JPS61197187A - Device for disposing linear and tubular article - Google Patents

Abstract

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

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an arrangement device for wires and tubular objects, and in particular, a device for arranging wires and tubular objects suitable for wiring in a rotating section of an industrial robot. Regarding.

[Background of the invention]

Conventionally, a technique as shown in FIG. 2 has been used for wiring K to a part that rotates reversibly, such as a rotating part of an industrial robot.

That is, the first rotating part rotates relative to the rotation center 1 of the rotating part.
．． A second disk 2.3 is installed at a distance in the axial direction, a hollow cylinder 4 is provided on the second disk 3, and a hollow cylinder 4 is provided on the outside of the hollow cylinder 4 at a distance in the circumferential direction. A plurality of curl cords 5 are arranged, one end of each curl cord 5 is attached to the first disk 2 via a curl cord attachment member 6, and the other end of each curl cord 5 is attached to the second disk. 3 via a curl cord attachment member 6. Inside the hollow cylindrical body 4, a motor and a harmonic drive that drive the rotating section are usually arranged.

In this conventional wiring device, the first and second disks 2
．． When the cords 8 rotate relative to each other, each curl cord 5 is unwound or tightened, giving each curl cord 5 torsional resistance by means of the elastic strings.

However, in the prior art, the curl cords 5 are arranged outside the hollow cylindrical body 4, so when a large number of curl cords 5 are required, the diameter of the circle on which the curl cords 5 are arranged is must be increased;
There is a problem that the entire device becomes larger. Further, in a type in which a motor for driving a rotating portion, a harmonic drive, etc. are not incorporated inside the hollow cylindrical body 4, there is a problem that the hollow cylindrical body 4 impedes miniaturization of the entire device. Furthermore, since the curl cord 5 is expensive, there is a problem in that the equipment cost increases.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a wire/tubular object arrangement device that can solve the problems of the prior art, reduce the size of the entire device, and reduce equipment costs.

[Summary of the invention]

The present invention provides a mounting device for fixing a wire/tubular object to a reversible rotating part and providing torsional resistance for guiding it, in which a supporting member for a rotating plate is provided at the center of rotation of the reversible rotating part, and this supporting member is The rotating plate is attached, and the wire/tubular object to be arranged is fixed to the reversible rotating part, and the middle of the wire/tubular object is wound in a spiral around the support member. The device is characterized in that the middle of the wire/tubular object is latched to the rotary plate, and with this configuration, it is possible to downsize the entire device and reduce equipment costs.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an embodiment of the present invention, in which a revolving body 12 as a reversible rotating section is provided on a pedestal 11 via a bearing 13.

A shaft 14 serving as a support member for the rotary plate is arranged at the center of rotation of the revolving body 12, and this shaft 14 is fixed to the pedestal 11.

1% second rotary plates 15 and 16 are attached to the shaft 14 at intervals in the axial direction, and these eleventh and second rotary plates 15 and 16 are rotatable via bearings 17, respectively. is supported by

Further, a cable 18 in the form of a wire or tubular material is spirally wound around the turn of the shaft 14. This cable 18 is
It is fixed to the revolving body 12 via the fastening member 19, and the shaft is connected between this fastening part and the first rotary plate 15! 4 and is wound at least once around the first rotary plate 15 by the mounting member 20.
1C, and is wound at least once around the shaft 14 between the first and second rotating plates 15 and 16, is fixed to the second rotating plate 16 by the mounting member 20, and is further formed on the pedestal 11. The conductive port 21 is inserted through the conductive port 21 .

A motor 22 for driving the rotating body is provided outside the rotating body 12.
is attached, and a pinion 23 is provided on the rotating shaft of this motor 22. On the other hand, a gear 24 is fixed to the outer periphery of the pedestal 11.

The pinion 23 is engaged with this gear 24.

The arrangement device of the above embodiment operates as follows.

That is, when the motor 22 is driven to rotate in the forward or reverse direction, the pinion 23 rotates around the gear 24, thereby causing the rotating body 12 to rotate in the forward or reverse direction.

When the rotating body 12 rotates in the forward or reverse direction, the portion of the cable 18 between the rotating body 12 and the first rotary plate 15 is twisted in the winding direction or the unwinding direction, and the reaction force causes the cable 18 to twist in the winding direction or the unwinding direction. The rotary plate 15 of the cable 18 rotates in the forward or reverse direction, and the first and second rotary plates 15 of the cable 18 rotate accordingly.
The portion between the cables 16 is twisted in the tightening direction or the unwinding direction, and the reaction force causes the second rotating plate 16 to rotate in the forward or reverse direction and absorb the twisting of the cable 18.

As a result, the torsion angle of the cable 18 can be reduced and torsion resistance can be imparted.

Further, in this embodiment, the cable 18 is spirally wound around the shaft 14, and the spirally wound cable 18 is connected to the first
, the motor 22, pinion, and gears 28, 24 that are fixed to the second rotating plate 15, 16 and drive the rotating body 12 are connected to the rotating body 1.
Because it is installed outside of 2.

Since the diameter of the revolving body 12 can be reduced to such an extent that it does not interfere with the eleventh and second rotary plates 15 and 16, it is possible to downsize the entire device.

Furthermore, since there is no need to use an expensive curled cord for the cable 18, equipment costs can be reduced.

In addition, when disposing a plurality of cables 18, they are arranged so as to be out of phase with each other in the circumferential direction.
．． It is assumed that it is fixed to the second rotating plate 15, 16.

Further, in the present invention, the support structure of the revolving body 12, the first and second
The support structure for the rotary plates 15 and 16, the jacket member for the cable 18, etc. are not limited to the embodiment shown in the drawings, and may be any structure as long as it has the intended function.

Furthermore, the present invention is applicable not only to linear objects but also to the case where torsion resistance is imparted to tubular objects.

〔Effect of the invention〕

According to the present invention as described above, in the arrangement device for fixing and guiding a wire/tubular object to a reversible rotating part and providing torsion resistance, a support member for a rotating plate is provided at the center of rotation of the reversible rotating part. and attaching a rotary plate to the supporting member, fixing the wire/tubular object to be arranged to the reversible rotating part, and winding the middle of the wire/tubular object spirally around the supporting member;
By locking the middle of this spirally wound wire/tube to the rotary plate, the diameter of the reversible rotating part can be made much smaller than that of the conventional technique using a hollow cylindrical body. This has the effect of reducing the size of the entire device.

Further, according to the present invention, there is no need to use an expensive curl cord, so there is an effect that equipment costs can be reduced.

[Brief explanation of drawings]

FIG. 1 is a vertical cross-sectional view showing one embodiment of the present invention, and FIG. 2 is a vertical cross-sectional view of a conventional technique. DESCRIPTION OF SYMBOLS 11... Frame, 12... Swivel body as a reversible revolving part, 14... Shaft as a support member for a rotary plate, 15.1
6... 1st % second rotating plate, 18... Cable as a linear object to be arranged, 19% 20... Cable fixing member, 22... Rotating drive of reversible turning part motor. 23...Same pinion, 24...Same gear.

Claims (1)

[Claims] In the installation device for fixing wires and tubular objects to a reversible rotating part and providing torsional resistance for guiding the same, a supporting member for a rotating plate is provided at the center of rotation of the reversible rotating part, and the rotating plate is attached to this supporting member. , the wire/tubular object to be arranged is fixed to the reversible rotating part, the wire/tubular object is wound in a spiral around the supporting member, and the wire/tubular object wound in a spiral manner is A device for arranging wires and tubular objects, characterized in that a part thereof is locked to the rotary plate.