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WO2020144751A1 - Turning cable guide - Google Patents

Turning cable guide Download PDF

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Publication number
WO2020144751A1
WO2020144751A1 PCT/JP2019/000274 JP2019000274W WO2020144751A1 WO 2020144751 A1 WO2020144751 A1 WO 2020144751A1 JP 2019000274 W JP2019000274 W JP 2019000274W WO 2020144751 A1 WO2020144751 A1 WO 2020144751A1
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WO
WIPO (PCT)
Prior art keywords
guide plate
cable
guide
swivel
members
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Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2019/000274
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French (fr)
Japanese (ja)
Inventor
合津秀雄
白木翔平
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Fuji Corp
Original Assignee
Fuji Corp
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Filing date
Publication date
Application filed by Fuji Corp filed Critical Fuji Corp
Priority to JP2020565058A priority Critical patent/JPWO2020144751A1/en
Priority to PCT/JP2019/000274 priority patent/WO2020144751A1/en
Publication of WO2020144751A1 publication Critical patent/WO2020144751A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to a swivel cable guide for routing a cable material such as an electric wire or a fluid pipe connected to an industrial machine in a swivel mechanism.
  • Patent Document 1 discloses a swivel cable guide that guides a cable material according to the movement of a swivel mechanism.
  • the swivel cable guide of the same document is formed by a strip-shaped arc-shaped guide plate made of steel for springs.
  • the guide plate is formed with a curved return portion at an intermediate portion by elastic deformation so that the fixed side end and the movable side end face the same direction.
  • the plurality of cable members are attached to the guide plate by U-shaped holding fittings. Specifically, a through hole is formed in the end portion in the width direction of the guide plate, and both tip portions of the holding metal fitting are tightened by bolts passing through the through hole.
  • the guide plate may be cracked and broken due to repeated operations.
  • a plurality of cable materials are gathered along the guide plate by the holding metal fittings, but the cable material loosens due to the repeated operation of the swivel cable guide, and a part of the cable material moves outward from the curved surface of the guide plate. It may stick out. In that case, a part of the protruding cable material comes into contact with the wall surface and peripheral devices.
  • an object of the present invention is to provide a swivel cable guide whose operation is stabilized in order to solve such a problem.
  • the swivel cable guide in one aspect of the present invention is a strip-shaped arc-shaped spring steel, and is bent back to an intermediate portion by elastic deformation so that its fixed side end and movable side end face the same direction.
  • a guide plate formed with a portion, a first arc portion between the return portion and the fixed-side end portion, and a second arc portion between the return portion and the movable-side end portion in the vertical direction.
  • the strip-shaped arc-shaped spring steel is swung by the guide plate in which the curved return portion is formed in the middle portion so that the fixed side end and the movable side end face the same direction.
  • the cable material can be handled accordingly, and when holding the cable material on the guide plate with a plurality of U-shaped holding fittings, the holding fittings are fastened to the guide plate by pressing a pair of elastic members sandwiching the guide plate. Therefore, it is possible to prevent the fixed portion of the holding metal fitting from breaking, and the operation of the swivel cable guide is stabilized.
  • FIG. 1 It is a perspective view showing a transfer robot portion of the autoloader. It is the figure which showed the deformation pattern of the guide plate which comprises a turning cable guide. It is a perspective view showing a part of lower arc part about an attaching state of a holding metal fitting. It is an expanded sectional view showing the fixed structure in one end of a holding metal fitting. It is the figure which expanded and showed the connection part of the cable material shown in FIG.
  • FIG. 1 is a perspective view showing a transfer robot portion of an autoloader.
  • the autoloader is incorporated in a processing machine line consisting of a plurality of machine tools, and the transfer robot 1 shown in the figure is mounted on a turning mechanism 2 and integrated with a traveling device (not shown) into the processing machine line. Move the provided transport area.
  • the transfer robot 1 is a multi-joint robot arm in which an upper arm member 13 and a forearm member 14 are connected to a fixed support block 12 on a turning table 11 via a joint mechanism.
  • the transfer robot 1 is configured such that the upper arm member 13 and the forearm member 14 are folded by the motor drive of the joint mechanism as shown in the figure, and the carrier robot 1 is inclined forward toward the machine tool to open in a V shape. Deformation is possible.
  • a robot hand having a chuck mechanism that opens and closes by hydraulic pressure is attached to the tip of the transfer robot 1.
  • the autoloader is equipped with a transfer robot 1 and a reversing device 3 for delivering a work.
  • the reversing device 3 is configured such that a pair of left and right gripping claws 15 are opened and closed by an air cylinder and rotated 180° by an air actuator.
  • the swivel mechanism 2 that swivels the transport robot 1 or the like includes a power line and a communication line.
  • a plurality of cable members 10, such as air tubes and oil tubes, are wired and piped.
  • the transport robot 1 and the reversing device 3 can swivel 90° in the clockwise direction and 90° in the counterclockwise direction by driving the swivel table 11 from the state of facing the front shown in FIG. ..
  • various cable materials 10 connected thereto move due to pulling or the like.
  • the cable member 10 If the cable member 10 is freely placed in the swivel mechanism 2, it will be swung by the centrifugal force of the swiveling motion and will come into contact with other components in a narrow space, thereby damaging the parts or causing the cable member to break. 10 itself may be damaged. Therefore, it is necessary to make the cable member 10 follow the turning operation without difficulty, and the turning cable guide 20 is incorporated in the turning mechanism 2.
  • the turning cable guide 20 is for stably holding the cable member 10 against turning and running.
  • the swivel cable guide 20 is incorporated in the space between the swivel table 11 on which the transfer robot 1 is mounted and the base plate 17 existing below the swivel table 11.
  • FIG. 2 shows an assembled state of the guide plate 21 that constitutes the turning cable guide 20, and shows a deformation pattern accompanying turning.
  • the guide plate 21 is a C-shaped (or partially cut and may be a discontinuous circular thin plate) flat strip-shaped thin steel plate, and by assembly with elastic deformation, the lower arc portion 211, the return portion 212, and the upper arc portion. 213 is composed of three parts.
  • the guide plate 21 is a stainless steel for spring such as SUS301CSP, SUS304CSP, SUS631CSP, and has a wall thickness of about 0.3 to 0.5 mm.
  • the guide plate 21 of the present embodiment is a C-shaped plate having a thickness of 0.5 mm and formed of SUS304CSP, which has excellent corrosion resistance and is most widely used as stainless steel for springs.
  • the material and plate thickness of the guide plate 21 need to be designed according to the type and number of the cable members 10 routed in the swivel mechanism 2. Since the load of the cable member 10 is applied to the guide plate 21, it is preferable that the curved shape of the return portion 212 is not largely deformed. On the other hand, if the plate thickness becomes large and the rigidity becomes high, the smooth deformation operation of the guide plate 21 will be hindered.
  • the guide plate 21 is in a basic state as shown in FIG. 2(A), and is in a state of being rotated 90° in the clockwise direction and 90° in the counterclockwise direction in FIGS. 2(C).
  • a curved return portion 212 due to elastic deformation is formed in an intermediate portion between the lower arc portion 211 and the upper arc portion 213 of both end portions so as to face the same direction. ..
  • the lower circular arc portion 211 and the upper circular arc portion 213 have their respective circular arc shapes overlapping in the vertical direction (direction of the turning axis O) with a distance.
  • the end 215 on the lower arc portion 211 side is fixed to the base plate 17, and the end 216 on the upper arc portion 213 side is fixed to the turning table 11.
  • the position on the upper arc portion 213 side is moved by the turning operation of the turning table 11, and the guide plate 21 is changed to the form shown in FIGS. 2B and 2C.
  • the guide plate 21 is displaced in the circumferential direction in a state where the curved shape of the return portion 212 is almost kept as it is, and the lower arc portion 211 and the upper arc portion 213 respectively have different lengths depending on the turning direction.
  • the cable member 10 is arranged so as to circumscribe the outside of the guide plate 21 so that it is located on the lower side in the lower arc portion 211 and on the upper side in the upper arc portion 213, as shown in FIG. Can be installed.
  • the attachment of the cable material 10 to the guide plate 21 uses a plurality of U-shaped holding metal fittings 23.
  • the holding metal fitting 23 is a member necessary for making the plurality of cable members 10 follow the shape of the guide plate 21.
  • the fixing structure of the holding metal fitting 23 has been a cause of breaking the guide plate 21.
  • the bolt head directly hits the guide plate 21 with respect to the screw hole on the holding metal fitting 23 side. It was bolted.
  • the fixed portion sandwiched between the holding metal fitting 23 and the bolt 25 has a small area, when viewed as the entire guide plate 21, it does not particularly affect the deformation of the return portion 212 and follows the movement of the turning table 11. be able to.
  • the fixed portion sandwiched between the holding metal fitting 23 and the bolt 25 is restrained from deforming only, and the deformation becomes discontinuous with the surrounding portions, resulting in stress concentration. Therefore, due to repeated deformation of the guide plate 21, a crack may be generated particularly in the fixing portion of the holding metal fitting 23 existing in the return portion 212.
  • FIG. 3 is a perspective view showing a part of the lower arc portion 211 with respect to the mounting state of the holding metal fitting 23.
  • FIG. 4 is an enlarged cross-sectional view showing a fixing structure at one end portion of the holding metal fitting 23.
  • the bolt 25 used for fixing the holding metal fitting 23 is a stepped bolt, and a columnar portion 252 is projectingly provided from the bolt head 251, and a male screw portion 253 is formed at the tip thereof.
  • a hexagonal hole is formed on the end surface of the bolt head 251, and the bolt 25 can be tightened with a hexagonal wrench.
  • the U-shaped holding metal fitting 23 has female screw portions 233 formed in the screw holes on both end surfaces.
  • a pair of rubber washers 27 are provided as elastic members for sandwiching the guide plate 21.
  • the rubber washer 27 is a cylindrical member made of nitrile rubber and has a thickness t of 3 mm in the sandwiching direction.
  • the thickness t of the rubber washer 27 can be arbitrarily set according to the size of the radius of curvature of the return portion 212.
  • a washer 29 applied to the rubber washer 27 is welded to the end surface of the holding metal fitting 23.
  • a pair of rubber washers 27 are aligned with the positions of the mounting holes 218, and the bolts 25 are passed from one side through each through hole. Then, the male screw portion 253 of the bolt 25 is fastened to the female screw portion 233 of the holding metal fitting 23 on the opposite side.
  • the pair of rubber washers 27 are pressed by the bolt heads 251 and the washers 29, and the guide plate 21 is fixed while being sandwiched by the rubber washers 27 from both sides.
  • the holding metal fitting 23 is fixed to a plurality of places of the guide plate 21 so as to hold a plurality of cable members 10.
  • the one in which the fixing structure of this embodiment functions is located in the return portion 212.
  • the guide plate 21 is planar when the fixed portion is located in the lower arc portion 211.
  • the guide plate 21 becomes a curved surface by curving upward as shown by the arrow to form the return portion 212.
  • the end faces of the bolt head and the holding metal fitting 23 firmly sandwich the guide plate 21, so that even if the surroundings become curved, only the fixing portion is forcibly left in a planar shape. It was Regarding this point, in the present embodiment, since the rubber washer 27 that is an elastic member is sandwiched between the guide plates 21, the change in the shape of the curved guide plate 21 is not hindered, and the change is elastically deformed by the rubber washer 27. Will be absorbed by. Therefore, it is possible to prevent breakage in the fixed portion of the holding metal fitting 23 even if the shape of the guide plate 21 is repeatedly changed, because there is no place where stress concentration occurs as in the conventional case, and the turning cable guide is provided. The operation of 20 becomes stable.
  • the cable member 10 is illustrated as being housed in one thick tube for the sake of convenience, but in actuality, one cable member 10 is divided into a plurality of cable members 10 such as power lines and oil tubes. ..
  • the cable member 10 is grouped along the guide plate 21 by the holding metal fitting 23.
  • the plurality of holding metal fittings 23 fixed to the guide plate 21 are arranged at intervals, the slack cable material 10 may protrude from between the adjacent holding metal fittings 23 when the turning operation is repeated. There is. Then, the protruding portion of the cable material 10 may come into contact with surrounding members.
  • the cable material 10 must have some margin in the longitudinal direction so as to give as little resistance as possible to the operation of the swivel cable guide 20. Therefore, the cable member 10 is only held by the holding metal fitting 23, and is not integrated with the guide plate 21. In this respect, even on the base plate 17 fed to the guide plate 21, the cable member 10 has been placed and has not been restrained at all. Therefore, it is considered that when the operation of the turning cable guide 20 is repeated, the cable material 10 is slightly moved from the base plate 17 side to the guide plate 21 side, and slack is generated.
  • FIG. 5 is the figure which expanded the connection location P of the cable material 10 shown in FIG.
  • the cable material 10 is divided into four pieces and five pieces and bundled by the tie band 31. This is because when the nine cables are bundled together, the cable member 10 on the center side slips and is easily displaced, which reduces the effect. Therefore, it is preferable that all the cable members 10 are in contact with the binding band 31 and the tightening force acts.
  • the anchor member 33 is a short resin block fixed to the base plate 17 by a bolt 35 as shown in the drawing, and has a lateral hole. Then, the double ring 37 for connecting the cable members 10 is used, and the double ring 37 is passed through the lateral hole of the anchor member 33.
  • the binding band 31 is wound in a state of passing through a small ring, and the double ring 37 is attached to the small ring hooked on the binding band 31. Passed through.
  • the cable member 10 is fixed to the anchor member 33 via the double ring 37, and the swinging range of the double ring 37 is the range in which the cable member 10 can be displaced in the direction shown by the arrow in the drawing. Therefore, even if the operation of the swivel cable guide 20 is repeated, the cable member 10 is not connected to the base plate 17 side by the double ring 37 and does not enter the guide plate 21 side. Therefore, the cable member 10 is not loosened in the guide plate 21, problems such as contact with surrounding members can be avoided, and the operation of the swivel cable guide 20 is stabilized.
  • the present invention is not limited to these, and various modifications can be made without departing from the spirit of the present invention.
  • the material and thickness of the guide plate 21 are not limited to those in the above embodiment, and various selections can be made as long as the effects of the present invention can be obtained.

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

Abstract

A turning cable guide comprising: a guide plate, which is spring steel with a band-like arc shape and in an intermediate portion of which a turn-back section that is curved by elastic deformation is formed so that a fixed end and movable end of the plate face in the same direction; a turning mechanism for turning the guide plate in a state such that a first arc section between the turn-back section and the fixed end and a second arc section between the turn-back section and the movable end are at a prescribed distance in the vertical direction; multiple U-shaped metal holder fittings for holding a cable member that is disposed on the outer surface side of the turn-back section of the guide plate; and a fixing mechanism wherein bolts that pass through holes formed on both edges of the guide plate in the width direction are fastened to female threaded parts formed on both end faces of the metal holder fittings so as to push in a pair of elastic members that sandwich the guide plate between the bolt heads of the bolts and the end faces of the metal holder fittings.

Description

旋回ケーブルガイドSwivel cable guide

　本発明は、産業機械などに接続された電気線や流体管などのケーブル材を旋回機構内において取り回すための旋回ケーブルガイドに関する。 The present invention relates to a swivel cable guide for routing a cable material such as an electric wire or a fluid pipe connected to an industrial machine in a swivel mechanism.

　アームロボットのような産業機械は、複数のモータやアクチュエータを搭載し、それらを駆動させるための電気線や信号線あるいは、エアチューブやオイルチューブなど（以下、これらを「ケーブル材」という）が接続されている。そのため産業機械には、可動部分の動きに応じて複数のケーブル材を保持するためのケーブルガイドが必要になる。下記特許文献１には、旋回機構の動きに応じてケーブル材を取り回す旋回ケーブルガイドが開示されている。 Industrial machines such as arm robots are equipped with multiple motors and actuators, and are connected with electric wires and signal wires for driving them, air tubes, oil tubes, etc. (hereinafter these are called "cable materials"). Has been done. Therefore, the industrial machine requires a cable guide for holding a plurality of cable members according to the movement of the movable part. The following Patent Document 1 discloses a swivel cable guide that guides a cable material according to the movement of a swivel mechanism.

　同文献の旋回ケーブルガイドは、バネ用鋼によって形成された帯状円弧形状のガイドプレートによって形成されたものである。そのガイドプレートは、固定側端部と可動側端部とが同じ方向を向くように、弾性変形によって中間部分に湾曲した返し部が形成されている。複数本のケーブル材は、そのガイドプレートに対してＵ字形の保持金具によって取り付けられている。具体的には、ガイドプレートの幅方向端部に貫通孔があけられ、その貫通孔を通したボルトによって保持金具の両方の先端部分が締め付けられている。 The swivel cable guide of the same document is formed by a strip-shaped arc-shaped guide plate made of steel for springs. The guide plate is formed with a curved return portion at an intermediate portion by elastic deformation so that the fixed side end and the movable side end face the same direction. The plurality of cable members are attached to the guide plate by U-shaped holding fittings. Specifically, a through hole is formed in the end portion in the width direction of the guide plate, and both tip portions of the holding metal fitting are tightened by bolts passing through the through hole.

国際公開ＷＯ２０１６／０３５１６５号公報International publication WO2016/035165

　しかし、前記従来例の旋回ケーブルガイドは、繰り返し行われる動作によってガイドプレートに亀裂が発生し、破断してしまうことがあった。また、複数本のケーブル材は、保持金具によってガイドプレートに沿って取りまとめられているが、繰り返し行われる旋回ケーブルガイドの動作によってケーブル材が弛んでしまい、その一部がガイドプレートの曲面から外側にはみ出してしまうことがある。その場合、はみ出したケーブル材の一部が壁面や周辺機器と接触してしまう。 However, in the conventional swivel cable guide described above, the guide plate may be cracked and broken due to repeated operations. In addition, a plurality of cable materials are gathered along the guide plate by the holding metal fittings, but the cable material loosens due to the repeated operation of the swivel cable guide, and a part of the cable material moves outward from the curved surface of the guide plate. It may stick out. In that case, a part of the protruding cable material comes into contact with the wall surface and peripheral devices.

　そこで、本発明は、かかる課題を解決すべく、動作を安定させた旋回ケーブルガイドを提供することを目的とする。 Therefore, an object of the present invention is to provide a swivel cable guide whose operation is stabilized in order to solve such a problem.

　本発明の一態様における旋回ケーブルガイドは、帯状円弧形状のバネ用鋼であって、その固定側端部と可動側端部とが同じ方向を向くように、弾性変形によって中間部分に湾曲した返し部が形成されたガイドプレートと、前記返し部と前記固定側端部との間の第１円弧部と、前記返し部と前記可動側端部との間の第２円弧部とが上下方向に所定距離をとった状態の前記ガイドプレートを旋回させる旋回機構と、前記ガイドプレートの前記返し部の外側面側に配置された前記ケーブル材を保持するための複数のＵ字形の保持金具と、前記保持金具の両端面に形成された雌ねじ部に、前記ガイドプレートの幅方向両端部に形成された貫通孔を通った各々のボルトが、そのボルトヘッドと前記保持金具の端面との間に前記ガイドプレートを挟んだ一対の弾性部材を押え込むようにして締結される固定構造とを有する。 The swivel cable guide in one aspect of the present invention is a strip-shaped arc-shaped spring steel, and is bent back to an intermediate portion by elastic deformation so that its fixed side end and movable side end face the same direction. A guide plate formed with a portion, a first arc portion between the return portion and the fixed-side end portion, and a second arc portion between the return portion and the movable-side end portion in the vertical direction. A swivel mechanism for swiveling the guide plate at a predetermined distance, a plurality of U-shaped holding fittings for holding the cable material arranged on the outer surface side of the return portion of the guide plate, and Each of the bolts passing through the through holes formed at both ends of the width direction of the guide plate is formed in the female thread portion formed at both end surfaces of the holding metal fitting, and the guide is provided between the bolt head and the end surface of the holding metal fitting. And a fixing structure that is fastened by pressing a pair of elastic members sandwiching the plate.

　前記構成によれば、帯状円弧形状のバネ用鋼を固定側端部と可動側端部とが同じ方向を向くように、中間部分に湾曲した返し部が形成されたガイドプレートによって、旋回動作に従ったケーブル材の取り回しが可能になり、そのガイドプレートにケーブル材を複数のＵ字形の保持金具で保持するに当たり、ガイドプレートを挟んだ一対の弾性部材を押え込むようにして保持金具をガイドプレートに締結するため、保持金具の固定部分において破断を生じさせることを防止することができ、旋回ケーブルガイドの動作が安定する。 According to the above configuration, the strip-shaped arc-shaped spring steel is swung by the guide plate in which the curved return portion is formed in the middle portion so that the fixed side end and the movable side end face the same direction. The cable material can be handled accordingly, and when holding the cable material on the guide plate with a plurality of U-shaped holding fittings, the holding fittings are fastened to the guide plate by pressing a pair of elastic members sandwiching the guide plate. Therefore, it is possible to prevent the fixed portion of the holding metal fitting from breaking, and the operation of the swivel cable guide is stabilized.

オートローダーの搬送ロボット部分を示した斜視図である。It is a perspective view showing a transfer robot portion of the autoloader. 旋回ケーブルガイドを構成するガイドプレートの変形パターンを示した図である。It is the figure which showed the deformation pattern of the guide plate which comprises a turning cable guide. 保持金具の取り付け状態について下方円弧部の一部を示した斜視図である。It is a perspective view showing a part of lower arc part about an attaching state of a holding metal fitting. 保持金具の一端部における固定構造を示した拡大断面図である。It is an expanded sectional view showing the fixed structure in one end of a holding metal fitting. 図１に示すケーブル材の繋ぎ止め箇所を拡大して示した図である。It is the figure which expanded and showed the connection part of the cable material shown in FIG.

　本発明に係る旋回ケーブルガイドの一実施形態について、図面を参照しながら以下に説明する。本実施形態では、従来例と同様のオートローダーに設けられた旋回ケーブルガイドを例に挙げて説明する。図１は、オートローダーの搬送ロボット部分を示した斜視図である。オートローダーは、複数の工作機械からなる加工機械ラインに組み込まれたものであり、図示する搬送ロボット１が旋回機構２の上に搭載され、不図示の走行装置と一体になって加工機械ラインに設けられた搬送領域を移動する。 An embodiment of the swivel cable guide according to the present invention will be described below with reference to the drawings. In the present embodiment, a turning cable guide provided in an autoloader similar to the conventional example will be described as an example. FIG. 1 is a perspective view showing a transfer robot portion of an autoloader. The autoloader is incorporated in a processing machine line consisting of a plurality of machine tools, and the transfer robot 1 shown in the figure is mounted on a turning mechanism 2 and integrated with a traveling device (not shown) into the processing machine line. Move the provided transport area.

　搬送ロボット１は、旋回テーブル１１上の固定支持ブロック１２に対して上腕部材１３と前腕部材１４とが関節機構を介して連結された多関節ロボットアームである。その搬送ロボット１は、関節機構のモータ駆動によって、図示するように上腕部材１３と前腕部材１４とが折り畳まれた形態から、工作機械側に前傾しながら「く」の字に開くようにした変形が可能である。そうした搬送ロボット１の先端部には、油圧によって開閉するチャック機構を備えたロボットハンドが組み付けられている。また、オートローダーには、搬送ロボット１とワークの受渡しをする反転装置３が搭載されている。反転装置３は、エアシリンダによって左右一対の把持爪１５が開閉し、エアアクチュエータによって１８０°回転するよう構成されている。 The transfer robot 1 is a multi-joint robot arm in which an upper arm member 13 and a forearm member 14 are connected to a fixed support block 12 on a turning table 11 via a joint mechanism. The transfer robot 1 is configured such that the upper arm member 13 and the forearm member 14 are folded by the motor drive of the joint mechanism as shown in the figure, and the carrier robot 1 is inclined forward toward the machine tool to open in a V shape. Deformation is possible. A robot hand having a chuck mechanism that opens and closes by hydraulic pressure is attached to the tip of the transfer robot 1. The autoloader is equipped with a transfer robot 1 and a reversing device 3 for delivering a work. The reversing device 3 is configured such that a pair of left and right gripping claws 15 are opened and closed by an air cylinder and rotated 180° by an air actuator.

　旋回テーブル１１に搭載された搬送ロボット１および反転装置３は、複数のモータやアクチュエータなどの駆動部を有しているため、搬送ロボット１などを旋回させる旋回機構２には、電源線、通信線、エアチューブやオイルチューブなど複数本のケーブル材１０が配線および配管されている。その旋回機構２では、搬送ロボット１や反転装置３が、図１に示す正面を向いた状態から、旋回テーブル１１の駆動によって時計方向及び反時計方向にそれぞれ９０°の旋回が可能になっている。そして、搬送ロボット１や反転装置３が旋回する場合、そこに接続された各種のケーブル材１０には引っ張りなどによる動きが生じることになる。 Since the transport robot 1 and the reversing device 3 mounted on the swivel table 11 have driving units such as a plurality of motors and actuators, the swivel mechanism 2 that swivels the transport robot 1 or the like includes a power line and a communication line. A plurality of cable members 10, such as air tubes and oil tubes, are wired and piped. In the swivel mechanism 2, the transport robot 1 and the reversing device 3 can swivel 90° in the clockwise direction and 90° in the counterclockwise direction by driving the swivel table 11 from the state of facing the front shown in FIG. .. When the transfer robot 1 and the reversing device 3 rotate, various cable materials 10 connected thereto move due to pulling or the like.

　ケーブル材１０が旋回機構２内で自由なまま配置されていると、旋回動作の遠心力によって振り回されてしまい、狭い空間内で他の構成部品と接触し、それによって部品の破損、あるいはケーブル材１０自体の損傷などが生じ得る。そこで、ケーブル材１０を旋回動作に無理なく倣うようにすることが必要であり、旋回機構２には旋回ケーブルガイド２０が組み込まれている。この旋回用ケーブルガイド２０は、旋回や走行に対してケーブル材１０を安定的に保持するためのものである。 If the cable member 10 is freely placed in the swivel mechanism 2, it will be swung by the centrifugal force of the swiveling motion and will come into contact with other components in a narrow space, thereby damaging the parts or causing the cable member to break. 10 itself may be damaged. Therefore, it is necessary to make the cable member 10 follow the turning operation without difficulty, and the turning cable guide 20 is incorporated in the turning mechanism 2. The turning cable guide 20 is for stably holding the cable member 10 against turning and running.

　旋回ケーブルガイド２０は、搬送ロボット１を搭載した旋回テーブル１１と、その下方に存在する基礎プレート１７との間の空間に組み込まれている。図２は、旋回ケーブルガイド２０を構成するガイドプレート２１の組み付け状態であって、旋回に伴う変形パターンが示されている。このガイドプレート２１は、Ｃ形（或いは一部が切断され非連続の円形でもよい）の平らな帯状薄肉鋼板であり、弾性変形を伴った組み付けによって下方円弧部２１１、返し部２１２および上方円弧部２１３の３つの部分が構成されるようにしたものである。 The swivel cable guide 20 is incorporated in the space between the swivel table 11 on which the transfer robot 1 is mounted and the base plate 17 existing below the swivel table 11. FIG. 2 shows an assembled state of the guide plate 21 that constitutes the turning cable guide 20, and shows a deformation pattern accompanying turning. The guide plate 21 is a C-shaped (or partially cut and may be a discontinuous circular thin plate) flat strip-shaped thin steel plate, and by assembly with elastic deformation, the lower arc portion 211, the return portion 212, and the upper arc portion. 213 is composed of three parts.

　ガイドプレート２１は、ＳＵＳ３０１ＣＳＰ、ＳＵＳ３０４ＣＳＰ、ＳＵＳ６３１ＣＳＰなどのバネ用ステンレス鋼であり、肉厚が０．３～０．５ｍｍ程度のものが使用される。本実施形態のガイドプレート２１は、耐食性に優れバネ用ステンレス鋼として最も広く使われているＳＵＳ３０４ＣＳＰで形成された０．５ｍｍ厚のＣ形プレートである。ガイドプレート２１の材質や板厚は、旋回機構２において取り回されるケーブル材１０の種類や本数に応じて設計する必要がある。ガイドプレート２１にはケーブル材１０の荷重が加わるため、返し部２１２の湾曲した形状が大きく変形しないことが好ましいからである。その一方で、板厚が大きくなって剛性が高くなれば、ガイドプレート２１の滑らかな変形動作を阻害してしまうからである。 The guide plate 21 is a stainless steel for spring such as SUS301CSP, SUS304CSP, SUS631CSP, and has a wall thickness of about 0.3 to 0.5 mm. The guide plate 21 of the present embodiment is a C-shaped plate having a thickness of 0.5 mm and formed of SUS304CSP, which has excellent corrosion resistance and is most widely used as stainless steel for springs. The material and plate thickness of the guide plate 21 need to be designed according to the type and number of the cable members 10 routed in the swivel mechanism 2. Since the load of the cable member 10 is applied to the guide plate 21, it is preferable that the curved shape of the return portion 212 is not largely deformed. On the other hand, if the plate thickness becomes large and the rigidity becomes high, the smooth deformation operation of the guide plate 21 will be hindered.

　ガイドプレート２１は、図２（Ａ）が基本的な状態であり、図２（Ｂ）および（Ｃ）は時計方向と反時計方向にそれぞれ９０°旋回した状態である。図２（Ａ）に示す組み付け状態では、両端部分の下方円弧部２１１と上方円弧部２１３とが同じ方向を向くように、その間の中間部分に弾性変形による湾曲した返し部２１２が形成されている。下方円弧部２１１および上方円弧部２１３は、それぞれの円弧形状が上下方向（旋回軸Ｏの方向）に距離をとって重なっている。こうしたガイドプレート２１は、下方円弧部２１１側の端部２１５が基礎プレート１７に固定され、上方円弧部２１３側の端部２１６が旋回テーブル１１に固定される。 The guide plate 21 is in a basic state as shown in FIG. 2(A), and is in a state of being rotated 90° in the clockwise direction and 90° in the counterclockwise direction in FIGS. 2(C). In the assembled state shown in FIG. 2(A), a curved return portion 212 due to elastic deformation is formed in an intermediate portion between the lower arc portion 211 and the upper arc portion 213 of both end portions so as to face the same direction. .. The lower circular arc portion 211 and the upper circular arc portion 213 have their respective circular arc shapes overlapping in the vertical direction (direction of the turning axis O) with a distance. In the guide plate 21, the end 215 on the lower arc portion 211 side is fixed to the base plate 17, and the end 216 on the upper arc portion 213 side is fixed to the turning table 11.

　旋回ケーブルガイド２０は、旋回テーブル１１の旋回動作によって上方円弧部２１３側の位置が移動し、ガイドプレート２１が図２（Ｂ）および（Ｃ）に示す形態に変化することとなる。このときガイドプレート２１は、返し部２１２が湾曲した形状をほぼそのまま保った状態で円周方向に変位し、下方円弧部２１１と上方円弧部２１３は、円弧形状のまま旋回する方向によって各々長短が変化する。そうしたケーブルガイド２１に対してケーブル材１０は、図１に示すように、下方円弧部２１１では下側に、上方円弧部２１３では上側に位置するように、ガイドプレート２１の外側を周るようにして取り付けられる。 In the turning cable guide 20, the position on the upper arc portion 213 side is moved by the turning operation of the turning table 11, and the guide plate 21 is changed to the form shown in FIGS. 2B and 2C. At this time, the guide plate 21 is displaced in the circumferential direction in a state where the curved shape of the return portion 212 is almost kept as it is, and the lower arc portion 211 and the upper arc portion 213 respectively have different lengths depending on the turning direction. Change. In contrast to such a cable guide 21, the cable member 10 is arranged so as to circumscribe the outside of the guide plate 21 so that it is located on the lower side in the lower arc portion 211 and on the upper side in the upper arc portion 213, as shown in FIG. Can be installed.

　ガイドプレート２１に対するケーブル材１０の取り付けは、Ｕ字形をした複数の保持金具２３が使用される。こうした保持金具２３は、複数のケーブル材１０をガイドプレート２１の形状に倣わせるために必要な部材である。ところが、これまで保持金具２３の固定構造がガイドプレート２１を破断させる原因になってしまっていた。従来の固定構造は、ガイドプレート２１の幅方向端部に形成された取付孔２１８（図３参照）において、保持金具２３側のネジ穴に対し、ガイドプレート２１に直接ボルトヘッドが当たった状態でボルト締めが行われていた。 The attachment of the cable material 10 to the guide plate 21 uses a plurality of U-shaped holding metal fittings 23. The holding metal fitting 23 is a member necessary for making the plurality of cable members 10 follow the shape of the guide plate 21. However, until now, the fixing structure of the holding metal fitting 23 has been a cause of breaking the guide plate 21. In the conventional fixing structure, in the mounting hole 218 (see FIG. 3) formed in the end portion in the width direction of the guide plate 21, the bolt head directly hits the guide plate 21 with respect to the screw hole on the holding metal fitting 23 side. It was bolted.

　保持金具２３とボルト２５に挟み込まれた固定部分は僅かな面積であるため、ガイドプレート２１全体で見た場合は、特に返し部２１２の変形に影響を及ぼすことはなく、旋回テーブル１１の動きに従うことができる。しかし、保持金具２３とボルト２５に挟み込まれた固定部分は、そこだけが変形を抑えられ、周りの部分との間で変形が非連続となり、応力集中が起きてしまっていた。そのため、ガイドプレート２１の変形が繰り返されることにより、特に返し部２１２に存在する保持金具２３の固定部分から亀裂が生じてしまうことがあった。 Since the fixed portion sandwiched between the holding metal fitting 23 and the bolt 25 has a small area, when viewed as the entire guide plate 21, it does not particularly affect the deformation of the return portion 212 and follows the movement of the turning table 11. be able to. However, the fixed portion sandwiched between the holding metal fitting 23 and the bolt 25 is restrained from deforming only, and the deformation becomes discontinuous with the surrounding portions, resulting in stress concentration. Therefore, due to repeated deformation of the guide plate 21, a crack may be generated particularly in the fixing portion of the holding metal fitting 23 existing in the return portion 212.

　そこで、本実施形態では、保持金具２３の固定構造について改良が加えられている。図３は、保持金具２３の取り付け状態について、下方円弧部２１１の一部を示した斜視図である。また、図４は、保持金具２３の一端部における固定構造を示した拡大断面図である。まず、本実施形態において保持金具２３の固定に使用されるボルト２５は段付きボルトであり、ボルトヘッド２５１から円柱部２５２が突設され、その先に雄ねじ部２５３が形成されている。そして、ボルトヘッド２５１の端面には六角穴が形成され、六角レンチによってボルト２５の締め付けが可能になっている。 Therefore, in this embodiment, the fixing structure of the holding metal fitting 23 is improved. FIG. 3 is a perspective view showing a part of the lower arc portion 211 with respect to the mounting state of the holding metal fitting 23. Further, FIG. 4 is an enlarged cross-sectional view showing a fixing structure at one end portion of the holding metal fitting 23. First, in the present embodiment, the bolt 25 used for fixing the holding metal fitting 23 is a stepped bolt, and a columnar portion 252 is projectingly provided from the bolt head 251, and a male screw portion 253 is formed at the tip thereof. A hexagonal hole is formed on the end surface of the bolt head 251, and the bolt 25 can be tightened with a hexagonal wrench.

　Ｕ字形の保持金具２３は、両端面のネジ穴に雌ねじ部２３３が形成されている。更に、本実施形態の固定構造では、ガイドプレート２１を挟み込むための弾性部材として一対のゴムワッシャ２７が設けられている。ゴムワッシャ２７は、ニトリルゴムによって形成された円筒形の部材であって、挟み込方向の厚さｔが３ｍｍとなっている。ゴムワッシャ２７の厚さｔは、返し部２１２の曲率半径の大きさなどによって任意に設定可能である。そして、保持金具２３の端面には、ゴムワッシャ２７に当てられるワッシャ２９が溶接されている。 The U-shaped holding metal fitting 23 has female screw portions 233 formed in the screw holes on both end surfaces. Further, in the fixing structure of the present embodiment, a pair of rubber washers 27 are provided as elastic members for sandwiching the guide plate 21. The rubber washer 27 is a cylindrical member made of nitrile rubber and has a thickness t of 3 mm in the sandwiching direction. The thickness t of the rubber washer 27 can be arbitrarily set according to the size of the radius of curvature of the return portion 212. Then, a washer 29 applied to the rubber washer 27 is welded to the end surface of the holding metal fitting 23.

　こうした固定構造における保持金具２３の取り付けは、取付孔２１８の位置に一対のゴムワッシャ２７が合わせられ、各々の貫通孔を通してボルト２５が一方から通される。そして、反対側の保持金具２３に対し、その雌ねじ部２３３にボルト２５の雄ねじ部２５３が締め込まれる。ボルト２５の締め込みによって、図４に示すように、一対のゴムワッシャ２７がボルトヘッド２５１とワッシャ２９によって押え込まれ、ガイドプレート２１が両面からゴムワッシャ２７によって挟み込まれた状態で固定される。 In order to mount the holding metal fitting 23 in such a fixed structure, a pair of rubber washers 27 are aligned with the positions of the mounting holes 218, and the bolts 25 are passed from one side through each through hole. Then, the male screw portion 253 of the bolt 25 is fastened to the female screw portion 233 of the holding metal fitting 23 on the opposite side. By tightening the bolts 25, as shown in FIG. 4, the pair of rubber washers 27 are pressed by the bolt heads 251 and the washers 29, and the guide plate 21 is fixed while being sandwiched by the rubber washers 27 from both sides.

　保持金具２３は、複数本のケーブル材１０を抱え込むようにして、ガイドプレート２１の複数の個所に固定される。複数ある保持金具２３のうち、特に本実施形態の固定構造が機能するのが返し部２１２に位置するものである。例えば、図３に示す保持金具２３は、その固定部分が下方円弧部２１１に位置している場合はガイドプレート２１が平面的である。しかし、旋回テーブル１１の動作によって、矢印で示すように上方へ反り返って返し部２１２になることで、ガイドプレート２１が曲面になるからである。 The holding metal fitting 23 is fixed to a plurality of places of the guide plate 21 so as to hold a plurality of cable members 10. Among the plurality of holding metal fittings 23, the one in which the fixing structure of this embodiment functions is located in the return portion 212. For example, in the holding metal fitting 23 shown in FIG. 3, the guide plate 21 is planar when the fixed portion is located in the lower arc portion 211. However, due to the operation of the turning table 11, the guide plate 21 becomes a curved surface by curving upward as shown by the arrow to form the return portion 212.

　これまでの固定構造は、ボルトヘッドと保持金具２３の端面がガイドプレート２１を強固に挟み込んでいたため、周りが曲面となっても固定部分だけが強制的に平面形状のままになってしまっていた。その点について本実施形態では、ガイドプレート２１を弾性部材であるゴムワッシャ２７が挟み込んでいるため、湾曲するガイドプレート２１の形状の変化が妨げられることなく、その変化分がゴムワッシャ２７の弾性変形によって吸収されることとなる。従って、従来のような応力集中を生じさせる箇所がなくなり、ガイドプレート２１の形状変化が繰り返されたとしても、保持金具２３の固定部分において破断を生じさせることを防止することができ、旋回ケーブルガイド２０の動作が安定することとなる。 In the conventional fixing structure, the end faces of the bolt head and the holding metal fitting 23 firmly sandwich the guide plate 21, so that even if the surroundings become curved, only the fixing portion is forcibly left in a planar shape. It was Regarding this point, in the present embodiment, since the rubber washer 27 that is an elastic member is sandwiched between the guide plates 21, the change in the shape of the curved guide plate 21 is not hindered, and the change is elastically deformed by the rubber washer 27. Will be absorbed by. Therefore, it is possible to prevent breakage in the fixed portion of the holding metal fitting 23 even if the shape of the guide plate 21 is repeatedly changed, because there is no place where stress concentration occurs as in the conventional case, and the turning cable guide is provided. The operation of 20 becomes stable.

　ところで、図面では便宜的にケーブル材１０が太い１本のチューブに収められているように描かれているが、実際には電源線やオイルチューブなど複数のケーブル材１０として１本ずつ分かれている。そうしたケーブル材１０が保持金具２３によってガイドプレート２１に沿ってまとめられている。しかし、ガイドプレート２１に固定された複数の保持金具２３は間隔をとって配置されているため、旋回動作が繰り返されると、隣り合う保持金具２３の間から弛んだケーブル材１０がはみ出してしまうことがある。そして、ケーブル材１０のはみ出し部分が周りの部材に接触してしまうことがある。 By the way, in the drawings, the cable member 10 is illustrated as being housed in one thick tube for the sake of convenience, but in actuality, one cable member 10 is divided into a plurality of cable members 10 such as power lines and oil tubes. .. The cable member 10 is grouped along the guide plate 21 by the holding metal fitting 23. However, since the plurality of holding metal fittings 23 fixed to the guide plate 21 are arranged at intervals, the slack cable material 10 may protrude from between the adjacent holding metal fittings 23 when the turning operation is repeated. There is. Then, the protruding portion of the cable material 10 may come into contact with surrounding members.

　ケーブル材１０は、旋回ケーブルガイド２０の動作になるべく抵抗を与えることのないように、長手方向にある程度の余裕がなければならない。従って、ケーブル材１０は、保持金具２３によって保持されているだけであって、ガイドプレート２１と一体になっているわけではない。この点、ガイドプレート２１に送り込む基礎プレート１７上でも、これまではケーブル材１０が置かれているだけで何の拘束もされていなかった。そのため、旋回ケーブルガイド２０の動作が繰り返されると、ケーブル材１０が基礎プレート１７側から僅かずつガイドプレート２１側に移動してしまい、弛みが生じてしまっていると考えられる。 The cable material 10 must have some margin in the longitudinal direction so as to give as little resistance as possible to the operation of the swivel cable guide 20. Therefore, the cable member 10 is only held by the holding metal fitting 23, and is not integrated with the guide plate 21. In this respect, even on the base plate 17 fed to the guide plate 21, the cable member 10 has been placed and has not been restrained at all. Therefore, it is considered that when the operation of the turning cable guide 20 is repeated, the cable material 10 is slightly moved from the base plate 17 side to the guide plate 21 side, and slack is generated.

　そこで、本実施形態では、基礎プレート１７上でケーブル材１０を一定程度拘束する繋ぎ止め構造が設けられている。図５は、図１に示すケーブル材１０の繋ぎ止め箇所Ｐを拡大した図である。例えば、旋回ケーブルガイド２０には９本のケーブル材１０が取り回されている。繋ぎ止め構造では、そうしたケーブル材１０が４本と５本とに分けられ、結束バンド３１によって束ねられる。９本をまとめて束ねた場合、中心側のケーブル材１０が滑って位置ズレしやすくなってしまい効果が低下するからである。そのため、全てのケーブル材１０が結束バンド３１に接し、締め付け力が作用する本数であることが好ましい。 Therefore, in the present embodiment, a tie-down structure for restraining the cable material 10 to a certain extent on the base plate 17 is provided. FIG. 5: is the figure which expanded the connection location P of the cable material 10 shown in FIG. For example, nine cable members 10 are arranged around the swivel cable guide 20. In the tie-down structure, the cable material 10 is divided into four pieces and five pieces and bundled by the tie band 31. This is because when the nine cables are bundled together, the cable member 10 on the center side slips and is easily displaced, which reduces the effect. Therefore, it is preferable that all the cable members 10 are in contact with the binding band 31 and the tightening force acts.

　次に、基礎プレート１７上には、ケーブル材１０が大きく位置ズレしないようにするため、２つのアンカー部材３３が固定されている。そのアンカー部材３３は、図示するようにボルト３５によって基礎プレート１７に固定される背の低い樹脂ブロックであり、横孔が形成されている。そして、ケーブル材１０を連結させるための二重リング３７が使用され、その二重リング３７がアンカー部材３３の横孔に通される。一方、ケーブル材１０側は、具体的に図示しないが、例えば小なリングを通した状態で結束バンド３１が巻かれ、その結束バンド３１に引掛けられた状態の小リングに二重リング３７が通される。 Next, two anchor members 33 are fixed on the base plate 17 in order to prevent the cable member 10 from being largely displaced. The anchor member 33 is a short resin block fixed to the base plate 17 by a bolt 35 as shown in the drawing, and has a lateral hole. Then, the double ring 37 for connecting the cable members 10 is used, and the double ring 37 is passed through the lateral hole of the anchor member 33. On the other hand, on the cable member 10 side, although not specifically shown, for example, the binding band 31 is wound in a state of passing through a small ring, and the double ring 37 is attached to the small ring hooked on the binding band 31. Passed through.

　従って、ケーブル材１０は二重リング３７を介してアンカー部材３３に繋ぎ止められ、二重リング３７の振れる範囲が図面に矢印で示す方向にケーブル材１０が変位可能な範囲となる。よって、旋回ケーブルガイド２０の動作が繰り返されたとしても、ケーブル材１０は、二重リング３７によって基礎プレート１７側に繋ぎ止められてガイドプレート２１側に入り込むことはない。そのため、ガイドプレート２１においてケーブル材１０が弛んでしまうことはなく、周りの部材に接触するなどの問題が回避でき、旋回ケーブルガイド２０の動作が安定することとなる。 Therefore, the cable member 10 is fixed to the anchor member 33 via the double ring 37, and the swinging range of the double ring 37 is the range in which the cable member 10 can be displaced in the direction shown by the arrow in the drawing. Therefore, even if the operation of the swivel cable guide 20 is repeated, the cable member 10 is not connected to the base plate 17 side by the double ring 37 and does not enter the guide plate 21 side. Therefore, the cable member 10 is not loosened in the guide plate 21, problems such as contact with surrounding members can be avoided, and the operation of the swivel cable guide 20 is stabilized.

　以上、本発明の一実施形態について説明したが、本発明はこれらに限定されるものではなく、その趣旨を逸脱しない範囲で様々な変更が可能である。
　例えば、ガイドプレート２１の材質や厚さなどは、前記実施形態に限定されるわけではなく、本発明の効果を奏するものであれば様々な選択が可能である。 Although one embodiment of the present invention has been described above, the present invention is not limited to these, and various modifications can be made without departing from the spirit of the present invention.
For example, the material and thickness of the guide plate 21 are not limited to those in the above embodiment, and various selections can be made as long as the effects of the present invention can be obtained.

１…搬送ロボット　２…旋回機構　３…反転装置　１０…ケーブル材　１７…基礎プレート　２０…旋回用ケーブルガイド　２１…ガイドプレート　２３…保持金具　２５…ボルト　２７…ゴムワッシャ　２９…ワッシャ　３１…結束バンド　３３…アンカー部材　３５…ボルト　３７…二重リング　２１１…下方円弧部　２１２…返し部　２１３…上方円弧部
  DESCRIPTION OF SYMBOLS 1... Transfer robot 2... Swivel mechanism 3... Reversing device 10... Cable material 17... Foundation plate 20... Swivel cable guide 21... Guide plate 23... Holding metal 25... Bolt 27... Rubber washer 29... Washer 31... Binding band 33... Anchor member 35... Bolt 37... Double ring 211... Lower arc part 212... Return part 213... Upper arc part

Claims (4)

　帯状円弧形状のバネ用鋼であって、その固定側端部と可動側端部とが同じ方向を向くように、弾性変形によって中間部分に湾曲した返し部が形成されたガイドプレートと、
　前記返し部と前記固定側端部との間の第１円弧部と、前記返し部と前記可動側端部との間の第２円弧部とが上下方向に所定距離をとった状態の前記ガイドプレートを旋回させる旋回機構と、
　前記ガイドプレートの前記返し部の外側面側に配置された前記ケーブル材を保持するための複数のＵ字形の保持金具と、
　前記保持金具の両端面に形成された雌ねじ部に、前記ガイドプレートの幅方向両端部に形成された貫通孔を通った各々のボルトが、そのボルトヘッドと前記保持金具の端面との間に前記ガイドプレートを挟んだ一対の弾性部材を押え込むようにして締結される固定構造と、
を有する旋回ケーブルガイド。 A strip-shaped arc-shaped steel for springs, in which the fixed side end and the movable side end face the same direction, a guide plate having a curved return portion formed in the intermediate portion by elastic deformation,
The guide in a state in which a first arc portion between the return portion and the fixed side end portion and a second arc portion between the return portion and the movable side end portion have a predetermined distance in the vertical direction. A swivel mechanism that swivels the plate,
A plurality of U-shaped holding fittings for holding the cable material, which are arranged on the outer surface side of the return portion of the guide plate,
Each of the bolts passing through the through holes formed at both ends of the guide plate in the width direction is formed in the female screw portion formed at each end surface of the holding metal fitting between the bolt head and the end surface of the holding metal fitting. A fixing structure that is fastened by pressing a pair of elastic members sandwiching the guide plate,
Swivel cable guide with. 　前記固定構造は、前記弾性部材がゴムワッシャであり、前記ボルトが前記ゴムワッシャを貫通して締結される請求項１に記載の旋回ケーブルガイド。 The swivel cable guide according to claim 1, wherein in the fixing structure, the elastic member is a rubber washer, and the bolt is fastened by penetrating the rubber washer. 　下側に位置する前記固定側端部から自由に延びる複数の前記ケーブル材を束ねる結束部材と、非可動部に固定されたアンカー部材と、前記結束部材を前記アンカー部材に対して変位可能な状態で連結する連結部材とを有する請求項１または請求項２に記載の旋回ケーブルガイド。 A binding member that bundles the plurality of cable members that freely extends from the fixed-side end portion located on the lower side, an anchor member that is fixed to a non-movable portion, and a state in which the binding member can be displaced with respect to the anchor member. The swivel cable guide according to claim 1 or 2, further comprising: 　二以上の結束部材によって複数本の前記ケーブル材を所定の本数ずつ分けて結束し、結束された前記ケーブル材の束ごとに前記アンカー部材と連結部材とを有する請求項３に記載の旋回ケーブルガイド。
  The swivel cable guide according to claim 3, wherein a plurality of the cable members are bound by a predetermined number by two or more binding members, and the anchor member and the connecting member are provided for each bundle of the cable members. ..
PCT/JP2019/000274 2019-01-09 2019-01-09 Turning cable guide Ceased WO2020144751A1 (en)

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JP2003285166A (en) * 2002-03-25 2003-10-07 Toyoda Mach Works Ltd Slide contact and robot with the same
WO2008111421A1 (en) * 2007-03-15 2008-09-18 Kabushiki Kaisha Yaskawa Denki Cover installation structure, and arm and industrial robot using the same
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JP2012061565A (en) * 2010-09-16 2012-03-29 Yaskawa Electric Corp Robot
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JP2015054375A (en) * 2013-09-12 2015-03-23 本田技研工業株式会社 Robot wrist device
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0437495A (en) * 1990-05-31 1992-02-07 Fanuc Ltd Laser beam input device for laser robot
JP2003285166A (en) * 2002-03-25 2003-10-07 Toyoda Mach Works Ltd Slide contact and robot with the same
WO2008111421A1 (en) * 2007-03-15 2008-09-18 Kabushiki Kaisha Yaskawa Denki Cover installation structure, and arm and industrial robot using the same
JP2010064219A (en) * 2008-09-12 2010-03-25 Yaskawa Electric Corp Multi-joint robot
JP2012061565A (en) * 2010-09-16 2012-03-29 Yaskawa Electric Corp Robot
JP2013123760A (en) * 2011-12-13 2013-06-24 Yachiyo Industry Co Ltd Positional shift detection device of cable
JP2014100743A (en) * 2012-11-16 2014-06-05 Fanuc Ltd Cable treatment structure of articulated robot
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WO2016035165A1 (en) * 2014-09-03 2016-03-10 富士機械製造株式会社 Turning cable guide
JP2018001315A (en) * 2016-06-29 2018-01-11 セイコーエプソン株式会社 Robot, control device, and robot system

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