２３の中心軸とが互いに直交していたが、それら中心軸が直交以外の態様で交差するように環状周縁部２２，２３を設けることもできる。 When the first rotating shaft 52 and the second rotating shaft 56 extend in a cross direction, the extending directions of the rotating shafts 52 and 56 are perpendicular to each other as in the first embodiment. However, the present invention is not limited thereto, and may extend in a direction intersecting with each other so as to form an acute angle or an obtuse angle. In other words, in the first embodiment, the central axis of the annular peripheral portion 22 and the central axis of the annular peripheral portion 23 are orthogonal to each other. However, the annular shape is such that the central axes intersect in a manner other than orthogonal. Peripheral portions 22, 23 can also be provided.
　さらに、前記実施形態では、多軸回動部材１２が第一の回動軸５２上を延びる第一の軸部５０と、第二の回動軸５６上を延びる第二の軸部５４とを備える構造とされていたが、多軸回動部材は、３つ以上の軸部を備えていてもよく、その場合には、ライン接続コネクタの多軸回動部材への装着によって、それら３つ以上の軸部に跨る接続ラインを設けることも可能である。 Further, in the embodiment, the multi-axis rotation member 12 includes the first shaft portion 50 extending on the first rotation shaft 52 and the second shaft portion 54 extending on the second rotation shaft 56. However, the multi-axis rotating member may include three or more shaft portions. In this case, the three-axis rotating member is mounted on the multi-axis rotating member by attaching the line connection connector to the multi-axis rotating member. It is also possible to provide a connection line extending over the above-mentioned shaft portion.
　また、前記実施形態では、外装部材本体１４の全体が環状周縁部２２，２３によって構成された構造について説明したが、環状周縁部２２，２３は、外装部材本体１４における第一，第二の外装部材１６，１８の組付け部分において、外装部材本体１４の全体ではなく一部を構成するようにも設けられ得る。具体的には、例えば、図２１に示すライン接続コネクタ１１０では、外装部材本体１１２が矩形板状とされていると共に、外装部材本体１１２を厚さ方向に貫通する２つの軸挿通孔１１４，１１６が隣り合って形成されており、それら軸挿通孔１１４，１１６の周囲が全周に亘って環状周縁部１１８，１２０とされている。そして、第一の外装部材１６と第二の外装部材１８は、溝状とされた環状周縁部１１８，１２０の開口を覆うように、外装部材本体１１２に対して回動可能に取り付けられており、環状周縁部１１８，１２０において図示しない第一のライン配設スペースと第二のライン配設スペースが形成されている。このような図２１に示すライン接続コネクタ１１０によっても、前記第二の実施形態と同様の効果を得ることができる。 Further, in the above-described embodiment, the structure in which the entire exterior member main body 14 is configured by the annular peripheral portions 22 and 23 has been described. In the assembly portion of the members 16 and 18, it may be provided so as to constitute a part of the exterior member main body 14 instead of the entirety. Specifically, for example, in the line connection connector 110 shown in FIG. 21, the exterior member main body 112 has a rectangular plate shape, and two shaft insertion holes 114 and 116 penetrate the exterior member main body 112 in the thickness direction. Are formed adjacent to each other, and the circumferences of the shaft insertion holes 114 and 116 are formed as annular peripheral portions 118 and 120 over the entire circumference. The first exterior member 16 and the second exterior member 18 are rotatably attached to the exterior member main body 112 so as to cover the openings of the grooved annular peripheral portions 118 and 120. A first line arrangement space and a second line arrangement space (not shown) are formed in the annular peripheral portions 118 and 120. With the line connection connector 110 shown in FIG. 21, the same effect as in the second embodiment can be obtained.
　また、前記実施形態では、溝状断面の環状周縁部２２に円環板状の第一の外装部材１６を組み付けた構造を例示したが、例えば、図２２に示すように、環状周縁部１３０が内周壁部１３２と一方の軸壁部１３４を備えるＬ字断面とされると共に、第一の外装部材１３６が外周壁部１３８と他方の軸壁部１４０とを備えるＬ字断面とされて、環状周縁部１３０の内周壁部１３２と一方の軸壁部１３４にそれぞれ形成された溝部１４２，１４４に対して、第一の外装部材１３６の外周壁部１３８と他方の軸壁部１４０の各一方の端部が差し入れられた構造も採用され得る。なお、第二の外装部材とそれに組み合わされる環状周縁部についても、同様の構造を適用することが可能である。 In addition, in the above-described embodiment, the structure in which the annular plate-shaped first exterior member 16 is assembled to the annular peripheral portion 22 having the groove-shaped cross section is exemplified. For example, as shown in FIG. The first outer member 136 has an L-shaped cross-section including an outer peripheral wall 138 and the other shaft wall 140, and has an L-shaped cross-section including an inner peripheral wall 132 and one shaft wall 134. The outer peripheral wall 138 of the first exterior member 136 and one of the other axial wall 140 against grooves 142 and 144 formed on the inner peripheral wall 132 of the peripheral portion 130 and the one axial wall 134, respectively. An end-inserted configuration may also be employed. Note that a similar structure can be applied to the second exterior member and the annular peripheral portion combined therewith.
　また、前記実施形態では、環状周縁部２２，２３の交差部分２４において、第一のライン配設スペース２６と第二のライン配設スペース３０が相互に連通されていたが、例えば、図２３に示すように、環状周縁部２２，２３の交差部分２４に第一のライン配設スペース２６と第二のライン配設スペース３０を仕切る仕切壁部１５０が設けられていてもよい。図２３の構造を採用すれば、第一の接続ライン３４と第二の接続ライン３６が交差部分２４においても接することがなく、それら接続ライン３４，３６が絡まるなどの不具合を防ぐことができる。しかも、仕切壁部１５０は単層として薄肉にすることが可能であり、仕切壁部１５０を設けつつ、第一，第二のライン配設スペース２６，３０を広く確保することができる。なお、仕切壁部１５０は、図２３に示すような板状であってもよいが、第一の接続ライン３４と第二の接続ライン３６が第一のライン配設スペース２６と第二のライン配設スペース３０の間で移動するのを防止することができれば、貫通孔が形成された構造や網目状などであっても、板状の場合と同様の効果を奏する。 Further, in the above-described embodiment, the first line arrangement space 26 and the second line arrangement space 30 are communicated with each other at the intersection 24 of the annular peripheral portions 22 and 23. As shown, a partition wall 150 that partitions the first line arrangement space 26 and the second line arrangement space 30 may be provided at the intersection 24 of the annular peripheral portions 22 and 23. If the structure of FIG. 23 is adopted, the first connection line 34 and the second connection line 36 do not come into contact with each other even at the intersection 24, and it is possible to prevent problems such as the connection lines 34 and 36 becoming entangled. Moreover, the partition wall portion 150 can be made thin as a single layer, and the first and second line arrangement spaces 26 and 30 can be widely secured while the partition wall portion 150 is provided. The partition 150 may be plate-shaped as shown in FIG. 23, but the first connection line 34 and the second connection line 36 are connected to the first line arrangement space 26 and the second line If the movement between the arrangement spaces 30 can be prevented, the same effect as in the case of the plate shape can be obtained even if the structure or the mesh shape has a through hole.
　また、前記実施形態では、外装部材本体１４が環状周縁部２２，２３を備える例を示したが、例えば、ライン接続コネクタの全体が前記実施形態に示すライン接続コネクタ１０の上半部分に相当する構造とされるなど、環状周縁部をもたない構造のライン接続コネクタも採用され得る。さらに、環状周縁部２２，２３が設けられる場合に、それら環状周縁部２２，２３は、必ずしも交差部分２４を備えていなくてよく、環状周縁部２２，２３は互いに離れて設けられる場合もある。 In the above-described embodiment, the example in which the exterior member main body 14 includes the annular peripheral portions 22 and 23 has been described. For example, the entire line connection connector corresponds to the upper half of the line connection connector 10 described in the embodiment. For example, a line connector having a structure having no annular peripheral portion, such as a structure, may be employed. Further, when the annular peripheral portions 22 and 23 are provided, the annular peripheral portions 22 and 23 do not necessarily need to include the intersection portion 24, and the annular peripheral portions 22 and 23 may be provided apart from each other.
　また、前記実施形態では、環状周縁部２２，２３が第一の回動軸５２と第二の回動軸５６の両方を含む平面と交差する部分で分割されており、環状周縁部２２，２３の一方の分割位置が交差部分２４上とされているが、環状周縁部２２，２３を分割構造とする場合に、分割位置は周方向の少なくとも一部であって特に限定されない。尤も、少ない分割数で環状周縁部２２，２３を第一，第二の軸部５０，５４に容易に外装可能とするためには、環状周縁部２２，２３が第一，第二の回動軸５２，５６（環状周縁部２２，２３の中心軸）を含む平面上で分割可能とされていることが望ましく、環状周縁部２２，２３の分割位置は、何れも周方向で１８０°離れた２箇所とされることが望ましい。 Further, in the above embodiment, the annular peripheral portions 22 and 23 are divided at a portion that intersects a plane including both the first rotating shaft 52 and the second rotating shaft 56, and the annular peripheral portions 22 and 23 are separated. Is located on the intersection 24, but when the annular peripheral portions 22 and 23 have a divided structure, the divided position is at least a part in the circumferential direction and is not particularly limited. However, in order to enable the annular peripheral portions 22 and 23 to be easily covered with the first and second shaft portions 50 and 54 with a small number of divisions, the annular peripheral portions 22 and 23 need to be first and second rotations. It is desirable to be able to divide on a plane including the axes 52 and 56 (the central axes of the annular peripheral portions 22 and 23), and the division positions of the annular peripheral portions 22 and 23 are all 180 ° apart in the circumferential direction. It is desirable to have two places.
　さらに、環状周縁部２２，２３の分割部分は、ヒンジによって拡開可能とされていてもよい。具体的には、例えば、環状周縁部２２が第一の回動軸５２を含む平面と交差する上下２箇所で分割されており、上側の分割部分がヒンジで連結されていることによって、下側の分割部分がヒンジによって開閉可能とされた構造も採用され得る。これによれば、環状周縁部２２の分割部分を開いても、分割された環状周縁部２２の両側がヒンジでつながった状態とされることから、それら分割された環状周縁部２２の両側を一体的に取り扱うことができる。加えて、分割部分を通じて第一の軸部５０を環状周縁部２２の内周へ差し入れた後で、ヒンジによって分割部分を閉じることで、分割された環状周縁部２２を簡単に環状にすることができる。 Furthermore, the divided portions of the annular peripheral portions 22 and 23 may be expandable by hinges. Specifically, for example, the annular peripheral portion 22 is divided into two portions at the upper and lower portions that intersect with the plane including the first rotation shaft 52, and the upper divided portion is connected by a hinge, so that the lower peripheral portion is connected to the lower portion. A structure in which the divided portion can be opened and closed by a hinge may be adopted. According to this, even if the divided portion of the annular peripheral portion 22 is opened, both sides of the divided annular peripheral portion 22 are connected by a hinge, so that both sides of the divided annular peripheral portion 22 are integrated. Can be handled In addition, after inserting the first shaft portion 50 into the inner periphery of the annular peripheral portion 22 through the divided portion, the divided portion is closed by the hinge, so that the divided annular peripheral portion 22 can be easily made annular. it can.
　また、前記第一の実施形態では、同一平面上に位置する第一の回動軸５２と第二の回動軸５６が交差方向に延びる構造の多軸回動部材１２に適用されるライン接続コネクタ１０を例示したが、本発明に係るライン接続コネクタは、同一平面上にない第一の回動軸と第二の回動軸が相互に交差方向に延びる構造の多軸回動部材に対しても適用することができる。要するに、多軸回動部材の第一の回動軸と第二の回動軸は、立体交差するように延びていてもよい。 In the first embodiment, the line connection applied to the multi-axis rotation member 12 having a structure in which the first rotation shaft 52 and the second rotation shaft 56 located on the same plane extend in the cross direction. Although the connector 10 is illustrated, the line connection connector according to the present invention is applied to a multi-axis rotation member having a structure in which a first rotation axis and a second rotation axis that are not on the same plane extend in a direction crossing each other. Can also be applied. In short, the first rotation axis and the second rotation axis of the multi-axis rotation member may extend so as to cross three-dimensionally.
　また、前記実施形態では、多軸回動部材に対して後付けで装着されるライン接続コネクタを例示したが、本発明に係るライン接続コネクタは、多軸回動部材に対して後付けで装着されるものに限定されず、例えば、多軸回動部材に予め内蔵状態で装着されるものを含む。 Further, in the above-described embodiment, the line connection connector that is attached later to the multi-axis rotation member is exemplified. However, the line connection connector according to the present invention is attached later to the multi-axis rotation member. The present invention is not limited to this, and includes, for example, those that are mounted in advance in a multi-axis rotating member in a built-in state.
１０，６０，７０，１００，１１０：ライン接続コネクタ、１２，７２：多軸回動部材、１４，７４，１１２：外装部材本体、１６，１３６：第一の外装部材、１８：第二の外装部材、２２，２３，７８，７９，１１８，１２０，１３０：環状周縁部、２４，８０：交差部分、２６，８２：第一のライン配設スペース、３０，８４：第二のライン配設スペース、３４：第一の接続ライン、３６：第二の接続ライン、３８：折返し部、１５０：仕切壁部 10, 60, 70, 100, 110: line connection connector, 12, 72: multi-axis rotating member, 14, 74, 112: exterior member body, 16, 136: first exterior member, 18: second exterior member Member, 22, 23, 78, 79, 118, 120, 130: annular peripheral portion, 24, 80: intersection, 26, 82: first line arrangement space, 30, 84: second line arrangement space , 34: first connection line, 36: second connection line, 38: folded portion, 150: partition wall portion

Claims (9)

  1. 　多軸回動部材に装着されるライン接続コネクタであって、
    　外装部材本体に対して回動可能に組み付けられた第一の外装部材と、該外装部材本体に対して回動可能に組み付けられた第二の外装部材とを有し、該外装部材本体と該第一の外装部材の間に第一のライン配設スペースが設けられていると共に、該外装部材本体と該第二の外装部材との間に第二のライン配設スペースが設けられていることを特徴とするライン接続コネクタ。     A line connection connector attached to the multi-axis rotating member,
    A first exterior member rotatably assembled to the exterior member body, and a second exterior member rotatably assembled to the exterior member body, the exterior member body and A first line arrangement space is provided between the first exterior members, and a second line arrangement space is provided between the exterior member main body and the second exterior member. The line connection connector characterized by the above.
  2. 　前記外装部材本体における前記第一の外装部材と前記第二の外装部材の組付け部分には、それぞれ開口する環状周縁部が設けられており、それら環状周縁部が隣接部分において一体的につながる交差部分を有している請求項１に記載のライン接続コネクタ。 An annular peripheral portion that is open is provided at an assembly portion of the first exterior member and the second exterior member in the exterior member body, and the annular peripheral portions are integrally connected at adjacent portions. 2. The line connection connector according to claim 1, comprising a portion.
  3. 　前記第一のライン配設スペースと前記第二のライン配設スペースが前記交差部分において相互に連通されている請求項２に記載のライン接続コネクタ。 The line connection connector according to claim 2, wherein the first line arrangement space and the second line arrangement space communicate with each other at the intersection.
  4. 　前記交差部分において前記第一のライン配設スペースと前記第二のライン配設スペースを仕切る仕切壁部が設けられている請求項２に記載のライン接続コネクタ。 3. The line connection connector according to claim 2, wherein a partition wall portion is provided at the intersection to partition the first line arrangement space and the second line arrangement space.
  5. 　前記外装部材本体における前記第一の外装部材と前記第二の外装部材の組付け部分と、該第一の外装部材と、該第二の外装部材とが、何れも周方向の少なくとも一部で分割可能とされている請求項１～４の何れか一項に記載のライン接続コネクタ。 Attachment portions of the first exterior member and the second exterior member in the exterior member body, the first exterior member, and the second exterior member are all at least partially in the circumferential direction. The line connection connector according to any one of claims 1 to 4, wherein the line connection connector can be divided.
  6. 　前記外装部材本体に対する前記第一の外装部材の回動の中心軸と、該外装部材本体に対する前記第二の外装部材の回動の中心軸とが、互いに交差する方向に延びている請求項１～５の何れか一項に記載のライン接続コネクタ。 The central axis of rotation of the first exterior member with respect to the exterior member body and the central axis of rotation of the second exterior member with respect to the exterior member body extend in directions intersecting each other. 6. The line connection connector according to any one of items 5 to 5.
  7. 　前記外装部材本体に対する前記第一の外装部材の回動の中心軸と、該外装部材本体に対する前記第二の外装部材の回動の中心軸とが、互いに平行に延びている請求項１～５の何れか一項に記載のライン接続コネクタ。 The central axis of rotation of the first exterior member with respect to the exterior member body and the central axis of rotation of the second exterior member with respect to the exterior member body extend in parallel with each other. The line connection connector according to any one of the above.
  8. 　周方向に延びる第一の接続ラインが前記第一のライン配設スペースに収容されていると共に、周方向に延びる第二の接続ラインが前記第二のライン配設スペースに収容されている請求項１～７の何れか一項に記載のライン接続コネクタ。 The first connection line extending in the circumferential direction is accommodated in the first line arrangement space, and the second connection line extending in the circumferential direction is accommodated in the second line arrangement space. 8. The line connection connector according to any one of 1 to 7.
  9. 　前記第一の接続ラインが前記第一のライン配設スペース内で周方向に折り返されていると共に、前記第二の接続ラインが前記第二のライン配設スペース内で周方向に折り返されている請求項８に記載のライン接続コネクタ。 The first connection line is circumferentially folded in the first line layout space, and the second connection line is circumferentially folded in the second line layout space. The line connection connector according to claim 8.
PCT/JP2019/022033 2018-07-23 2019-06-03 Line connector WO2020021863A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07107650A (en) * 1993-09-30 1995-04-21 Toyota Motor Corp Structure for fixing cable/hose to turning section
JP2010064157A (en) * 2008-09-08 2010-03-25 Toyota Motor Corp Cable wiring structure
JP2015054357A (en) * 2013-09-10 2015-03-23 セイコーエプソン株式会社 Joint driving device and robot
JP2019081235A (en) * 2017-10-31 2019-05-30 住友理工株式会社 Retrofittable connector

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07107650A (en) * 1993-09-30 1995-04-21 Toyota Motor Corp Structure for fixing cable/hose to turning section
JP2010064157A (en) * 2008-09-08 2010-03-25 Toyota Motor Corp Cable wiring structure
JP2015054357A (en) * 2013-09-10 2015-03-23 セイコーエプソン株式会社 Joint driving device and robot
JP2019081235A (en) * 2017-10-31 2019-05-30 住友理工株式会社 Retrofittable connector

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