Cable routing structure or similar and rotary device for an industrial machine

Abstract

Installation structure for a cable or similar (17) which runs through a hollow area (H1) of a reduction device (18), wherein the cable or similar (17) is attached to a first component (12) of a joining or assembly machine on one axial side of the hollow area (H1) of the reduction device (18) and to a second component (14) of the joining or assembly machine, wherein the second component (14) rotates relative to the first component (12) on the other axial side of the hollow area (H1) of the reduction device (18), wherein an end component (86) forming the hollow area (H1) of the reduction device (18) and having an end (H1A) on one axial side of the hollow area (H1) is attached to the first component (12), wherein another end component (88), which forms the hollow area (H1) of the reduction device (18) and has one end (H1B) on the other axial side of the hollow area (H1), is attached to the second component (14), and wherein the reduction device (18) comprises the following: an externally toothed gear (66), an internally toothed gear (72) that engages with the externally toothed gear (66), a shaft with an eccentric body (44A, 44B, 44C) that oscillates and rotates the externally toothed gear (66), a support (46) that carries the shaft with eccentric body (44A, 44B, 44C) and forms the hollow region (H1), and an intermediate component (90) which is connected and aligned with the support (46), wherein the intermediate component (90) forms the hollow area (H1).

Description

Background of the invention Area of ​​the invention

[0001] The present invention relates to a laying structure for a cable or similar, and a rotary device for an industrial machine which uses the laying structure. Description of the state of the art

[0002] Many industrial machines, such as robots and machine tools, perform rotary movements (rotational back-and-forth motion with a predetermined range). In this type of rotary device, there is a design where the device incorporates a hollow section extending through it, through which power cables, other control cables, or a cooling water pipe (hereinafter referred to as cables or similar) are routed.In such a design, for example, the cable or similar item that is to be routed through it, such as a power cable connecting a power source located on a first component of an industrial machine to a motor attached to a second component which rotates relative to the first component (rotational back-and-forth movement with a predetermined span), can often be attached on one side and on the other side to components which rotate relative to each other.

[0003] In WO 2006 / 075 752 A1 ( Fig. 1 and Fig. 3) and in JP 2008-89157 A ( Fig. 1, Fig. 2 and Fig. 4) A technique is disclosed in a rotary device used in such a situation, in which an “expanded area” or “widened area” is formed which expands as the inner circumferential surface approaches the end of the component forming the hollow part and by which the damage to the cable passing through the hollow part is reduced.

[0004] DE 44 10 401 A1 further discloses a hand gearbox which provides a housing-fixed hollow shaft as a feedthrough for supply lines.

[0005] Furthermore, DE 692 00 421 T2 shows a wrist for an industrial robot, wherein a first electric motor is attached to a first body and a second electric motor is attached to a second body, and wherein a respective assembly of two reduction gears, in which an associated output rotor is rotatably mounted, is formed by a supporting element which is part of the corresponding reduction gear.

[0006] However, even if the technique disclosed in one of the patents described above is used, if an operating mode in which a component forming the hollow part rotates relative to the cable or similar is carried out for a longer period of time, it is difficult to avoid an increase in damage to the cable or similar, and in practice the replacement of the cable or similar will be unavoidable. Summary of the invention

[0007] It is desirable to make it possible to minimize, as far as possible, the damage to a cable or similar component that passes through a through-hole and is used with both ends attached to components that rotate relative to each other.

[0008] The object of the present invention is achieved by a routing structure for a cable or the like according to claim 1 and by a rotating device (10) for an industrial machine according to claim 6. The dependent claims relate to preferred embodiments of the invention.

[0009] According to the embodiment of the present invention, one end component, forming the hollow part of the reduction device, is attached to the first component. Additionally, the other end component, forming the hollow part, is attached to the second component. Therefore, the cable or similar component does not rotate at either end of the hollow part relative to either end component. Since the primary cause of cable damage is slippage at the ends of the hollow part, cable damage can be significantly reduced by using a design that prevents this relative rotation between the cable and the hollow part at either end of the hollow part.

[0010] In addition, in the embodiment of the present invention, a connecting element is arranged in which one end component and the other end component are mounted in any position except at the two ends of the hollow part. As a result, even if a relative rotation is generated between one end component or the other end component and the cable or similar component near the connecting element, sliding occurs in which almost no (or absolutely no) sliding torque is generated. Therefore, it is unlikely that the cable or similar component will be damaged.

[0011] In addition, in the embodiment of the present invention, one end component and the other end component do not necessarily consist of individual components, and can consist of a plurality of components that are integrated in the direction of rotation of one end component or the other end component.

[0012] According to the embodiment of the invention, it is possible to minimize damage to the cable or similar component which passes through a through-hole and is used, wherein its two ends are attached to components which rotate relative to each other. Brief description of the drawings Fig. Figure 1 is an enlarged section view of the main components of a joint drive device of a robot, to which an embodiment of the present invention is applied. Fig. 2 is a complete sectional view of the Fig. 1. Fig. Figure 3 is a sectional view, extending along a line III-III in the direction of an arrow, as shown in Fig. 2 is shown, depicted. Fig. 4 is a sectional view, extending along a line IV-IV in the direction of an arrow, as shown in Fig. 2 is shown, depicted. Fig. Figure 5 is a partially enlarged sectional view close to a component located on the drive side of the exemplary embodiment of the Fig. 1. Fig. Figure 6 is a longitudinal sectional view showing an example of a joint drive device of a robot according to a further embodiment of the present invention. Fig. 7 is a sectional view drawn along a line VII-VII in the direction of an arrow, as in Fig. 6 is shown, depicted. Fig. Figure 8 is a partially enlarged sectional view close to a component located on the engine side of the exemplary embodiment of the Fig. 6. Detailed description of the invention

[0013] An embodiment of the present invention will now be described in detail with reference to the drawings.

[0014] Fig. Figure 1 is a sectional view of a reduction mechanism component of a joint drive device (rotation device) of a robot (industrial machine) to which the embodiment of the present invention is applied. Fig. Figure 2 is a complete sectional view of the reduction mechanism component, and the Fig. 3 and Fig. Figure 4 represents a section view created along line III-III and another created along line IV-IV, each in the direction of the arrows as shown in Fig. 2 shown.

[0015] With regard to the Fig. 2 The joint drive device 10 rotatably carries and drives a rotating component 14, which forms a section of a robot, in a state where it is attached to a base component (first component) 12, which forms another section of the robot (the entire robot is not shown). Additionally, when the joint drive device 10 is used to drive a joint after the second stage, the base component (first component) 12 corresponds to a movable component in a preceding stage. Accordingly, in this case, the base component 12 itself can also be moved, and the rotating component 14 rotates relative to the movable base component 12.

[0016] The articulated drive device 10 mainly comprises a power source (not shown) attached to and fastened to the base component 12, a motor 16 attached to and fastened to the rotating component 14 by means of a screw bolt 15, a cable 17 which supplies electrical energy to the motor 16 from the power source, and a reduction mechanism component 18 which has an internally meshing planetary gear structure. A housing 20 of the reduction mechanism component 18 is connected to the base component 12 by means of a screw bolt 22.

[0017] A pinion 26 is formed at the end of a motor shaft 24 of the motor 16 and meshes with a gear 28. The gear 28 is integrally connected to a transmission shaft 32 by means of a splined shaft 30. The transmission shaft 32 is formed with a transmission pinion 34. The transmission pinion 34 meshes with a central gear 36. The central gear 36 is rotatably mounted on the outer circumference of an intermediate component 90, which will be described later, by means of a roller or bearing pin 38, and is supported by this intermediate component.

[0018] With regard to the entirety of the Fig. Gears 1 to 4 mesh with the central gear 36 and the transmission pinion 34, and simultaneously mesh with a plurality of gears 42A to 42C on shafts with eccentric bodies. The gears 42A to 42C on shafts with eccentric bodies are each integrally formed with shafts 44A to 44C with eccentric bodies. The shafts 44A to 44C with eccentric bodies are rotatably mounted by means of tapered roller bearings 50A to 50C and 52A to 52C (tapered roller bearings 50B, 50C, 52B and 52C are not shown) on first and second supports 46 and 48 (output components), which will be described later. Shaft 44A with eccentric body has eccentric bodies 60B and 62B (eccentric body 62B is not shown). An externally toothed gear 66 is fitted to the eccentric bodies 60A to 60C by means of rollers or bearing needles 64A to 64C. Additionally, the eccentric bodies 62A to 62C are fitted in the same manner as in Fig. 4 are each fitted to the externally toothed gear 68 by means of rollers or bearing needles 70A to 70C (rollers or bearing needles 70B and 70C are shown). The phase difference of the eccentricity of the externally toothed gears 66 and 68 is 180°.

[0019] The externally toothed gears 66 and 68 mesh internally with an internally toothed gear 72 as they are moved back and forth. In this example, the number of teeth on the externally toothed gears 66 and 68 is 118. The internally toothed gear 72 is integrally formed with the housing 20. In this embodiment, the inner teeth of the internally toothed gear 72 are formed by roller-like external needles 74. Although the number of inner teeth (external needles 74) of the internally toothed gear 72 should essentially be 120, two of them are always formed (arranged) in an alternating "thinned" state.

[0020] As in Fig. As shown in Figure 2, the first and second carriers (output components) 46 and 48 are rotatably mounted in the housing 20 by means of bearings 78 and 80 on both axial sides of the externally toothed gears 66 and 68. The housing 20 is connected to the base component (first component) 12 by means of the screw bolt 22. The first and second carriers 46 and 48 are formed in one piece and connected to each other by the carrier pins 82A to 82F. The previously mentioned rotating component 14 (second component) is connected to the first carrier 46 by means of a screw bolt 84.

[0021] Here, the articulated drive device 10 has a hollow section H1 that passes axially through its radial center. The cable 17, which serves to supply electrical energy from the power source (not shown) to the motor 16, passes through the hollow section H1. In the articulated drive device 10, the power source is located on the side of the base component 12, and the motor 16 is located on the side of the rotating component 14. Therefore, the cable is ultimately attached to the base component (first component) 12 of the robot (industrial machine) on one axial side of the hollow section H1 of the articulated drive device 10, and is attached to the rotating component (second component) 14, which rotates relative to the base component 12 on the other axial side of the hollow section H1 of the articulated drive device 10 (rotational reciprocating motion with a predetermined range of motion).In this state, cable 17 will necessarily rotate with respect to each area of ​​the component forming the hollow region H1, regardless of the type of construction used for the hollow region.

[0022] In this embodiment, the hollow region H1 of the articulated drive device 10 is formed by a total of four components in order to reduce the significant influence of this relative rotation as much as possible: a component (an end component) 86 on the side of the energy source, which has an end H1A of the hollow region H1 located axially on the side of the energy source (one side), a component (another end component) 88 on the side of the motor, which has an end H1B of the hollow region H1 located axially on the side of the motor (other side), an intermediate component (another end component) 90, which (another end component) is formed in one piece with the component 88 on the side of the motor, and the first support 46 (another end component).

[0023] Component 86 on the energy source side forms the end H1A located axially on the energy source side of the hollow region H1, and is attached to the housing 20, which is fastened to the base component 12 by means of a screw bolt 92, and is integrally formed with it. Therefore, component 86 on the energy source side does not rotate with respect to the base component 12.

[0024] Component 88 on the motor side forms the end H1B on the motor side (other side) of the hollow area H1. In this embodiment, the rotating component 14 itself also serves as component 88 on the motor side. That is, component 88 on the motor side is formed as one piece with the rotating component 14 and naturally rotates relative to the rotating component 14.

[0025] The intermediate component 90 is located between the component 86 on the energy source side and the components 88 on the motor side of the hollow area H1. In this embodiment, the intermediate component is formed integrally with the first support 46, with the end of the intermediate component 90 being press-fitted into the end of the first support 46. Since the first support 46 is formed integrally with the component 88 on the motor side by means of the screw bolt 84, the intermediate component is designed to rotate relative to the component 86 on the energy source side, although the intermediate component 90 ultimately does not rotate relative to the component 88 on the motor side.This means that in this embodiment a connecting part C1, in which the component 86 on the side of the energy source and the component 88 on the motor side (the intermediate part 90, which is formed in one piece with the component by means of a first support body 46) rotate relative to each other, is arranged between the component 86 on the side of the energy source and the intermediate part 90 of the hollow area H1 (at any position other than one end H1A and the other end H1B).

[0026] The region of component 86 on the energy source side, which, viewed axially, forms end H1A on the energy source side of the hollow region H1, and the region of component on the motor side, which, viewed axially, forms end H1B on the motor side of the hollow region H1, are formed with respective R-regions 86R and 88R, which are achieved by continuously increasing the inner diameter of the hollow region H1 towards the outer edge when viewed axially. In this embodiment, the connecting part (a relative rotation is generated) C1 is, as in Fig. Figure 5 shows the end H1A of the axial side of the power source. At end H1A on the axial side of the power source, a narrow straight section SL1 extends tangentially to the R section, and the intermediate component 90 is connected to the straight section SL1 by means of the connecting part C1. The inner diameter D1 on the axial side of the power source and the inner diameter D2 on the axial motor side at the inner circumferential surface of the hollow section, between which the connecting part C1 is located, are equal (D1=D2), and the inner circumference between end H1A on the power source side and end H1B on the motor side has a constant inner diameter D3 (except for irregularities resulting from machining errors). That is, the inner diameters satisfy the equations D1=D2=D3.

[0027] Between component 86 on the energy source side and intermediate component 90 (between components that rotate relative to each other in the connecting part C1), two oil seals 93 and 94 are arranged such that they are connected to each other. The oil seals 93 and 94 are designed to seal the gap between the second support 48, which is a drive component, and component 86 on the energy source side, which is the first component and is formed in one piece with the base 12. Additionally, reference numeral 96 of the Fig. 1 and Fig. 2 represents an oil seal which is arranged between the outer circumference of the first support 46 and the inner circumference of the housing 20, and reference numeral 97 represents an O-ring which is arranged between the intermediate component 90 and the first support 46.

[0028] The operation of the joint drive device 10 will be described below.

[0029] The power from the motor 16 reaches the transmission pinion 34 via the pinion 26 formed on the motor shaft 24, the gear 28 which meshes with the pinion 26, and the transmission shaft 32, which are connected by the gear 28 and the splined shaft 30. When the transmission pinion 34 rotates, the intermediate gear 36, which meshes with this transmission pinion, also rotates. The rotation is then distributed to the three gears 42A to 42C on shafts with eccentric bodies, which mesh simultaneously with the intermediate gear 36. The shafts 44A to 44C with eccentric bodies rotate at the same speed and in the same direction. The result is that the externally toothed gear 66 is moved back and forth and rotated by the eccentric bodies 60A to 60C on the shafts 44A to 44C with eccentric bodies, while at the same time it is inscribed in the internally toothed gear 72.At the same time, the externally toothed gear 68 is moved back and forth and rotated in a similar manner by the eccentric bodies 62A to 62C on the shafts 44A to 44C with eccentric bodies with a phase difference of 180°, while at the same time it is inscribed in the internally toothed gear 72.

[0030] Since the difference in the number of teeth (the original difference between the 120 teeth of the original internal gear 72 and the 118 teeth of the external gears 66 or 68) between the internal gear 72 and the external gears 66 or 68 is two, the external gears 66 and 68 rotate by the difference in the number of teeth when they have completed one full reciprocating motion. This rotational component is transmitted to the first and second supports 46 and 48 by means of the shafts 44A to 44C with eccentric bodies.

[0031] Since the first support 46 is formed in one piece with the rotating component 14 by means of the screw bolt 84, the rotating component rotates at a rotational speed or rotational speed which is reduced together with the motor 16, which is mounted on the rotating component 14.

[0032] In this embodiment, component 86, which forms end H1A of the hollow section H1 on the energy source side, is attached to the housing 20, which is attached to the base component 12. Component 88, which forms end H1B of the hollow section H1 on the motor side, is integrally formed with (and used as) the rotating component 14. Therefore, end H1A of the hollow section H1 on the energy source side does not rotate with respect to component 86 on the energy source side, and end H1B on the motor side does not rotate with respect to component 88 on the motor side.Since the most important factor causing damage to cable 17 is the sliding of cable 17 at both ends H1A and H1B of the hollow area H1, the damage to cable 17 can be greatly reduced by adopting a design in which no relative rotation of cable 17 and the hollow area H1 is caused at both ends H1A and H1B of the hollow area H1.

[0033] Additionally, the connecting element C1 between component 86 on the power source side and component 88 on the motor side (the intermediate component 90, which is integrally formed with the component by means of the first support body 46) is located between component 86 on the power source side and the intermediate component 90, i.e., at any point (except at one end H1A and the other end H1B) of the hollow region H1. Therefore, even if a relative rotation were to be generated between component 86 on the power source side or the intermediate component (the component forming the hollow region H1) and cable 17 in the vicinity of connecting element C1, this relative rotation would be subject to almost no (or absolutely no) sliding torque. Therefore, it is unlikely that cable 17 would be damaged.

[0034] In particular, in this embodiment, the inner diameter D1 on the side of the energy source in the axial direction and the inner diameter D2 on the side of the motor in the axial direction on the inner circumferential surface of the hollow region H1, which delimits the connecting part C1 on both sides, are designed such that they are the same, and the inner circumference between the end H1A on the side of the energy source in the axial direction and the end H1B on the side of the motor in the axial direction has a constant inner diameter D3 (D1=D2=D3), except for irregularities resulting from errors in machining.In practical implementation, this design makes it possible to reduce the damage factor caused by the contact between the cable 17 and the hollow area H1 to approximately zero, since the possibility that the cable 17 touches areas other than the two ends H1A and H1B is approximately zero due to its resistance to bending deformation.

[0035] Furthermore, in this embodiment, the R-regions 86R and 88R are formed, which are obtained by continuously increasing the inner diameter of the hollow region. Additionally, an axially inner end 86R1 of the R-region 86R is used as the connecting part C1, and both sides of the connecting part C1 are bounded by straight lines or edges, or by the existence of the straight edge SL1. Therefore, the hollow region H1 and the cable 17 do not slide against each other under high load on a small contact area, even if the hollow region H1 and the cable 17 were to come into contact for any reason and slide against each other at the points of contact.

[0036] In this embodiment, the oil seals 93 and 94 are additionally located between component 86 on the energy source side and the intermediate component 90, which rotate relative to each other within the connecting part C1. Therefore, there is no risk of lubricant leaking from the relative rotating areas, and the oil seals 93 and 94 are positioned radially near the innermost circumferential region of the articulated drive device 10. Thus, the seals 93 and 94 can be made small, and excellent sealing performance can be ensured at low cost.

[0037] In addition, low vibration and noise levels can be achieved in this embodiment by using helical gears as the pinion 26 and gear 28 of the motor 16. This is possible because the pinion 26 and gear 28 do not mesh with other gears, etc. Furthermore, as in the embodiment of the Fig. Figure 6, which will be described later, does not assume a case in which the gear 130A meshes not only with the pinion 126 of the motor 116 but also with the center gear 136. This is because the three equally distributed phases shift due to the axial assembly error of the three gears 130A to 130C.

[0038] In this embodiment, the rotation of the motor shaft 24 of the motor 16 is transmitted once to the central gear 36, and the driving force of the motor 16 is transmitted evenly from the central gear 36 to the shafts 44A to 44C with eccentric bodies via the three gears 42A to 42C, so that the externally toothed gears 66 and 68 are moved back and forth. In the present invention, the design of the reduction mechanism component is not limited to this. For example, in the Fig. In the construction shown in 6 to 8, a reduction mechanism component is used, which moves the externally toothed gears eccentrically back and forth.

[0039] In the articulated drive device 110, the motor 116 is attached to the rotating component 114 of the motor by means of a screw bolt 115. A pinion 126 is formed at the end of a motor shaft 124 of the motor 116. The pinion 126 meshes with a distribution gear 130A to drive the three distribution gears 130A to 130C. That is, because the distribution gear 130A meshes with a central gear 136 to drive it, the remaining distribution gears 130B and 130C are designed such that they rotate by means of the central gear 136.

[0040] The distribution gears 130A to 130C are manufactured as a single unit with the three shafts 144A to 144C with eccentric bodies.

[0041] The shaft 144A with eccentric body has eccentric bodies 160A and 162A which are eccentric from the axial center of the shaft 144A with eccentric body (with reference to the Fig. 6 and Fig. 7) The shaft 144B with eccentric body has the eccentric bodies 160B and 162B (the eccentric body 162B is shown in cross-section. The eccentric body 144B is mounted at a position offset by 120 degrees circumferentially with respect to the eccentric body 144A). The shaft 144C with eccentric body has eccentric bodies 160C and 162C (the eccentric bodies 160C and 162C are not shown). An externally toothed gear 166 is fitted to the eccentric bodies 160A to 164C by means of rollers or bearing pins 164A to 164C (the roller or bearing pin 164C is not shown). In addition, the eccentric bodies 162A to 162C are each fitted to the externally toothed gear 168 by means of rollers or bearing needles 170A to 170C (170C is not shown).

[0042] The eccentric bodies in the axial positions of shafts 142A to 142C, for example, eccentric body 160A of shaft 142A with eccentric body, eccentric body 160B of shaft 142B with eccentric body, and eccentric body 160C of shaft 142C with eccentric body, are in the same phase of eccentricity with each other. Eccentric body 162A of shaft 144A with eccentric body, eccentric body 162B of shaft 144B with eccentric body, and eccentric body 162C of shaft 144C with eccentric body are also in the same phase of eccentricity with each other.

[0043] This design allows the shafts 144A to 144C with eccentric bodies to rotate at the same speed and in the same direction as a single unit with the distribution gears 130A to 130C, the eccentric bodies 160A, 160B and 160C rotate as a set in the same phase due to the rotation of the shafts 144A to 144C, and in the same way the set of eccentric bodies 162A, 162B and 162C rotates in the same phase. Additionally, the eccentricity phase of the set of eccentric bodies 160A, 160B and 160C and the eccentricity phase of the set of eccentric bodies 162A, 162B and 162C are offset from each other by 180°, and the difference in the eccentricity phases of the externally toothed gears 166 and 168 is 180°.

[0044] The two externally toothed gears 166 and 168 mesh internally with the internally toothed gear 172. The internally toothed gear 172 is integrally formed with the housing 120. The housing 120 is attached to the base component (first component) 112 of the robot by means of a screw bolt 122. The reduction structure with the internally toothed gear 172, which utilizes the inscribed reciprocating motion of the externally toothed gears 166 and 168, is essentially the same as that of the preceding embodiment.

[0045] The first and second output components 146 and 148 are rotatably held in the housing 120 by means of bearings 178 and 180 on both axial sides of the externally toothed gears 166 and 168. The housing 120 is integrally connected to the base component (first component) 112 by means of the screw bolt 122. The first and second output components 146 and 148 are connected to each other by support pins (not shown) and are integrally connected. The previously mentioned rotating component (second component) 114 is connected to the first output component 146 by means of a screw bolt 184.

[0046] Here, the articulated drive device 110 has a hollow section H2 that passes axially through it at its radial center. The cable 117 for conducting electrical energy from the power source (not shown) to the motor 116 passes through the hollow section H2.

[0047] In the articulated drive device 110, the power source is located on the side of the base component 112, and the motor 116 is located on the side of the rotating component 114. Therefore, the cable 117 is attached to the base component (first component) 112 of the robot (industrial machine) on one axial side of the hollow section H2 of the articulated drive device 110, and is attached to the rotating component (second component) 114, which rotates relative to the base component 112 on the other axial side of the hollow section H2 of the articulated drive device 110 (rotational reciprocating motion). Accordingly, the situation in which the cable 117 will necessarily rotate relative to any part of the component forming the hollow section H2 is the same as in the previous embodiment.

[0048] In the joint drive device 110, the hollow area H2 of the joint drive device 110 is formed by a total of two components, a component 186 on the side of the energy source (one end component), which has an end H2A on the side of the energy source (one side) of the hollow area H2, and a component 188 on the side of the motor (other end component), which has an end H2B on the side of the motor (other side) of the hollow area H2.

[0049] Component 186 on the energy source side is attached to a flange area 112A, which extends in one piece from the base component 112 towards the radial inner side, by means of a screw bolt 192 and is formed integrally with it. For this reason, component 186 on the energy source side does not rotate relative to the base component 112.

[0050] Component 188 forms the end H2B on the motor side (other side) of the hollow section H2. Even in this embodiment, the rotating component 114 also serves as component 188 on the motor side. This means that component 188 on the motor side is formed as a single unit with the rotating component 114 and, of course, does not rotate with respect to the rotating component 114.

[0051] In this embodiment, the intermediate component forming the hollow region H2 does not exist, and component 186 on the energy source side extends in one piece to the vicinity of component 188 on the motor side. That is, in this embodiment, a connecting part C2, in which component 186 on the energy source side and component 188 on the motor side rotate relative to each other, is located between component 186 on the energy source side and component 188 on the motor side of the hollow region H2 (at every point except one end and the other end).

[0052] The end H2A on the axial side of the energy source of component 186 and the end H2B on the axial motor side of component 188 are each formed with R-sections 186R and 188R, respectively, which are achieved by continuously increasing the inner diameter of the hollow section H2, including a short straight section SL2. Even in this embodiment, the connecting part C2, as shown in enlarged form in Fig.Figure 8 shows that the R-area 188R is arranged at an axial inner end 188R1, and both sides of the connecting part C2 are bounded by straight edges, or by the existence of the straight area SL2. Additionally, the inner diameter D4 on the axial side of the power source and the inner diameter D5 on the axial side of the motor are equal (D4=D5) on the inner circumferential surface of the hollow area enclosing the connecting part C2. The inner circumference between the side of the power source and the side of the motor has a constant inner diameter D6 (except for irregularities resulting from machining errors). That is, the inner diameters satisfy the equations D4=D5=D6.

[0053] An oil seal 193 is arranged between component 186 on the power source side and component 188 on the motor side (between one end component and the other end component). The oil seal 196 is arranged between the outer circumference of the first support 146 and the inner circumference of the housing 120.

[0054] In this embodiment as well, the cable 117 does not rotate at either end H1A and H1B of the hollow area H2 with respect to either component 186 on the power source side or component 188 on the motor side. This significantly reduces damage to the cable.

[0055] Additionally, the connecting element C2, in which component 186 on the power source side and component 188 on the motor side rotate relative to each other, is located between component 186 on the power source side and component 188 on the motor side, i.e., at any point (except the two axial ends H2A and H2B) within the hollow area H2. Therefore, even if, for example, a relative rotation were generated between component 186 on the power source side or component 188 on the motor side and cable 117 near connecting element C2, this relative rotation would be subject to almost no (or absolutely no) sliding torque. Therefore, it is unlikely that cable 117 would be damaged.

[0056] In this embodiment as well, the inner diameter D4 on the side of the power source in the axial direction and the inner diameter D5 on the side of the motor in the axial direction at the inner circumferential surface of the hollow area that bounds the connecting part C2 on both sides are designed to be equal, and the inner circumference between the end H2A on the side of the power source in the axial direction and the end H2B on the side of the motor in the axial direction has a constant inner diameter D6 (D4=D5=D6), except for irregularities resulting from machining errors. This makes it possible to reduce the damage factor caused by contact between the cable 117 and the hollow area H2 to approximately zero, since the possibility of the cable 117 contacting areas other than the two ends H2A and H2B is approximately zero due to its resistance to bending deformation.

[0057] In this embodiment, similar to the previous embodiment, the R-areas 186R and 188R are formed by means of the straight area SL2, which is obtained by continuously increasing the inner diameter of the hollow area. Furthermore, an axially inner end 188R1 of the R-area 188R is used as the connecting part C2, and both sides of the connecting part C2 are bounded by straight lines or edges, respectively, by the existence of the straight edge SL2. Therefore, the hollow area H2 and the cable 117 do not slide against each other under high load on a small contact area, even if the hollow area H2 and the cable 117 were to come into contact for any reason and slide against each other at the points of contact, and the possibility of damage to the cable 117 is minimal.

[0058] Because component 186 extends on the energy source side and directly forms the connecting part C2 with component 188 on the motor side, the intermediate component (90), the O-ring (97), etc., can be omitted in this embodiment, the number of parts can be reduced, and the production and manufacturing requirements can also be simplified. Furthermore, the straight sections SL1 and SL2 provided in the two embodiments above are not necessarily required.

[0059] Furthermore, in the above embodiments, the oscillating or reciprocating internally meshing planetary gear structure was assumed to be the reduction mechanism. However, the structure of a reduction device is not specifically limited to the above embodiments. For example, a reduction mechanism with a simple planetary gear structure can be assumed.

[0060] Furthermore, the objects to which the present invention is applicable are not limited to the examples above, and the present invention can also be applied to objects other than a motor or objects other than a cable of an energy source, such as, for example, air hoses for pneumatic cylinders, cables or cable bundles for sensors of various machines, etc.

[0061] For example, the present invention can be applied to rotary devices of industrial machines, such as robots and machine tools.

Claims

[1] Laying structure for a cable or similar (17) which passes through a hollow area (H1) of a reduction device (18), wherein the cable or similar (17) is attached to a first component (12) of a joining or assembly machine on one axial side of the hollow area (H1) of the reduction device (18) and to a second component (14) of the joining or assembly machine, wherein the second component (14) rotates relative to the first component (12) on the other axial side of the hollow area (H1) of the reduction device (18), wherein an end component (86) forming the hollow area (H1) of the reduction device (18) and having an end (H1A) on one axial side of the hollow area (H1) is attached to the first component (12), wherein another end component (88), which forms the hollow area (H1) of the reduction device (18) and has one end (H1B) on the other axial side of the hollow area (H1), is attached to the second component (14), and wherein the reduction device (18) comprises the following: an externally toothed gear (66), an internally toothed gear (72) that engages with the externally toothed gear (66), a shaft with an eccentric body (44A, 44B, 44C) that oscillates and rotates the externally toothed gear (66), a support (46) that carries the shaft with eccentric body (44A, 44B, 44C) and forms the hollow region (H1), and an intermediate component (90) which is connected and aligned with the support (46), wherein the intermediate component (90) forms the hollow area (H1). [2] Laying structure according to claim 1, wherein a connecting part (C1), in which one end part (86) and the other end part (88) rotate relative to each other, is arranged at any position except at one end (H1A) and the other end (H1B) of the hollow area (H1), and wherein the inner diameter on one axial side and the inner diameter on the other axial side of the inner circumferential surface of the hollow region (H1) enclosing the connecting part (C1) between them are equal. [3] Laying structure according to claims 1 or 2, wherein an inner diameter of the support (46) and an inner diameter of the intermediate component (90) are the same. [4] Laying structure according to one of claims 1 to 3, wherein the reduction device (18) has a housing (20) into which the internally toothed gear (72) is integrated, wherein one end component (86) is attached to and integrated within the housing (20), and wherein a relatively rotating connecting part (C1) is arranged between the intermediate part (90) and one end part (86). [5] Laying structure according to claim 4, wherein an oil seal (93, 94) is arranged between one end component (86) and the intermediate component (90). [6] Rotary device (10) for an industrial machine, comprising the following: an energy source located on a first component (12) of the industrial machine; a motor (16) located on a second component (14) which rotates relative to the first component (12); a cable (17) that runs through a hollow area (H1) of a reduction device and conducts electrical energy from the energy source to the motor (16); an end component (86) on the side of the energy source, which has an end (H1A) on the side of the energy source of the hollow area (H1) of the reduction device (18) and is attached to the first component (12); and another end component (88) on the side of the motor (16), which has an end (H1B) on the side of the motor (16) of the hollow area (H1) of the reduction device (18) and is attached to the second component (14), wherein the reduction device (18) comprises the following: an externally toothed gear (66), an internally toothed gear (72) that engages with the externally toothed gear (66), a shaft with an eccentric body (44A, 44B, 44C) that oscillates and rotates the externally toothed gear (66), a support (46) that carries the shaft with eccentric body (44A, 44B, 44C) and forms the hollow region (H1), and an intermediate component (90) which is connected and aligned with the support (46), wherein the intermediate component (90) forms the hollow area (H1).

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