WO2020021863A1 - Raccord de ligne - Google Patents

Raccord de ligne 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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WO
WIPO (PCT)
Prior art keywords
line
exterior member
rotation
connection
connection connector
Prior art date
Application number
PCT/JP2019/022033
Other languages
English (en)
Japanese (ja)
Inventor
侑 佐藤
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
Application filed by 住友理工株式会社 filed Critical 住友理工株式会社
Publication of WO2020021863A1 publication Critical patent/WO2020021863A1/fr

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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

Definitions

  • connection lines wiring, piping, and the like
  • connection lines wiring, piping, and the like
  • 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.
  • connection line 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.
  • 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.
  • Patent Document 1 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • assembling the first exterior member and the second exterior member in the exterior member body 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.
  • 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.
  • a center axis of rotation of the first exterior member with respect to the exterior member body extends in a direction intersecting with each other.
  • 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.
  • 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.
  • 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.
  • the line connection connector can be suitably applied to a multi-axis rotating member having a plurality of rotating shafts extending in parallel.
  • a first connection line extending in a circumferential direction is accommodated in the first line arrangement space.
  • a second connection line extending in the circumferential direction is accommodated in the second line arrangement space.
  • 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.
  • 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.
  • the relative rotation between the first and second exterior members and the exterior member body can be more allowed.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 2 is a plan view of the line connection connector in the mounted state shown in FIG. 1.
  • FIG. 2 is a front view of the line connection connector in the mounted state shown in FIG. 1.
  • FIG. 2 is a right side view of the line connection connector in the mounted state shown in FIG. 1.
  • FIG. 2 is a perspective view of the line connection connector shown in FIG. 1.
  • FIG. 6 is an exemplary perspective view showing an upper half of the line connection connector shown in FIG.
  • FIG. 9 is a front view of the upper half of the line connection connector shown in FIG. 8.
  • FIG. 9 is a bottom view of the upper half of the line connector shown in FIG. 8.
  • FIG. 9 is a plan view showing a line connection connector as another embodiment of the present invention.
  • FIG. 14 is a plan view of the line connection connector in the mounted state shown in FIG. 13.
  • FIG. 14 is a front view of the line connection connector in the mounted state shown in FIG. 13.
  • FIG. 14 is a perspective view of the line connection connector shown in FIG. 13.
  • FIG. 17 is a plan view of the line connection connector shown in FIG. 16.
  • FIG. 17 is a front view of the line connection connector shown in FIG. 16. The front view which removed the 1st exterior member and the 2nd exterior member from the line connection connector shown in FIG. 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.
  • FIG. 13 is a perspective view showing a line connection connector as still another embodiment of the present invention. Sectional drawing which shows the principal part of the line connection connector as another one Embodiment of this invention. Sectional drawing which shows the principal part of the line connection connector as another one Embodiment of this invention.
  • 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.
  • 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.
  • 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
  • the left-right direction refers to the left-right direction in FIG.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first exterior member 16 has an upper half 16a and a lower half 16b
  • the second exterior member 18 has an upper half 18a and a lower half 18b. Attached.
  • 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.
  • 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.
  • 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.
  • FPC Flexible Printed Circuit
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the multi-axis rotating member 12 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the second connection line 36 is disposed across the intermediate member 44 and the distal member 46.
  • 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.
  • 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.
  • the external lines are connected to each other by first and second connection lines 34 and 36.
  • a power supply is connected to the first terminal unit 28 via an external line
  • a sensor on the distal end side is connected to the second terminal unit 32 via an external line. It becomes possible to supply.
  • devices connected to the first terminal portion 28 and the second terminal portion 32 via an external line are not particularly limited.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a first connection line and a second connection line 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the annular peripheral portions 78 and 79 have their central axes (dashed lines in FIG. 14) extending in parallel with each other.
  • the annular peripheral portions 78, 79 of the present embodiment extend circumferentially in a groove-shaped cross section that opens in one axial direction.
  • reference numeral 74a is assigned to the upper half of the exterior member main body 74
  • reference numeral 74b is assigned to the lower half 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the rotating member main body 86 is shown here as a rectangular parallelepiped, the shape is not particularly limited.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the line connection connector 70 having a structure that can be divided into upper and lower parts is shown.
  • 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.
  • 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.
  • 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 exemplified.
  • a first connection line and a second connection line can be connected to each other by a relay line 102 extending outside the housing 76.
  • 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.
  • FFC flexible flat cable
  • piping for transmitting air pressure, hydraulic pressure, and the like can also be adopted as the connection line.
  • 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.
  • 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.
  • 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.
  • first connection line 34 and the second connection line 36 may be connected to different external lines without being connected to each other.
  • 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
  • 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.
  • the extending directions of the rotating shafts 52 and 56 are perpendicular to each other as in the first embodiment.
  • 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.
  • the central axis of the annular peripheral portion 22 and the central axis of the annular peripheral portion 23 are orthogonal to each other.
  • the annular shape is such that the central axes intersect in a manner other than orthogonal. Peripheral portions 22, 23 can also be provided.
  • 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.
  • the multi-axis rotating member may include three or more shaft portions.
  • 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.
  • the structure in which the entire exterior member main body 14 is configured by the annular peripheral portions 22 and 23 has been described.
  • 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 are formed in the annular peripheral portions 118 and 120.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the entire line connection connector corresponds to the upper half of the line connection connector 10 described in the embodiment.
  • a line connector having a structure having no annular peripheral portion, such as a structure may be employed.
  • 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.
  • 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.
  • the divided portions of the annular peripheral portions 22 and 23 may be expandable by hinges.
  • 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
  • the divided portion is closed by the hinge, so that the divided annular peripheral portion 22 can be easily made annular. it can.
  • 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.
  • 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.
  • the first rotation axis and the second rotation axis of the multi-axis rotation member may extend so as to cross three-dimensionally.
  • the line connection connector that is attached later to the multi-axis rotation member is exemplified.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Electric Cable Arrangement Between Relatively Moving Parts (AREA)

Abstract

L'invention concerne un raccord de ligne doté d'une nouvelle structure permettant d'installer une ligne de raccordement, telle qu'un câblage, une tuyauterie ou similaire, sur un élément rotatif d'un robot existant ou similaire au moyen d'une structure qui peut être adaptée à l'élément rotatif. Le raccord de ligne (10) monté sur un élément rotatif multiaxial (12) présente un premier élément extérieur (16) qui est assemblé de façon à pouvoir tourner par rapport à un corps d'élément extérieur (14), et un second élément extérieur (18) qui est assemblé de façon à pouvoir tourner par rapport au corps d'élément extérieur (14). Un premier espace d'agencement de ligne (26) est disposé entre le corps d'élément extérieur (14) et le premier élément extérieur (16), et un second espace d'agencement de ligne (30) est disposé entre le corps d'élément extérieur (14) et le second élément extérieur (18).
PCT/JP2019/022033 2018-07-23 2019-06-03 Raccord de ligne WO2020021863A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018138021A JP2020015108A (ja) 2018-07-23 2018-07-23 ライン接続コネクタ
JP2018-138021 2018-07-23

Publications (1)

Publication Number Publication Date
WO2020021863A1 true WO2020021863A1 (fr) 2020-01-30

Family

ID=69181590

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/022033 WO2020021863A1 (fr) 2018-07-23 2019-06-03 Raccord de ligne

Country Status (2)

Country Link
JP (1) JP2020015108A (fr)
WO (1) WO2020021863A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07107650A (ja) * 1993-09-30 1995-04-21 Toyota Motor Corp 旋回動作部へのケーブル・ホース類の取付け構造
JP2010064157A (ja) * 2008-09-08 2010-03-25 Toyota Motor Corp ケーブル配線構造
JP2015054357A (ja) * 2013-09-10 2015-03-23 セイコーエプソン株式会社 関節駆動装置及びロボット
JP2019081235A (ja) * 2017-10-31 2019-05-30 住友理工株式会社 後付コネクタ

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07107650A (ja) * 1993-09-30 1995-04-21 Toyota Motor Corp 旋回動作部へのケーブル・ホース類の取付け構造
JP2010064157A (ja) * 2008-09-08 2010-03-25 Toyota Motor Corp ケーブル配線構造
JP2015054357A (ja) * 2013-09-10 2015-03-23 セイコーエプソン株式会社 関節駆動装置及びロボット
JP2019081235A (ja) * 2017-10-31 2019-05-30 住友理工株式会社 後付コネクタ

Also Published As

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