Umbilical member processing member, umbilical member processing structure, and umbilical member processing method

Abstract

The wire body processing member is used for wiring a plurality of wire bodies between a first member and a second member that rotate relative to each other about a predetermined axis, the plurality of wire bodies penetrating a hollow portion disposed along the axis, one side of the wire bodies being held by the first member and the other side being held by the second member in the longitudinal direction. The linear body processing member includes: a sheet-like first portion; and a second portion that fixes the first portion to the first member or the second member, the first portion being disposed within the hollow portion and dividing the space within the hollow portion into at least two small spaces in a direction intersecting the axis, and the one or more linear bodies being passed through each of the divided small spaces.

Description

Technical Field

[0001] The invention relates to a line body processing component, a line body processing structure and a line body processing method. Background Art

[0002] There is known a processing device for arranging a filament body between two members of a robot that rotate relative to each other about a predetermined axis (for example, refer to Patent Document 1).

[0003] In the processing device, a double-structured pipe member is arranged concentrically with the axis of relative rotation, and the double-structured pipe member is concentrically arranged with an inner pipe and an outer pipe having different diameters. Moreover, by passing the first group of line bodies through the hollow portion of the inner pipe and passing the second group of line bodies through the gap between the inner pipe and the outer pipe, abnormal wear caused by friction between the line bodies can be prevented.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2004-276233 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] When the inner tube is fixed concentrically to the inner side of the outer tube, the inner tube needs to be constructed with high rigidity and fixed firmly to prevent the inner tube from being deformed or displaced due to the force received from the filament body. However, since the internal space of the robot is limited, the wall thickness of the inner tube is increased in order to improve the rigidity, which narrows the space through which the filament body passes. In addition, since the inner tube is firmly fixed to the fixing part of the outer tube, the space inside the outer tube is also narrowed.

[0009] Therefore, it is desirable to perform wiring processing without causing abnormal wear to the plurality of umbilical bodies, without excessively reducing the space inside the hollow portion through which the umbilical bodies pass.

[0010] Solutions for solving problems

[0011] One embodiment of the present invention is a line body processing component, which is used to route multiple line bodies between a first component and a second component that rotate relative to each other around a predetermined axis, and the multiple line bodies pass through a hollow portion arranged along the axis, and are held by the first component on one side in the length direction and by the second component on the other side. The line body processing component comprises: a sheet-shaped first part; and a second part, which fixes the first part to the first component or the second component, the first part is arranged in the hollow portion, and divides the space in the hollow portion into at least two small spaces along a direction intersecting the axis, so that more than one of the line bodies pass through each of the divided small spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic longitudinal cross-sectional view showing a filament body processing structure according to one embodiment of the present invention.

[0013] Figure 2 It is a perspective view showing an example of a filament body processing component according to an embodiment of the present invention.

[0014] Figure 3 It means that the middle position of the length direction of the line body is along Figure 2 A stereoscopic view of the state of the first part of the line body processing component.

[0015] Figure 4 It means that Figure 2 A three-dimensional diagram of the process of rolling the first part of the line body processing component into a tube.

[0016] Figure 5 It means that Figure 4 A three-dimensional view of a state in which the first part is rolled into a tube and bound.

[0017] Figure 6 It means in Figure 1 A transverse cross-sectional view of the small spaces divided by the internal space of the hollow component in the linear body processing structure.

[0018] Figure 7 Yes means Figure 2 A stereoscopic diagram of a deformation example of a line body processing component.

[0019] Figure 8 It means that Figure 7 A three-dimensional diagram of a line body processing structure in which a line body processing component is assembled in a hollow component.

[0020] Fig. 9 It means in Figure 8 A transverse cross-sectional view of the small spaces divided by the internal space of the hollow component in the linear body processing structure.

[0021] Fig.10 Yes means Fig. 9 A transverse cross-sectional view of a modified example.

[0022] Fig.11 Yes means Figure 8 An exploded stereogram of a modified example of a line body processing structure.

[0023] Fig.12 Yes means Fig.11 A three-dimensional diagram of the line body processing structure. DETAILED DESCRIPTION

[0024] Hereinafter, a line body processing component, a line body processing structure 1 and a line body processing method according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0025] like Figure 1 As shown, the line body processing structure 1 of this embodiment is a structure for processing a line body C between two parts of the robot that are wired and rotate relative to each other around a vertical axis A. The two parts of the robot are, for example, a fixed side shell (first part) 2 and a movable side shell (second part) 3 arranged up and down.

[0026] The line body C includes at least one of the long, bendable linear components such as air tubes in addition to the mechanism cables and signal cables. The line body processing structure 1 of this embodiment is a structure for processing the following two or more line bodies C: for example, a thinner and softer (smaller bending radius) cable C1; and a thicker and harder (larger bending radius) air tube C2, etc. Hereinafter, they are also referred to as line bodies C1 and C2.

[0027] The line body processing structure 1 comprises: a cylindrical hollow component 4 fixed to a movable side housing 3; and a line body processing component 5, at least a portion of which is arranged in an internal space (hollow portion) S of the hollow component 4. The hollow component 4 is arranged in a manner such that its central axis is consistent with the axis A, and is supported by the fixed side housing 2 so as to be rotatable around the axis A by means of a bearing 6.

[0028] like Figure 2 As shown, the line body processing component 5 of this embodiment is composed of a soft sheet-like raw material formed of a low-friction material. As the raw material, a sheet made of polytetrafluoroethylene resin with a thickness of less than 1 mm, for example, a thickness of 0.5 mm can be used. The line body processing component 5 is manufactured in one piece by cutting it out from the sheet-like raw material. In addition, as the line body processing component 5, any other raw materials such as any low-friction material other than polytetrafluoroethylene resin can also be used.

[0029] The linear body processing member 5 includes: a first portion 7 in the shape of a home plate, which has a predetermined width dimension and a predetermined length dimension; and a second portion 8, which is arranged at a distance in the length direction relative to the first portion 7. In addition, the linear body processing member 5 includes a third portion 9 in the shape of a strip connecting the first portion 7 and the second portion 8, and the third portion 9 has a fixed width dimension that is sufficiently smaller than the first portion 7.

[0030] By forming the first portion 7 into a home plate shape, the angle of the connection portion with the third portion 9 can be made obtuse, thereby reducing stress concentration.

[0031] The first portion 7 includes two protruding pieces 7a at both ends in the width direction. Each protruding piece 7a is provided with a through hole 7b penetrating in the thickness direction.

[0032] like Figure 3 As shown, the first portion 7 is placed in a state where it is located midway along the length direction of the line body C1. Figure 4 As shown in FIG. 1 , the spool is rolled up in one direction around an axis along the length direction to form a cylindrical shape. Then, as shown in FIG. Figure 5 As shown, the first portion 7 is formed into a closed cylindrical shape by aligning the protruding pieces 7a at both ends in the width direction and, for example, fastening a cable tie 7c that passes through the through holes 7b of the two protruding pieces 7a.

[0033] The first portion 7 has a width dimension that can surround one or more umbilical bodies C1 disposed inside with a gap in the radial direction when formed into a cylindrical shape. The length dimension of the first portion 7 is set to be less than the length dimension of the hollow member 4, for example.

[0034] The first portion 7 is disposed in the hollow member 4 in a state where it surrounds a portion of the linear bodies C1 among the plurality of linear bodies C passing through the hollow member 4 and is bound in a cylindrical shape. Figure 6 As shown, within the length of the first portion 7 , the space S in the hollow member 4 is divided into a first small space S1 surrounded by the first portion 7 and a second small space S2 between the hollow member 4 and the first portion 7 .

[0035] like Figures 2 to 5 As shown, the second portion 8 is formed to have a larger width dimension than the third portion 9 and has a plurality of through holes 8a extending through the third portion 9 in the thickness direction. The second portion 8 can be fixed to, for example, a metal plate 10 fixed to the movable side housing 3 above the hollow member 4 using, for example, a cable tie 8b using the through holes 8a.

[0036] The third portion 9 is a portion that maintains the first portion 7 at a fixed position relative to the fixed second portion 8 , and has flexibility and is easily deformed by the force received from the linear body C, thereby displacing the first portion 7 in accordance with the linear body C.

[0037] Hereinafter, a filament body processing method using the filament body processing component 5 and the filament body processing structure 1 of this embodiment configured as described above will be described.

[0038] The filament body processing method of this embodiment is a method for processing a plurality of filament bodies C that vertically penetrate the internal space S of the hollow component 4 arranged in the vertical direction between the fixed side housing 2 and the movable side housing 3 that rotate relative to each other around the vertical axis A.

[0039] The line body C includes a plurality of thin and soft (small bending radius) cables C1 and a thick and hard (large bending radius) air tube C2. The number of cables C1 and air tube C2 can be any number of one or more. In addition, a thick and hard (large bending radius) cable (not shown) can be included instead of the air tube C2 or in addition to it.

[0040] Each of these fascicles C has one side in the longitudinal direction fixed to the metal plate 11 fixed to the fixed-side housing 2 , and the other side fixed to the metal plate 10 fixed to the movable-side housing 3 , for example, by means of a cable tie 15 .

[0041] In this embodiment, the first portion 7 of the linear body processing member 5 is rolled into a tube and bound at both ends in the width direction so as to surround the plurality of thin and flexible cables C1. Furthermore, the band-shaped third portion 9 is extended upward, and the second portion 8 disposed at the front end is fixed to the metal plate 10 fixed to the movable side housing 3 outside the hollow member 4 by a cable tie 8b.

[0042] Thus, the first portion 7 is suspended by the third portion 9 suspended from the second portion 8 and is arranged in the internal space S of the hollow member 4. The space arranged along the length direction of the first portion 7 is divided into: a first small space S1 surrounded by the first portion 7; and an annular second small space S2 arranged between the hollow member 4 and the first portion 7.

[0043] That is, the plurality of thin and flexible cables C1 penetrate the hollow member 4 at radial positions penetrating the first small space S1. In addition, the plurality of thick and hard air tubes C2 penetrate the hollow member 4 at radial positions penetrating the second small space S2.

[0044] According to the linear body processing component 5, the linear body processing structure 1 and the linear body processing method of the present embodiment, the internal space S of the hollow component 4 through which the linear body C passes is divided into a plurality of small spaces S1 and S2 by the soft sheet-like linear body processing component 5. The soft sheet-like linear body processing component 5 can be constructed to be thinner and can be divided into a plurality of small spaces S1 and S2 without reducing the internal space S of the hollow component 4 compared to a pipe with high rigidity.

[0045] In addition, according to the linear body processing structure 1 of the present embodiment, the second part 8 is fixed to the metal plate 10 above the outer side of the hollow component 4, and the first part 7 is suspended in the hollow component 4 by the third part 9. Thus, the second part 8 for fixing the linear body processing component 5 is not arranged inside the hollow component 4, so it is also possible to prevent the internal space S of the hollow component 4 from being reduced due to the second part 8.

[0046] As a result, it is possible to ensure that the different filament bodies C1 and C2 passing through the different small spaces S1 and S2 have a larger space to be displaced as the movable side housing 3 rotates relative to the fixed side housing 2. That is, the filament bodies C that are displaced in the hollow member 4 are not overly constrained, and the burden imposed on the filament bodies C can be reduced.

[0047] One side of the linear body C in the longitudinal direction is held by the fixed side housing 2, and the other side is held by the movable side housing 3. Therefore, if the movable side housing 3 rotates relative to the fixed side housing 2 around the axis A, the linear body C inside the hollow part 4 is also twisted and bent, and displaced inside the hollow part 4.

[0048] According to this embodiment, since the first portion 7 surrounding the cable C1 is suspended by the third portion 9 in a belt shape and is flexible, the first portion 7 is displaced and deformed in accordance with the displacement of the linear body C. In addition, the different linear bodies C1 and C2 are kept isolated from each other. Thus, the linear bodies C1 and C2 passing through the different small spaces S1 and S2 can be prevented from strongly rubbing against each other.

[0049] That is, the thin and soft cable C1 surrounded by the first portion 7 can be prevented from being strongly pressed by the outer surface of the thick and hard air tube C2 arranged outside the first portion 7, and abnormal wear of the cable C1 can be suppressed. In particular, by forming the line body processing member 5 with a low friction material, it is possible to effectively suppress the friction between the line bodies C1 and C2 passing through the different small spaces S1 and S2.

[0050] In addition, in the umbilical body processing member 5 of the present embodiment, the first portion 7 opened flat is rolled up to form a cylindrical shape, so that the intermediate position in the longitudinal direction of the umbilical body C1 can be surrounded.

[0051] Therefore, even when a connector (not shown) is installed at the end of the line body C1, the cylindrical first part 7 having a smaller diameter than the connector can be used to easily surround the middle position of the line body C1 in the longitudinal direction. That is, there is no need to prepare a cylindrical part with a large inner diameter that can pass through the connector, and it can be easily applied to a mechanism part in which the size of the internal space S of the hollow part 4 is limited, such as a small robot or wrist unit.

[0052] Furthermore, in this embodiment, the first portion 7 of the linear body processing member 5 is used to surround the cable C1 having a smaller bending radius, and is isolated from the air tube C2 having a larger bending radius disposed outside the first portion 7. Alternatively, in the case where there are multiple linear bodies C having larger surface friction, the first portion 7 may be used to surround one of the linear bodies C so that the linear bodies C pass through different small spaces S1 and S2.

[0053] In the present embodiment, one first portion 7 is disposed in the internal space S of the hollow member 4 to divide the internal space S into two small spaces S1 and S2 . However, two or more first portions 7 may be disposed to divide the internal space S into three or more small spaces.

[0054] In addition, in this embodiment, the sheet-like first portion 7 is rolled into a cylindrical shape, so that a part of the linear body C1 is surrounded by the first portion 7, but the present invention is not limited thereto. In addition, the second portion 8 is fixed to the metal plate 10 above the outer side of the hollow member 4 as an example, but it can also be fixed to the hollow member 4 instead.

[0055] That is, Figure 7 As shown in FIG. 1 , the linear body processing member 5 may also include: a first portion 7 in the form of a soft rectangular sheet; and a second portion 8 in the form of a protruding sheet, which protrudes toward both ends of the first portion 7 in the width direction. Figure 8 As shown, the second portion 8 may be fixed to the hollow member 4 using, for example, a cable tie 8b using the holes 12 and 13 that penetrate the hollow member 4 in the radial direction.

[0056] In this case, the shape of the line body processing member 5 can be changed according to the positions of the holes 12 and 13 provided in the hollow member 4. Fig. 9 As shown, the linear body processing component 5 may also be configured as a flat diaphragm inside the hollow component 4 to divide the internal space S of the hollow component 4 into two small spaces S1 and S2 with semicircular cross-sections.

[0057] In addition, for example, Fig.10 As shown, the line body processing component 5 can also be configured as a curved diaphragm inside the hollow component 4 to divide it into two small spaces S1 and S2 with different cross-sectional shapes. In addition, the internal space S of the hollow component 4 can also be divided into three or more small spaces by using more than two line body processing components 5.

[0058] Alternatively, the second portion 8 may be fixed to the metal plate 10 above the outer side of the hollow member 4 by, for example, a cable tie (not shown) to a thicker and harder air tube or other linear body C2. In this case, the second portion 8 may be located inside the hollow member 4.

[0059] In addition, the length of the first portion 7 is configured to be shorter than the length of the hollow member 4 , but may be the same as the length of the hollow member 4 or longer than the length of the hollow member 4 .

[0060] In addition, the first part 7, the second part 8 and the third part 9 are cut out integrally from the same sheet-like raw material, but instead, the sheet-like first part 7, the second part 8 and the third part 9 can be made of their own raw materials and joined to each other to form the linear body processing component 5.

[0061] In addition, in this embodiment, at least the first portion 7 is configured as a soft sheet, but the present invention is not limited thereto. Fig.11 As shown, the filament body processing member 5 may be configured as a relatively thick sheet that is elastically deformable and is formed of a low-friction material such as polytetrafluoroethylene resin.

[0062] exist Fig.11 In the example shown, the linear body processing member 5 has a rectangular flat plate-shaped first portion 7 and a protruding second portion 8 protruding outward in the width direction at both edges in the width direction of the first portion 7. In addition, the hollow member 4 has a through hole 14 penetrating in the radial direction.

[0063] The first portion 7 of the line body processing member 5 is slightly elastically deformed and inserted into the hollow member 4, and the elastic deformation is restored and the second portion 8 is inserted into the through hole 14. Fig.12 As shown, the inner space S of the hollow component 4 can be divided into two small spaces S1 and S2.

[0064] The embodiments of the present invention have been described in detail, but the present invention is not limited to the above-mentioned embodiments. In these embodiments, various additions, substitutions, changes, partial deletions, etc. can be made without departing from the scope of the main purpose of the invention, or without departing from the concept and purpose of the present invention derived from the contents recorded in the claims and their equivalents. For example, in the above-mentioned embodiments, the order of each action, the order of each process, the omission or addition of a part of the action corresponding to the condition, and the omission or addition of a part of the process corresponding to the condition can be made without being limited to the above-mentioned examples.

[0065] Description of reference numerals:

[0066] 1: Line body processing structure

[0067] 2: Fixed side housing (first component)

[0068] 3: Movable side housing (second component)

[0069] 4: Hollow parts

[0070] 5: Line body processing components

[0071] 7: Part I

[0072] 8: Part 2

[0073] 9: Part 3

[0074] A: Axis

[0075] C: Line body

[0076] C1: Cable (Line Body)

[0077] C2: Air tube (line body)

[0078] S: Internal space (hollow part)

[0079] S1: The first small space

[0080] S2: The second smallest space

Claims

1. A wire body processing component, used for wiring a plurality of wire bodies between a first component and a second component that rotate relative to each other around a predetermined axis, wherein the plurality of wire bodies pass through a hollow portion arranged along the axis, and one side in the length direction is held by the first component and the other side is held by the second component, wherein the wire body processing component is characterized in that: The linear body processing component comprises: a sheet-shaped first portion; and a second portion, which fixes the first portion to the first component or the second component. The first part is arranged in the hollow part, and divides the space in the hollow part into at least two small spaces along a direction intersecting the axis, so that more than one linear body passes through each of the divided small spaces.

2. The linear body processing component according to claim 1, characterized in that: The line body processing component is formed of a soft material.

3. The linear body processing component according to claim 1 or 2, characterized in that: The first portion is formed into a cylindrical shape with a gap provided to surround one or more of the linear bodies, thereby defining the small space inside and outside.

4. The linear body processing component according to claim 3, characterized in that: The first portion has a flatly opened configuration and is formed into a cylindrical shape by rolling up in one direction and binding both ends thereof.

5. The linear body processing component according to any one of claims 1 to 4, characterized in that: The second portion is fixed to the exterior of the hollow portion.

6. The linear body processing component according to any one of claims 1 to 5, characterized in that: The second part is fixed above the hollow part arranged in the vertical direction, A third portion for suspending the first member so as to be movable in the horizontal direction is provided between the first portion and the second portion.

7. The linear body processing component according to claim 6, characterized in that: The third part is in the shape of a strip, The first portion, the second portion, and the third portion are cut out from the same sheet-shaped raw material and are integrally formed.

8. The linear body processing component according to any one of claims 1 to 7, characterized in that: At least the first portion is constructed from a low friction material.

9. A wire body processing structure for routing a plurality of wire bodies between a first component and a second component that rotate relative to each other around a predetermined axis, wherein one side of the plurality of wire bodies in the length direction is held by the first component and the other side is held by the second component, wherein the wire body processing structure is characterized in that: The line body processing structure has: a hollow member having a hollow portion arranged along the axis and fixed to the first member or the second member; and Line body processing components, The linear body processing component comprises: a sheet-shaped first portion, which is arranged in the hollow portion; and a second portion, which fixes the first portion to the first component or the second component. The first part is arranged in the hollow part, and divides the space in the hollow part into at least two small spaces along a direction intersecting the axis, so that more than one linear body passes through each of the divided small spaces.

10. A method for processing a linear body, for routing a plurality of linear bodies between a first component and a second component that rotate relative to each other around a predetermined axis, wherein the plurality of linear bodies penetrate a hollow portion arranged along the axis, and one side of the linear body in the length direction is held by the first component and the other side is held by the second component, wherein the method for processing a linear body is characterized in that: By using a sheet-like linear body processing component, the space in the hollow portion is divided into at least two small spaces along a direction intersecting the axis, so that more than one linear body passes through each of the divided small spaces.

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