WO2021152937A1 - Extra length control device for long member - Google Patents

Abstract

Provided is an extra length control device for a long member, the device having a simple structure and being widely applicable and capable of effectively absorbing a change in an extra length of a piping member, a wiring member and the like externally mounted to a robot arm or the like. The extra length control device comprises at least one of an extra length accommodation spool and an extra length accommodation case. The extra length accommodation spool comprises a cylindrical center shaft and two disk-shaped flanges formed at both ends of the center shaft and winds off or winds up a long member in a coil shape to change the coil diameter and the number of turns to thereby absorb a change in an extra length of the long member mainly produced by a rotation operation of a robot wrist. The extra length accommodation case comprises an outer peripheral wall having a larger diameter and an inner peripheral wall having a smaller diameter, both of the peripheral walls being in a cylindrical shape and concentric, and a ring-shaped space for accommodating an extra length of the long member between the peripheral walls, and has a function of leading in and leading out according to a change occurring in the extra length of the long member accommodated in a loop shape inside the ring-shaped space as joint portions of the robot arm execute a rotation operation, a bending operation, and the like.

Description

Extra length control device for wire rods

The present invention relates to an extra length control device for a wire rod, and in particular, an extra length control device for a wire rod material that absorbs a change in the extra length of a piping member or a wiring member that is externally attached to an arm of an industrial robot or the like. It is about.

In general, industrial robots have end effectors suitable for various tasks attached to the tip (wrist) of the robot arm, and piping members and wiring members that supply power, supply liquid, supply and exhaust to the end effector from the base end side of the robot arm. Etc. are connected. These piping members, wiring members, etc. are replaced according to their functions each time the end effector is changed. Therefore, these piping members, wiring members, and the like are exteriorized along the robot arm by using fixing bands, hooks, and the like at various parts of the arm.

The robot arm has an articulated structure that combines links (bones) and joints (joints), and is generally composed of around 6 joints (6 axes, etc.). These joints basically perform movements such as rotation, bending, twisting, vertical movement, and forward / backward movement.

FIG. 2 is a schematic view showing the state of the piping member externally attached to the robot arm by the conventional method. In FIG. 2, the piping member 23 is exteriorized from the base portion 21 of the robot arm 20 toward the end effector 22. An end effector 22 is connected to the robot wrist 28 at the tip of the link 27. The piping member 23 is supported by fixing bands 24a, 25a, 26a and hooks 27a at predetermined positions of the four links 24, 25, 26, 27 of the robot arm 20. The effective interval of each fixed portion changes according to the movement such as rotation and bending of each joint of the robot arm 20. Therefore, the piping member 23 at each fixing location is fixed so as to have a margin in length. This margin of length is referred to as "extra length" in the present invention. In FIG. 2, the extra lengths 23a, 23b, and 23c are referred to. Of these, the extra length 23c uses a piping member formed in a coil shape in response to the rotational operation of the end effector 22.

If there was too much room in such an extra length, there was a problem that the piping members would come into contact with the robot arm itself and peripheral devices due to movements such as rotation and bending of the robot arm, and would be worn and damaged. In addition, there is a problem that the movable range of the piping member becomes large, which hinders peripheral work. On the other hand, if there is no margin in the extra length, it is not possible to cope with movements such as rotation and bending of each joint, and there is a problem that the piping member is cut and the operation of the end effector is hindered. Further, there is a problem that the piping member is damaged due to local bending fatigue. Further, there is a problem that it takes time to attach the piping member in order to set an appropriate extra length.

For these problems, Patent Document 1 below proposes a guidance device for wiring members and / or piping members, and a robot provided with the device. This guide device includes a base arranged on a robot arm and a rotatable clamp portion that is linearly guided by sliding on the base, and a piping member or the like is connected to the clamp portion to solve the above problem. It is something to solve.

Japanese Unexamined Patent Publication No. 2001-150382

However, the guidance device of Patent Document 1 has a complicated mechanism, and has a problem that the number of parts is large and the manufacturing cost is high. In addition, a device having a cheaper and simpler mechanism has been desired for mounting on a large number of industrial robots.

Therefore, in order to deal with the above problems, the present invention has a simple structure and a wide range of use, and can effectively absorb changes in the extra length of piping members and wiring members that are exteriorized by a robot arm or the like. It is an object of the present invention to provide an extra length control device for a wire rod that can be formed.

In solving the above-mentioned problems, the present inventors have achieved the above-mentioned purpose with a device having a simple structure by memorizing the shapes of piping members and wiring members in a coil shape and utilizing the elastic recovery force as a result of diligent research. It was found that this could be achieved, and the extra length storage spool in the present invention was completed. Furthermore, the present inventors have found that the above object can be achieved with a container having a simple structure by utilizing the bending elasticity of a piping member, a wiring member, etc., and have completed the extra length storage case in the present invention.

That is, according to the description of claim 1, the extra length control device (100) for the wire rod according to the present invention is
The extra length (13a, 13b, 13c) of the wire rod (13) to be exteriorized by the robot arm (10) or the like changes with the rotation operation or bending operation of the robot arm body and the robot wrist (18). Therefore, at least one of the extra length storage spool (50) and the extra length storage case (30, 40) for storing the extra length so as not to hinder the operability of the robot arm and absorbing the change. Have,
The extra length storage spool
It is provided with a cylindrical axis (51) and two disk-shaped flanges (52, 53) provided at both ends thereof, and one flange (52) is used as a portion for connecting an end effector of the robot wrist. At the same time, the other flange (53) is connected to the portion to which the robot wrist of the end effector is connected.
The extra length of the strip material of a predetermined length required from the operation of the robot wrist is stored in a coil shape on the outer peripheral side of the axis between the two flanges, and the coil-shaped strip material is stored. By fixing the part on the robot wrist side to the corresponding non-rotating part of the robot wrist and fixing the part on the end effector side to the corresponding flange or end effector.
The change in the extra length of the wire rod caused by the rotation of the end effector mainly due to the rotation operation of the robot wrist is changed to the coil diameter and the number of turns by winding and tightening the coil-shaped wire rod. Has the function of absorbing by change,
The extra length storage case
A large-diameter outer peripheral wall (33) and a small-diameter inner peripheral wall (34), each of which is cylindrical and concentric, and a ring-shaped space (35) for accommodating the extra length of the strip material between these peripheral walls. )
Two openings (36, 37) for leading out the strip material from the ring-shaped space in the extra length storage case are opened in the outer peripheral wall in opposite normal directions.
The extra length of the strip material, which is substantially linear and has bending elasticity, is stored in a loop shape in the ring-shaped space over approximately one or more circumferences, and is led out from the two openings.
The strip material in one opening (36) is fixed to the extra length storage case, and the strip material in the other opening (37) is opened without being fixed to the extra length storage case. By
The strip material is the other one in response to the extra length of the strip material housed in a loop inside the ring-shaped space changing with the rotation operation and bending operation of the joint portion. It is characterized by having a function of drawing in and out from the opening of the.

Further, according to the second aspect of the present invention, the extra length control device for the wire rod according to the first aspect of the present invention.
In the extra length storage spool
A plurality of leaf springs (65a, 65b, 65c) are projected from the outer circumference of the shaft center (61) of the extra length storage spool (60) in an arc shape in a certain direction.
By the action of the leaf spring, the strip material stored on the outer peripheral side of the axial center is stored so as to be pressed in a coil shape in the outer peripheral direction.

Further, according to the third aspect of the present invention, the extra length control device for the wire rod according to the first aspect of the present invention.
In the extra length storage spool
A hollow cylindrical rotary cylinder (76) is rotatably fitted on the outer circumference of the axial center (71) of the extra length storage spool (70), and the coiled wire rod is stored on the outer peripheral side of the rotary cylinder. It is characterized by doing.

Further, according to the description of claim 4, the present invention is the extra length control device for the wire rod according to claim 3.
In the extra length storage spool
A plurality of leaf springs are projected from the outer circumference of the rotary cylinder in an arc shape in a certain direction from the outer circumference of the rotary cylinder.
By the action of the leaf spring, the strip material stored on the outer peripheral side of the rotary cylinder is stored so as to be pressed in a coil shape in the outer peripheral direction.

Further, according to the description of claim 5, the present invention is the extra length control device for the wire rod according to any one of claims 1 to 4.
In the extra length storage spool
An outer cylinder cover (55) extending from one outer peripheral edge of the two flanges toward the other outer peripheral edge is provided.
It is characterized in that the extra length of the strip of the predetermined length is housed in a coil shape inside the cylindrical space between the inner peripheral wall of the outer cylinder cover and the outer peripheral wall of the axial center.

Further, according to the sixth aspect of the present invention, the extra length control device for the wire strip according to any one of the first to fifth aspects.
In the extra length storage spool
The strip material is made of an elastic material and is made of an elastic material.
It is characterized in that a portion of the coiled wire rod housed on the outer periphery of the axis is stored in a coiled shape.

Further, according to the description of claim 7, the present invention is the extra length control device for the wire rod according to any one of claims 1 to 5.
In the extra length storage spool
The strip material is made of a non-elastic material, or even if it is an elastic material, it has a substantially linear shape.
The coil-shaped wire rod portion to be stored on the outer periphery of the axis and the auxiliary material of the elastic body having a coil shape are integrated and used by adding elasticity to the coil-shaped strip material portion. It is characterized by that.

Further, according to the description of claim 8, the present invention is the extra length control device for the wire rod according to claim 1.
In the extra length storage case
Another feature is that another hollow cylindrical rotating cylinder (90) is rotatably fitted on the outer periphery of the small-diameter inner peripheral wall (84), and the strip material is stored on the outer peripheral side of the other rotating cylinder. do.

Further, according to the description of claim 9, the present invention is the extra length control device for the wire rod according to claim 1 or 8.
In the extra length storage case
A smooth sheet member that divides the inside of the ring-shaped space into a ring shape is provided.
The sheet member is arranged in a portion where the extra length loops of the linear members, which are housed in a loop shape in a ring-shaped space for substantially one or a plurality of circumferences, come into contact with each other, and the sheet is provided. The friction coefficient of the member is smaller than the friction coefficient of the surface material constituting the wire strip.

Further, according to the description of claim 10, the present invention is the extra length control device for the wire strip according to any one of claims 1, 8 and 9.
In the extra length storage case
A support member (39, 89) for fixing the extra length storage case to a link (bone) such as the robot arm is provided on one back surface of the extra length storage case.

Further, according to the description of the eleventh aspect of the present invention, the extra length control device for the wire rod according to the tenth aspect of the present invention.
In the extra length storage case
A through hole (34a) having the inner peripheral wall as an outer wall is provided in the central portion of the extra length storage case, and the support member is provided in the through hole.

Further, according to the description of claim 12, the present invention is the extra length control device for the wire strip according to any one of claims 1 and 8 to 11.
In the extra length storage case
The strip material is characterized in that the constituent material itself has bending elasticity, or the constituent material itself does not have bending elasticity but is integrated with an auxiliary material having bending elasticity to add bending elasticity. And.

Further, according to the thirteenth aspect of the present invention, the extra length control device for the wire rod according to any one of the first to twelve aspects.
The wire strip is characterized by being a piping member, a wiring member, an optical cable, or the like that performs power supply, liquid supply, supply / exhaust, and the like.

The reference numerals in parentheses of each of the above components indicate the correspondence with the specific means described in each embodiment described later.

According to the above configuration, the extra length control device for the wire rod according to the present invention has at least one of the extra length storage spool and the extra length storage case. The extra length storage spool includes a cylindrical shaft center and two disc-shaped flanges provided at both ends thereof. One flange of the extra length storage spool is connected to a portion of the robot wrist to which the end effector is connected. The other flange is connected to a portion of the end effector to which the robot wrist is connected.

On the outer peripheral side of the axis between the two flanges, the extra length of the strip material of the predetermined length required from the operation of the robot wrist is stored in a coil shape. Further, the portion of the coiled wire on the robot wrist side is fixed to the corresponding non-rotating portion of the robot wrist. On the other hand, the portion on the end effector side is fixed to the corresponding flange or end effector. In this state, the extra length storage spool rotates integrally with the end effector as the robot wrist rotates.

At this time, the coil diameter and the number of turns of the coiled wire rod stored in the extra length storage spool change due to unwinding and tightening. Due to this change in coil diameter, the extra length storage spool absorbs the change in extra length of the wire rod caused by the rotation of the end effector. As a result, the extra length of the wire rod that changes with the rotation operation and bending operation of the robot wrist is controlled, and the operability of the end effector connected to the tip of the robot wrist is not hindered.

On the other hand, the extra length storage case is provided with a large-diameter outer peripheral wall and a small-diameter inner peripheral wall which are both cylindrical and concentric circles, and a ring-shaped space for storing the strip material between these peripheral walls. .. Further, on the outer peripheral wall, two openings for leading out the strip material from the ring-shaped space in the extra length storage case are opened in opposite normal directions. Therefore, the extra length of the strip material which is substantially linear and has bending elasticity is stored in the ring-shaped space in a loop shape over approximately one or more circumferences, and is derived from the two openings.

In this state, the wire rod in one opening is fixed to the extra length storage case, and the wire rod in the other opening is opened without being fixed to the extra length storage case. As a result, the extra length of the wire rod stored in a loop shape inside the ring-shaped space changes with the rotation operation and bending operation of the joint portion, and the wire rod material is the other. It can be derived and inserted from the opening of. In this way, the extra length storage case can absorb and store the change in the extra length of the wire rod that occurs in the joint portion (joint portion) other than the robot wrist of the robot arm body.

Therefore, according to the above configuration, the extra length control of the wire rod has a simple structure and a wide range of use, and can effectively absorb the change in the extra length of the piping member and the wiring member which are externally attached to the robot arm and the like. Equipment can be provided. Further, when the extra length storage spool and the extra length storage case are used in combination, it is possible to efficiently absorb the change in the extra length that occurs in any part of the robot arm body.

Further, according to the above configuration, a plurality of leaf springs may be provided on the outer circumference of the shaft center of the extra length storage spool in an arc shape in a certain direction from the outer circumference of the shaft center. As a result, by the action of the leaf spring, the wire rod stored on the outer peripheral side of the axis can be stored so as to be pressed in a coil shape in the outer peripheral direction, and the above-mentioned action and effect can be more effectively exhibited. be able to.

Further, according to the above configuration, a hollow cylindrical rotary cylinder is rotatably fitted on the outer circumference of the axis of the extra length storage spool, and the coiled wire rod is stored on the outer peripheral side of the rotary cylinder. It may be. As a result, when the coil diameter changes due to unwinding and tightening, the rotating cylinder rotates and the movement of the coil becomes smooth, so that the above-mentioned action and effect can be more effectively exhibited.

Further, according to the above configuration, a plurality of leaf springs may be provided on the outer circumference of the rotary cylinder in an arc shape in a certain direction from the outer circumference of the rotary cylinder. As a result, by the action of the leaf spring, the wire rod stored on the outer peripheral side of the rotary cylinder is stored so as to be pressed in a coil shape in the outer peripheral direction, and the rotary cylinder rotates to smooth the movement of the coil. Therefore, the above-mentioned action and effect can be exerted more effectively.

Further, according to the above configuration, an outer cylinder cover extending from one outer peripheral edge of the two flanges toward the other outer peripheral edge may be provided. By the action of the outer cylinder cover, the extra length of the wire rod can be stored in a coil shape inside the cylindrical space between the inner peripheral wall of the outer cylinder cover and the outer peripheral wall of the axial center of the spool. As a result, a part of the coil diameter is not unevenly increased and spreads evenly, the movement of the coil becomes smooth, and the above-mentioned action and effect can be more effectively exhibited.

Further, according to the above configuration, the wire rod is made of an elastic material, and a coil-shaped wire rod portion to be stored on the outer circumference of the axis is stored in a coil shape. May be good. As a result, when the coil diameter changes due to unwinding and tightening, the elasticity of the wire rod makes the coil move smoothly, and the above-mentioned action and effect can be more effectively exhibited.

Further, according to the above configuration, the wire rod is made of a non-elastic material, or even if it is an elastic material, it has a substantially linear shape, and the coil is housed on the outer periphery of the axis. The portion of the coiled wire and the auxiliary material of the elastic body having a coil shape may be integrated and used by adding elasticity to the portion of the coiled wire. As a result, when the coil diameter changes due to unwinding and tightening, the movement of the coil becomes smooth due to the elasticity of the wire rod or the integrated wire rod material, and the above-mentioned action and effect can be exhibited more effectively. can.

Further, according to the above configuration, another hollow cylindrical rotary cylinder is rotatably fitted on the outer circumference of the small-diameter inner peripheral wall of the extra length storage case, and the strip material is stored on the outer peripheral side of the other rotary cylinder. You may try to do it. As a result, the derivation and introduction of the wire rod becomes easier, and the above-mentioned action and effect can be more effectively exhibited.

Further, according to the above configuration, a smooth sheet member that divides the inside of the ring-shaped space into a ring shape may be provided. This sheet member is arranged at a portion where the extra-length loops of the strips, which are housed in a loop shape in a ring-shaped space for about one or a plurality of turns, come into contact with each other. Further, the friction coefficient of the sheet member is smaller than the friction coefficient of the surface material constituting the wire strip. As a result, when the extra length of the linear material is stored in a loop shape over a plurality of circumferences inside the ring-shaped space, the extra length loops of the linear material do not rub against each other and , The lead-in / out of the wire rod from the other opening becomes smooth.

Further, according to the above configuration, a support member for fixing the extra length storage case to a link (bone) such as a robot arm may be provided on one back surface of the extra length storage case. Further, a through hole having an inner peripheral wall as an outer wall may be provided in the central portion of the extra length storage case, and a support member may be provided in the through hole. With these things, the above-mentioned action and effect can be exhibited more concretely.

Further, according to the above configuration, the wire strip material is integrated with a material having bending elasticity in the constituent material itself or an auxiliary material in which the constituent material itself does not have bending elasticity but has bending elasticity to add bending elasticity. It is preferable to use one. As a result, the above-mentioned action and effect can be exerted more concretely.

Further, according to the above configuration, the wire strip may be a piping member, a wiring member, an optical cable, or the like that performs power supply, liquid supply, supply / exhaust, and the like. As a result, the above-mentioned action and effect can be exerted more concretely.

It is a schematic diagram which shows the state of the piping member which was externally attached to the robot arm by using the extra length control device of the wire rod material which concerns on this invention. It is a schematic diagram which shows the state of the piping member which was exteriorized to the robot arm by the conventional method. It is a perspective view which shows (A) unwinding state, (B) winding state of the coil-shaped piping member in the extra length storage spool used in 1st Embodiment. It is sectional drawing from the front which shows (A) unwinding state, (B) state which started winding tightening of the coil-shaped piping member in the extra length storage spool of FIG. It is a perspective view of the L-shaped joint used in the extra length storage spool of FIG. It is sectional drawing which shows the state which attached the outer cylinder cover to the extra length storage spool. It is a perspective view which shows the unfolded state of the coil-shaped wiring member which used the wire strip which does not have elasticity in the extra length storage spool of FIG. It is a 6-sided view which shows the extra length storage case used in 1st Embodiment. 8A is a perspective view of the inside of the case body of the extra length storage case of FIG. 8, and FIG. 8B is a perspective view of the inside of the cover. FIG. 8 is a front perspective view and (B) a rear perspective view showing a state in which a piping member and a fixing band are arranged in the extra length storage case of FIG. FIG. 5 is a cross-sectional schematic view of the coiled piping member in the extra length storage spool used in the second embodiment as viewed from the side showing the (A) unrolled state and (B) wound tightened state. It is sectional drawing which shows the state which started the winding tightening of the coil-shaped piping member in the extra length storage spool used in 3rd Embodiment. It is (A) front sectional view and (B) plan sectional view which shows the inside of the extra length storage case used in 4th Embodiment. It is (A) partial fracture view, (B) front view of the seat member, (C) side view of the seat member which shows the inside of the extra length storage case used in this 5th Embodiment.

Hereinafter, the extra length control device for the wire rod according to the present invention will be described according to each embodiment. The present invention is not limited to each of the following embodiments.

In each of the following embodiments, the extra length control device for the linear material that absorbs the change in the extra length of the linear material such as the piping member and the wiring member that are attached to the robot arm of the industrial robot will be described. The extra length control device for the wire rod according to the present invention has an extra length storage spool and an extra length storage case as its components. However, in the present invention, it is not necessary to adopt both the extra length storage spool and the extra length storage case, and even if either the extra length storage spool or the extra length storage case is adopted for that purpose. good.

In the present invention, the extra length control means to efficiently absorb the change in the extra length of the piping member, the wiring member, etc. caused by the rotational operation or the bending operation of the robot arm or the like. Further, in the present invention, the wire rod means any material of the wire strip arranged with an extra length, such as a piping member, a wiring member, an optical cable, and a wire harness that perform power supply, liquid supply, supply / exhaust, and the like. It should be noted that the present invention is not only intended for use in industrial robots, but can also be used for the extra length of wire strips generated in other devices. For example, it can also be used for an extra length such as a wire harness arranged between an automobile body and a door.

<< First Embodiment >>
In the first embodiment, a device for using one extra length storage spool and two extra length storage cases in combination as the extra length control device for the wire rod will be described. FIG. 1 is a schematic view showing a state of a piping member externally attached to a robot arm by using the extra length control device for a wire rod according to the present invention. In FIG. 1, the piping member 13 is exteriorized from the base portion 11 of the robot arm 10 toward the end effector 12. The extra length control device 100 for the wire rod used in the first embodiment is connected to the piping member 13. In FIG. 1, a vacuum gripper is used as the end effector 12, and the piping member 13 is a suction pipe.

In FIG. 1, the extra length control device 100 is composed of one extra length storage spool 50 and two extra length storage cases 30 and 40. The extra length storage spool 50 is connected between the robot wrist 18 at the tip of the link 17 and the end effector 12. The extra length storage spool 50 stores the extra length 13c of the piping member 13 in a coiled state. An L-shaped joint 54 for connecting the piping members 13 and a wrist guide 17a are arranged between the robot wrist 18 and the extra length storage spool 50, and the coil-shaped extra length 13c is formed by the rotational operation of the robot wrist 18. Will not be twisted (details will be described later).

Further, the two extra length storage cases 30 and 40 are arranged at the central portions of the two links 14 and 15 of the robot arm 10, respectively, and the extra lengths 13a and 13b of the piping member 13 (not shown) are contained therein. ) Is stored. The two extra length storage cases 30 and 40 have the same structure, and are supported by the links 14 and 15 by fixing bands 30a and 40a, respectively. The piping member 13 between the two extra length storage cases 30 and 40 is supported by the elbow guide 15a below the link 15. Further, the piping member 13 between the extra length storage case 40 and the extra length storage spool 50 is supported by the arm guide 15b and the wrist guide 17a above the link 15.

Hereinafter, the extra length storage spool 50 and the extra length storage cases 30 and 40 constituting the extra length control device 100 for the wire rod according to the first embodiment will be described. First, the extra length storage spool 50 will be described. The extra length storage spool 50 is connected between the robot wrist 18 and the end effector 12, and mainly absorbs a change in the extra length 13c of the piping member 13 due to the rotational operation of the robot wrist 18. FIG. 3 is a perspective view showing (A) unrolled state and (B) wound tightened state of the coiled piping member in the extra length storage spool. Further, FIG. 4 is a cross-sectional schematic view of the coiled piping member as viewed from the front, showing (A) the unrolled state and (B) the state in which the winding tightening is started.

In FIGS. 3 and 4, the extra length storage spool 50 includes a cylindrical axis 51 and two disk-shaped flanges 52 and 53. One flange 52 is connected to the rotation operating portion of the robot wrist 18 to which the end effector 12 is connected instead of the end effector 12. Further, the other flange 53 is connected to the portion of the end effector 12 to which the robot wrist 18 is connected instead of the robot wrist 18. As a result, the robot wrist 18 and the end effector 12 are connected via the extra length storage spool 50 (see FIG. 1).

Further, a coiled piping member 13 is housed on the outer peripheral side of the axis 51 of the extra length storage spool 50. The end 13d (flange 52 side) of the coiled piping member 13 on the robot wrist 18 side is not fixed to the flange 52 and the robot wrist 18 that rotates with the flange 52, and is a non-rotating portion via the wrist guide 17a. It is fixed to the link 17. On the other hand, the end portion 13e (flange 53 side) on the end effector 12 side is fixed to the flange 53. In FIG. 3, the end portion 13e is inserted and fixed through one opening 53a provided on the plate surface of the flange 53. The end portion 13e may not be fixed to the flange 53, but may be fixed to the end effector 12 which is integrally fixed to the flange 53. Even in this case, the action and effect are the same.

In this state, when the robot wrist 18 rotates, the end effector 12 and the extra length storage spool 50 rotate integrally. At this time, the end 13e of the piping member 13 inserted and fixed through the opening 53a of the flange 53 rotates together with the flange 53 as the storage spool 50 rotates. On the other hand, the end portion 13d of the piping member 13 that is not fixed to the flange 52 is fixed to the link 17 that is a non-rotating portion and does not rotate (details will be described later).

FIG. 3A is a perspective view showing a winding state of the coil-shaped piping member 13 (a state in which the coil diameter is large and the number of turns is small). Further, FIG. 3B is a perspective view showing a wound state (a state in which the coil diameter is small and the number of turns is large) of the coil-shaped piping member 13. The change in the coil diameter and the number of turns of the piping member 13 in the unrolled state and the wound tightened state absorbs the change in the extra length 13c of the piping member 13 due to the rotation of the end effector 12.

FIG. 4A is a schematic cross-sectional view showing the unrolled state of the coil-shaped piping member 13 as viewed from the front. In this figure, since the coil diameter is large, the number of turns of the coil-shaped piping member 13 is small. FIG. 4B is a cross-sectional schematic view showing a state in which winding of the coil-shaped piping member 13 is started, as viewed from the front. In this figure, the coil diameter is reduced from the side of the end 13d of the piping member 13 that does not rotate together with the flange 52, and the number of turns of the coiled piping member 13 is increasing (state of FIG. 3B). ..

In this way, with the rotational operation of the robot wrist 18 (repetition of forward rotation and reverse rotation), the coil-shaped piping member 13 housed in the extra length storage spool 50 repeats the unwinding state and the winding state. As a result, it is possible to absorb the change in the extra length 13c of the piping member 13 caused by the rotation of the end effector 12 and prevent the piping member 13 from being twisted.

In addition, in FIG. 1, between the robot wrist 18 and the extra length storage spool 50, more specifically, the end portion of the piping member 13 fixed to the link 17 which is a non-rotating portion instead of the rotating robot wrist 18. The L-shaped joint 54 is connected to the end portion 13d of the coil-shaped piping member 13 housed in the extra length storage spool 50. FIG. 5 is a perspective view showing an L-shaped joint 54 used in the extra length storage spool 50 and a wrist guide 17a for fixing the L-shaped joint 54 to the link 17.

In FIG. 5, in the L-shaped joint 54, the connection port 54a on the link 17 side and the connection port 54b on the extra length storage spool 50 side intersect in an L shape at 90 °, and the connection port 54a is fixed to the wrist guide 17a. .. Further, the wrist guide 17a is fixed to the outer circumference of the link 17, which is a non-rotating portion that supports the rotating robot wrist 18.

The end of the piping member 13 on the link 17 side is connected to the connection port 54a. On the other hand, the end portion 13d of the coil-shaped piping member 13 on the extra length storage spool 50 side is connected to the connection port 54b. The L-shaped joint 54 intersects the piping member 13 with the L-shape by 90 ° at the bent portion 54c. As a result, the coil-shaped piping member 13 is not twisted by the rotational operation of the robot wrist 18.

Although the L-shaped joint is used in the first embodiment, the present invention is not limited to this, and a straight pipe joint, an L-shaped rotary joint, or the like may be used without using the joint. .. It may be appropriately changed depending on the shape such as the thickness and hardness of the piping member and the wiring member to be used.

Further, although not shown in FIG. 1, an outer cylinder cover that covers the coil-shaped piping member 13 stored in the extra length storage spool 50 may be attached. FIG. 6 is a cross-sectional schematic view showing a state in which the outer cylinder cover is attached to the extra length storage spool. In FIG. 6, the outer cylinder cover 55 has a hollow cylindrical shape, one cylinder end 55a is fixed to the flange 53 on the end effector 12 side, and the other cylinder end 55b is attached to the flange 52 on the robot wrist 18 side. It is installed in a non-fixed state. Further, a coil-shaped piping member 13 is housed inside the outer cylinder cover 55.

The inner diameter of the outer cylinder cover 55 should correspond to the coil diameter of the piping member 13 in the unrolled state. As a result, the coil diameter of a part of the piping member 13 in the unwinding stage does not become unbalanced and large, and each coil diameter spreads evenly. Further, the deviation between the center of the coil and the axial center 51 of the spool can be suppressed, and the change in the extra length 13c of the piping member 13 can be absorbed more smoothly.

Here, the coil-shaped piping member 13 will be described. The striatum such as the piping member 13 may have elastic constituent material itself, or may be integrated with an elastic auxiliary material to add elasticity. For example, the air pipe such as the suction pipe for the vacuum gripper used in the first embodiment is made of an elastic material such as elastic polyurethane resin, and the shape can be stored in a linear shape or a coil shape.

In the first embodiment, it is preferable to store the shape of the piping member 13 of the portion to be stored in the extra length storage spool 50 in a coil shape. As a result, the coil-shaped piping member 13 can smoothly maintain the coil-like shape even when the unwinding state and the winding state are repeated, and the change in the extra length is smoothly absorbed. On the other hand, it is preferable that the shape of the piping member 13 that is not stored in the extra length storage spool 50 is stored in a substantially linear shape. This corresponds to the extra length storage case described later.

On the other hand, in the case of non-elastic wire such as electrical wiring, a linear or coiled piano wire having elasticity is used as an auxiliary material, and these are integrally covered to add elasticity. May be good. FIG. 7 is a perspective view showing a wound state of a coiled wiring member using a wire strip having no elasticity in the extra length storage spool. In FIG. 7, on the outer peripheral side of the axis 51 of the extra length storage spool 50, the shape of a non-elastic wire rod 13x (for example, a bundle of electric wires such as a wire harness) is stored in a coil shape. The extra length covered with the spiral tube 13z along the elastic member 13y is stored.

In this case, the wire rod 13x itself does not have elasticity, but it becomes coiled by the action of the elastic member 13y whose shape is memorized in a coil shape, and the unwinding state and the winding state can be repeated. In FIG. 7, the linear member 13x and the elastic member 13y are covered with the spiral tube 13z, but the present invention is not limited to this, and the slit tube is wider depending on the thickness and number of the linear member and the elastic member. Other covering materials such as may be used.

Next, the extra length storage cases 30 and 40 will be described. The extra length storage cases 30 and 40 are arranged at the center of each link ( links 14 and 15 in the first embodiment) of the robot arm 10, and the extra length of the piping member 13 due to rotational operation and bending operation by each joint. Absorbs 13a and 13b. Since the two extra length storage cases 30 and 40 have the same structure, the extra length storage case 30 will be described as an example. FIG. 8 is a six-view view showing the extra length storage case used in the first embodiment. In the six views of FIG. 8, (A) front view, (B) rear view, (C) plan view, (D) bottom view, (E) right side view, and (F) left side view. Further, FIG. 9 is a perspective view of the inside of the case body of the extra length storage case (A) and a perspective view of the inside of the cover (B).

In FIGS. 8 and 9, the extra length storage case 30 is composed of a case body 31 and a cover 32. The case body 31 includes a large-diameter outer peripheral wall 33 having a substantially cylindrical shape and concentric circles, and a small-diameter inner peripheral wall 34 (see FIG. 9). The outer peripheral wall 33 and the inner peripheral wall 34 do not have to have a perfect circular cylinder shape, and may have other shapes such as an elliptical shape as long as the piping member 13 and the like to be housed inside do not interfere with the extraction and insertion. You may.

When the case body 31 and the cover 32 are combined, the extra length storage case 30 is surrounded by the outer peripheral wall 33, the inner peripheral wall 34, the inner wall 31a of the case body 31, and the inner wall 32a of the cover 32. The ring-shaped space 35 is formed (see FIG. 9). The extra length 13a of the piping member 13 is housed in the ring-shaped space 35. When the case body 31 and the cover 32 are combined, the outer peripheral wall 32b of the cover 32 is covered on the outer side (outer side) of the outer peripheral wall 33 of the case body 31, and the inner peripheral wall 32c of the cover 32 is covered with the inner peripheral wall of the case body 31. It is fixed so as to cover the outside of 34 (the portion of the through hole whose outer wall is the inner peripheral wall).

Further, the extra length storage case 30 has an introduction port 36 for introducing the piping member 13 from the outside into the ring-shaped space 35 and an outlet 37 for leading out the piping member 13 from the inside of the ring-shaped space 35 to the outside. It is open (see FIGS. 8 (A), (B), (C), and (E)). The introduction port 36 and the outlet port 37 are opened along the outer peripheral wall 33 of the extra length storage case 30 in opposite normal directions.

A fixing piece 38 for fixing the pipe member 13 to be introduced to the extra length storage case 30 is provided in the vicinity of the introduction port 36 of the extra length storage case 30. In the first embodiment, the fixing piece 38 is integrally molded with the case body 31.

In this state, the extra length of the piping member 13 is stored inside the ring-shaped space 35. The extra length of the piping member 13 housed inside the ring-shaped space 35 is approximately one round according to the magnitude of the change in the extra length caused by the rotation operation and bending operation of the joint portion of the robot arm. (It does not have to be exactly one lap) Or it is stored in a loop over multiple laps. Further, the extra length storage amount can also be changed by changing the size of the extra length storage case 30 (difference in diameter between the outer peripheral wall and the inner peripheral wall).

Further, the extra length of the piping member 13 is stored in the ring-shaped space 35 in a loop shape over substantially one or a plurality of circumferences, and one end of the piping member 13 is stored in a fixed piece 38 near the introduction port 36. Fix it with a cable tie. On the other hand, the other end of the extra length of the piping member 13 is left open without being fixed to the outlet 37. As a result, the extra length housed inside the ring-shaped space 35 can be taken out and taken in from the take-out port 37.

FIG. 10 is a front perspective view (A) and a rear perspective view (B) showing a state in which the piping member and the fixing band are arranged in the extra length storage case. In these figures, it is shown that the extra length of the piping member 13 is housed inside the ring-shaped space 35 in a loop shape having approximately one circumference.

In this state, when the extra length changes due to the rotation operation or bending operation of the joint portion of the robot arm, the loop diameter of the piping member 13 housed inside the ring-shaped space 35 becomes the diameter of the outer peripheral wall 33 and the inner peripheral wall. It changes between the diameters of 34, and the changed extra length is led in and out from the outlet 37. As a result, it is possible to absorb the change in the extra length caused by the rotational operation or the bending operation of the joint portion of the robot arm, and the outer portion of the piping member 13 of the robot arm is not excessively slackened.

It is preferable that the piping member 13 is substantially linear and has bending elasticity. The piping member 13 housed in a loop shape inside the ring-shaped space 35 works to increase the loop diameter in an attempt to recover in a substantially linear shape due to its bending elasticity. As a result, the movement of the piping member 13 led out and taken in from the ring-shaped space 35 becomes smooth, and the change in the extra length is smoothly absorbed.

As described in the case of the extra length storage spool 50 described above, the striatum such as the piping member 13 may be made of elastic material, or may be an auxiliary material having elasticity. It may be integrated with the material to add bending elasticity. In the first embodiment, the piping member 13 is a suction pipe (air pipe) for a vacuum gripper, is made of an elastic material such as elastic polyurethane resin, and is substantially linear with respect to the extra length storage case 30. It is preferable to store the shape. By memorizing the shape in a substantially linear shape, the piping member 13 itself exhibits bending elasticity and the change in the extra length is smoothly absorbed. In the case of wire strips that do not have bending elasticity, such as electrical wiring, a linear piano wire that has bending elasticity is used as an auxiliary material, and these are integrally covered to add bending elasticity. May be good.

Next, as shown in FIG. 1, a method of fixing the extra length storage case to the link of the robot arm will be described. In FIG. 8, a support member 39 for fixing the extra length storage case 30 to the link 14 of the robot arm is provided on the back surface of the extra length storage case 30. The support member 39 is provided so as to close the through hole 34a that opens with the inner peripheral wall 34 at the center of the extra length storage case 30 as the outer wall from the back surface side (the side of the case main body 31).

Further, the support member 39 is composed of a band holder 39a for passing a fixing band 30a for fixing the extra length storage case 30 to the link 14, and two contact support pieces 39b and 39c. The fixing band 30a holds the extra length storage case 30 and is tightened so as to be wound around the link 14 of the robot arm (see FIGS. 1 and 10). Further, the two contact support pieces 39b and 39c are curved along the outer circumference of the link 14 of the robot arm, and the extra length storage case 30 is firmly fixed to the link 14 by tightening the fixing band 30a.

As described above, according to the first embodiment, the structure is simple and the range of use is wide, and it is possible to effectively absorb changes in the extra length of the piping members and wiring members that are externally attached to the robot arm and the like. An extra length control device for a wire rod can be provided.

Next, with respect to the first embodiment, another embodiment as a modification thereof will be described. The second embodiment and the third embodiment described below relate to a modified example of the extra length storage spool. Further, the fourth embodiment and the fifth embodiment relate to a modified example of the extra length storage case.

<< Second Embodiment >>
The second embodiment relates to the extra length storage spool having a configuration in which a plurality of leaf springs are added to the outer circumference of the axis of the extra length storage spool of the first embodiment. FIG. 11 is a cross-sectional schematic view of the extra length storage spool used in the second embodiment as viewed from the side showing the (A) unrolled state and (B) wound tightened state of the coiled piping member. In FIG. 11, the extra length storage spool 60 has a plurality of leaf springs 65a, 65b, 65c (three in FIG. 11) projecting from the outer periphery of the axis 61 in an arc shape in a fixed direction on the outer circumference of the axis 61. I'm letting you.

In the unfolded state of FIG. 11A, the leaf springs 65a, 65b, and 65c press the piping member 13 in a coil shape in the outer peripheral direction and spread it uniformly to maintain a large coil diameter. Further, even in the wound state of FIG. 11B, the leaf springs 65a, 65b, and 65c press the piping member 13 in a coil shape in the outer peripheral direction and spread it uniformly to maintain a small coil diameter. ..

As described above, in the extra length storage spool 60 used in the second embodiment, the coiled piping member 13 is repeatedly wound and tightened by the action of the leaf springs 65a, 65b, and 65c. It will be smooth. As a result, the change in the extra length 13c of the piping member 13 caused by the rotation of the end effector 12 can be absorbed more smoothly.

<< Third Embodiment >>
The third embodiment relates to an extra length storage spool having a configuration in which a hollow cylindrical rotary cylinder is rotatably fitted around the outer circumference of the axis of the extra length storage spool of the first embodiment. FIG. 12 is a cross-sectional schematic view showing a state in which winding of the coiled piping member is started in the extra length storage spool used in the third embodiment. In FIG. 12, the extra length storage spool 70 is rotatably fitted with a hollow cylindrical rotary cylinder 76 on the outer circumference of the axis 71 thereof.

In FIG. 12, the coil diameter decreases from the side of the end 13d of the piping member 13 that does not rotate together with the flange 72 when the winding is started. At this time, the rotary cylinder 76 rotates according to the movement in which the coil diameter changes. As a result, the winding state of the coil-shaped piping member 13 becomes smoother. As a result, the change in the extra length 13c of the piping member 13 caused by the rotation of the end effector 12 can be absorbed more smoothly.

As in the second embodiment, a plurality of leaf springs may be projected from the outer circumference of the rotary cylinder 76 in a certain direction in an arc shape on the outer circumference of the rotary cylinder 76 of the third embodiment. As a result, the action and effect of the third embodiment and the action and effect of the second embodiment act synergistically. As a result, the change in the extra length 13c of the piping member 13 caused by the rotation of the end effector 12 can be absorbed more smoothly.

<< Fourth Embodiment >>
The fourth embodiment relates to an extra length storage case having a structure in which a rotating cylinder is added to the ring-shaped space of the extra length storage case of the first embodiment. FIG. 13 is a front sectional view (A) and a plan sectional view (B) showing the inside of the extra length storage case used in the fourth embodiment. In FIG. 13, the extra length storage case 80 has the same structure as the extra length storage case 30 of the first embodiment, and in addition to these, the extra length storage case 80 has a hollow cylindrical shape on the outer circumference of the small diameter inner peripheral wall 84 included in the case main body 81. The rotary cylinder 90 is rotatably fitted.

As can be seen from FIG. 13, the inner diameter of the rotary cylinder 90 is slightly larger than the outer circumference of the small-diameter inner peripheral wall 84 (so that it can rotate), and is considerably smaller than the large-diameter outer peripheral wall 83. Therefore, in the fourth embodiment, a ring shape surrounded by an outer peripheral wall 83, an outer wall 91 of the rotary cylinder 90, an inner wall 81a of the case body 81, and an inner wall 82a of the cover 82 inside the extra length storage case 80. Space 85 is formed.

In this state, when the extra length changes due to the rotation operation or bending operation of the joint portion of the robot arm, the loop diameter of the piping member housed inside the ring-shaped space 85 becomes the diameter of the outer peripheral wall 83 and the rotary cylinder 90. It changes between the diameters of the outer wall 91 of the above, and the changed extra length is led in and out from the outlet 87. At this time, the rotary cylinder 90 rotates according to the movement in which the loop diameter changes, the movement of the piping member led out from the ring-shaped space 85 becomes smoother, and the change in the extra length is smoothly absorbed. ..

<< Fifth Embodiment >>
The fifth embodiment relates to an extra length storage case having a configuration in which a smooth sheet member for partitioning the inside of the ring-shaped space of the extra length storage case of the first embodiment in a ring shape is added. 14A and 14B are a partially broken view showing the inside of the extra length storage case used in the fifth embodiment, a front view of the seat member, and a side view of the seat member. In FIG. 14, the extra length storage case 110 has the same structure as the extra length storage case 30 of the first embodiment, and in addition to these, a seat member 116 is provided inside the ring-shaped space 115.

The seat member 116 divides the inside of the ring-shaped space 115 into two ring-shaped small spaces 115a and 115b along the ring shape. Two continuous loops 13f and 13g formed by the piping member 13 are housed in the two ring-shaped small spaces 115a and 115b, respectively. In FIG. 14, the seat member 116 is arranged between the two loops 13f and 13g.

This sheet member 116 is a hollow circular sheet as shown in FIGS. 14 (B) and 14 (C), and is partially provided with a notch 116a. With this notch 116a, the sheet member 116 can be arranged between two continuous loops 13f and 13g formed by one piping member 13.

Further, the sheet member 116 is made of a material having a small friction coefficient, such as fluororesin, and its surface is smoothly molded. Therefore, even if the surface material constituting the piping member 13 is a material having a large coefficient of friction, the two loops 13f and 13g are not damaged by rubbing against each other. Further, as a result, the movement of the piping member 13 led out and taken in from the ring-shaped space 115 becomes smoother, and the excess length is smoothly absorbed.

As described above, according to the second to fifth embodiments, the structure is simple and the range of use is wide, and it is possible to effectively change the extra length of the piping member and the wiring member that are externally attached to the robot arm and the like. It is possible to provide an extra length control device for a wire rod that can be absorbed.

In carrying out the present invention, not only the above-described embodiments but also various modifications as follows can be mentioned.
(1) In each of the above embodiments, a case of absorbing a change in the extra length of the piping member external to the robot arm of the industrial robot has been described. However, it is not limited to these, and it is not limited to these, and it is possible to absorb changes in the extra length of the wire rod that occur in other devices such as the extra length of the wire harness arranged between the car body and the door. Can also be used.
(2) In each of the above embodiments, a case where a change in the extra length of the piping member (suction pipe) is absorbed as a wire strip has been described. However, the present invention is not limited to these, and it can also be used to absorb changes in the extra length of other wire rods arranged with extra length, such as air supply pipes, wiring members, optical cables, and wire harnesses. ..
(3) In the first embodiment, the wire rod composed of one extra-length storage spool and two extra-length storage cases is used for the piping member to be exteriorized on the robot arm of the industrial robot. An extra length controller was used. However, the configuration of the extra length control device for the wire rod is not limited to this, and the number of extra length storage cases to be combined with the extra length storage spool may be appropriately selected. Further, only the extra length storage spool may be used and may not be combined with the extra length storage case. On the other hand, only one or several extra length storage cases may be used and may not be combined with the extra length storage spool.
(4) In the first embodiment, the extra length of the piping member composed of a loop of one round is stored inside the extra length storage case. However, the number of loops is not limited to these, and the number of loops may be increased depending on the extra length.
(5) In the first embodiment, the support member for fixing the extra length storage case to the link of the robot arm, which is composed of a band holder and two contact support pieces, has been described. However, the present invention is not limited to this, and the extra length control device may be fixed by another method.

10, 20 ... Robot arm, 11, 21 ... Base part,
12, 22 ... End effectors, 13, 23 ... Piping members,
13a, 13b, 13c, 23a, 23b, 23c ... Extra length,
13d, 13e ... Extra length end, 13f, 13g ... Extra length loop,
13x ... wire rod, 13y ... elastic member, 13z ... spiral tube,
14, 15, 16, 17, 24, 25, 26, 27 ... Link (bone),
15a ... Elbow guide, 15b ... Arm guide,
24a, 25a, 26a, 30a, 40a ... Fixed band,
17a ... Wrist guide, 27a ... Hook, 18, 28 ... Robot wrist,
30, 40, 80, 110 ... Extra length storage case, 31, 81 ... Case body,
31a, 81a ... Inner wall, 32, 82 ... Cover, 32a, 82a ... Inner wall,
33, 83 ... outer peripheral wall, 34, 84 ... inner peripheral wall, 34a ... through hole,
35, 85, 115 ... Ring-shaped space, 36 ... Introduction port, 37, 87 ... Outlet port,
115a, 115b ... Small space, 116 ... Sheet member, 116a ... Notch,
38, 88 ... Fixed piece, 39, 89 ... Support member, 39a ... Band holder,
39b, 39c ... Contact support piece,
50, 60, 70 ... Extra length storage spool, 51, 61, 71 ... Axis center,
52, 53, 72, 73 ... Flange, 53a, 73a ... Opening,
54 ... L-shaped joint, 54a, 54b ... connection port, 54c ... bending part,
55 ... Outer cylinder cover, 55a, 55b ... Cylinder end,
65a, 65b, 65c ... Leaf spring, 76, 90 ... Rotating cylinder, 91 ... Outer wall,
100 ... Extra length control device.

Claims (13)

1. The extra length of the wire strip that is attached to the robot arm or the like changes with the rotation or bending of the robot arm body and the robot wrist so that the operability of the robot arm is not hindered. It has at least one of the extra length storage spool and the extra length storage case for storing the extra length and absorbing the change.
   The extra length storage spool
   It is provided with a cylindrical axis and two disc-shaped flanges provided at both ends thereof, one of which is connected to a portion of the robot wrist to which an end effector is connected, and the other flange is connected to the end effector. Connect to the part where the robot wrist is connected,
   The extra length of the strip material of a predetermined length required from the operation of the robot wrist is stored in a coil shape on the outer peripheral side of the axis between the two flanges, and the coil-shaped strip material is stored. By fixing the part on the robot wrist side to the corresponding non-rotating part of the robot wrist and fixing the part on the end effector side to the corresponding flange or end effector.
   The change in the extra length of the wire rod caused by the rotation of the end effector mainly due to the rotation operation of the robot wrist is changed to the coil diameter and the number of turns by winding and tightening the coil-shaped wire rod. Has the function of absorbing by change,
   The extra length storage case
   Each has a large-diameter outer peripheral wall and a small-diameter inner peripheral wall formed of cylindrical and concentric circles, and a ring-shaped space for accommodating the extra length of the strip material between these peripheral walls.
   In the outer peripheral wall, two openings for leading out the strip material from the ring-shaped space in the extra length storage case are opened in opposite normal directions.
   The extra length of the strip material, which is substantially linear and has bending elasticity, is stored in a loop shape in the ring-shaped space over approximately one or more circumferences, and is led out from the two openings.
   By fixing the strip material in one opening to the extra length storage case and opening the strip material in the other opening without fixing it to the extra length storage case.
   The strip material is the other one in response to the change in the extra length of the strip material housed in a loop shape inside the ring-shaped space with the rotation operation and bending operation of the joint portion. An extra length control device for a wire rod, which has a function of leading in and out from an opening.
2. In the extra length storage spool
   A plurality of leaf springs are projected from the outer circumference of the shaft center in an arc shape in a certain direction on the outer circumference of the shaft center of the extra length storage spool.
   The remainder of the strip material according to claim 1, wherein the strip material stored on the outer peripheral side of the axial center is stored so as to be pressed in a coil shape in the outer peripheral direction by the action of the leaf spring. Long control device.
3. In the extra length storage spool
   1. The extra length control device for the wire strip described in.
4. In the extra length storage spool
   A plurality of leaf springs are projected from the outer circumference of the rotary cylinder in an arc shape in a certain direction from the outer circumference of the rotary cylinder.
   The remainder of the strip material according to claim 3, wherein the strip material stored on the outer peripheral side of the rotary cylinder is stored so as to be pressed in a coil shape in the outer peripheral direction by the action of the leaf spring. Long control device.
5. In the extra length storage spool
   An outer cylinder cover extending from one outer peripheral edge of the two flanges toward the other outer peripheral edge is provided.
   Claims 1 to 1, wherein the extra length of the strip material having a predetermined length is stored in a coil shape inside a cylindrical space between the inner peripheral wall of the outer cylinder cover and the outer peripheral wall of the axial center. The extra length control device for the wire strip according to any one of 4.
6. In the extra length storage spool
   The strip material is made of an elastic material and is made of an elastic material.
   The wire rod according to any one of claims 1 to 5, wherein a portion of the coil-shaped wire material to be stored on the outer periphery of the axis is stored in a coil shape. Extra length control device.
7. In the extra length storage spool
   The strip material is made of a non-elastic material, or even if it is an elastic material, it has a substantially linear shape.
   The coil-shaped wire rod portion to be stored on the outer periphery of the axis and the auxiliary material of the elastic body having a coil shape are integrated and used by adding elasticity to the coil-shaped strip material portion. The extra length control device for a wire rod according to any one of claims 1 to 5, wherein the wire rod material is characterized by the above.
8. In the extra length storage case
   The first aspect of claim 1, wherein another hollow cylindrical rotating cylinder is rotatably fitted on the outer periphery of the inner peripheral wall having a small diameter, and the strip material is stored on the outer peripheral side of the other rotating cylinder. Extra length control device for wire rods.
9. In the extra length storage case
   A smooth sheet member that divides the inside of the ring-shaped space into a ring shape is provided.
   The sheet member is arranged in a portion where the extra length loops of the linear members, which are housed in a loop shape in a ring-shaped space for substantially one or a plurality of circumferences, come into contact with each other, and the sheet is provided. The extra length control device for a wire strip according to claim 1 or 8, wherein the friction coefficient of the member is smaller than the friction coefficient of the surface material constituting the strip member.
10. In the extra length storage case
    One of claims 1, 8 and 9, wherein a support member for fixing the extra length storage case to a link such as a robot arm is provided on one back surface of the extra length storage case. The extra length control device for the described wire rod.
11. In the extra length storage case
    The extra length control device for a strip of material according to claim 10, wherein a through hole having the inner peripheral wall as an outer wall is provided in the central portion of the extra length storage case, and the support member is provided in the through hole.
12. In the extra length storage case
    The strip material is characterized in that the constituent material itself has bending elasticity, or the constituent material itself does not have bending elasticity but is integrated with an auxiliary material having bending elasticity to add bending elasticity. The extra length control device for a strip of material according to any one of claims 1 and 8 to 11.
13. The extra length of the strip material according to any one of claims 1 to 12, wherein the strip material is a piping member, a wiring member, an optical cable, or the like that performs power supply, liquid supply, supply / exhaust, and the like. Storage case.

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