Multi-joint support member, and flat-shape transmission device

Abstract

To provide a multi-joint support member capable of suppressing a load relating to a coupling shaft even if bending occurs in a linear arrangement portion, and a flat-shape transmission device.SOLUTION: In a multi-joint support member (20), a plurality of link members (21) is disposed in series. Each of the link members has a linear posture holding surface (231) formed on one end side in a length direction and a linear posture regulating surface (241), which is abutted on the linear posture holding surface of the adjacent link member and regulates bending, closer to the other end side in the length direction than the linear posture holding surface. In each of the linear posture holding surface and the linear posture regulating surface, a slippage suppression structure (50) is provided for suppressing mutual slippage between the linear posture holding surface and the linear posture regulating surface by using a shape of each of the surfaces.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a multi-joint support member and a flat transmission device that protect and guide flexible cables. [Background technology]

[0002] Articulated support members and flat transmission devices are known that protect and guide flexible cables that supply power, fluid, air, etc. to moving machines or moving parts of machines, such as machine tools and electronic devices (for example, Patent Document 1).

[0003] The articulated support member is a long member made up of multiple link members (also called block bodies) arranged in series and connected so that adjacent link members can rotate freely. The articulated support member can rotate in one direction intersecting the longitudinal direction and bend within a set bending radius, but bending in the other direction opposite to the one direction is restricted.

[0004] Hereinafter, in this specification, the direction in which bending is possible will be referred to as the bending direction, and the direction in which bending itself is restricted will be referred to as the anti-bending direction. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 4749494 specification Summary of the Invention [Problem to be solved by the invention]

[0006] Figure 16 is a cross-sectional view showing a main portion of an example of a conventional articulated support member 120. As shown in Figure 16, a link member 121 constituting the articulated support member 120 has an extension portion 123 in front of a base portion 122, and a recessed portion 124 is provided at the rear of the base portion 122. The extension portion 123 is formed to be thinner than the base portion 122, and the recessed portion 124 is formed so that the extension portion 123 of the link member 121 located at the rear can be fitted into it. Two adjacent link members 121 are rotatably connected by a connecting shaft 125, with the extension portion 123 of the link member 121 located at the rear fitted into the recessed portion 124 of the link member 121 located at the front.

[0007] A straight-line posture maintaining surface 1231 is formed on the surface of the tip of the extension portion 123 facing the bending direction, and a straight-line posture restricting surface 1241 facing the counter-bending direction is formed inside the recess 124. The straight-line posture maintaining surface 1231 and the straight-line posture restricting surface 1241 position the link members 21 in abutment with each other from the bending direction and the counter-bending direction, and maintain them in a straight state (straight-line posture). The straight-line posture maintaining surface 1231 and the straight-line posture restricting surface 1241 also restrict bending from the straight state in the counter-bending direction.

[0008] The linear posture maintaining surface 1231 of the rear link member 121 abuts against the linear posture restricting surface 1241 of the front link member 121, thereby maintaining the adjacent link members 121 in a linear state and restricting bending in the opposite bending direction. As shown in Fig. 16, in a conventional link member 121, the linear posture maintaining surface 1231 and the linear posture restricting surface 1241 are formed in a linear state and parallel to the straight line direction.

[0009] 16, the rear link member 121 rotates in the bending direction, causing the straight posture maintaining surface 1231 to move away from the straight posture restricting surface 1241, and the rear link member 121 to tilt relative to the front link member 121. When multiple adjacent link members 121 tilt in this manner, the articulated support member 120 bends.

[0010] In the articulated support member 120, the linearly arranged portion that is arranged in a substantially straight state in the air supports the load of cables in that state, and so there is a possibility that it may bend due to load or aging. When bending occurs, the center of the linearly arranged portion bends, like a beam supported at both ends.

[0011] Figure 17 is a cross-sectional view showing the main parts when bending occurs in the linearly arranged portion of a conventional articulated support member 120. As shown in Figure 17, when bending occurs in the linearly arranged portion, the direction of the line tilts downward, and a force is applied between adjacent link members 121, as indicated by arrow F, in a direction that moves the link member 121 located on the lower side of the tilt away from the link member located on the upper side of the tilt.

[0012] In the conventional articulated support member 120, the linear posture maintaining surface 1231 and the linear posture restricting surface 1241 are formed in a linear state parallel to the direction of the line. Therefore, the contact surfaces of the linear posture maintaining surface 1231 and the linear posture restricting surface 1241 are also inclined in the same direction, and there is no resistance in terms of shape, which makes it easy for the linear posture maintaining surface 1231 and the linear posture restricting surface 1241 to slip between each other. As a result, the load on the connecting shaft 125 increases, and measures such as increasing the strength of the connecting shaft 125 are necessary.

[0013] An object of one aspect of the present invention is to provide a multi-joint support member and a flat transmission device that can suppress the load on the connecting shaft even if deflection occurs in the linearly arranged portion. [Means for solving the problem]

[0014] In order to solve the above problems, one aspect of the present invention provides a multi-joint support member that is a long, rotatable multi-joint support member in which a plurality of link members are arranged in series and adjacent link members are connected to each other by connecting shafts, and the multi-joint support member is capable of bending in one direction in a direction intersecting the longitudinal direction, but is restricted from bending in the other direction opposite the one direction, thereby maintaining a straight posture, and each of the plurality of link members has a straight posture maintaining surface facing the one direction formed on one end side of the longitudinal direction, and a straight posture restricting surface facing the other direction, on the other end side of the longitudinal direction, which abuts against the straight posture maintaining surface of an adjacent link member and restricts bending in the other direction, and the straight posture maintaining surface and the straight posture restricting surface are provided with a slippage suppression structure that suppresses slippage between the straight posture maintaining surface and the straight posture restricting surface by the shape of each surface.

[0015] According to the above configuration, even if the linear arrangement portion is bent, the geometric resistance of the slippage prevention structure prevents slippage between the linear posture maintaining surface and the linear posture restricting surface, thereby suppressing the load on the connecting shaft even if the linear arrangement portion is bent.

[0016] The articulated support member of aspect 2 of the present invention may be configured such that, in aspect 1, the anti-slip structure has a first inclined shape of the linear posture maintaining surface that is inclined in one direction toward the one end side, and a second inclined shape of the linear posture regulating surface that is inclined in the other direction toward the other end side.

[0017] According to the above configuration, the first inclined shape and the second inclined shape are inclined in a direction that resists the direction of slippage between the linear posture maintaining surface and the linear posture restricting surface, thereby making it possible to resist a force that would pull the link members apart due to bending occurring in the linear arrangement portion.

[0018] A power transmission mechanism according to aspect 3 of the present invention may be such that, in aspect 2, the linear posture maintaining surface further has at least one concave shape recessed toward the other direction side, and the linear posture regulating surface further has at least one convex shape convex toward the other direction side and engaging with the concave shape.

[0019] According to the above configuration, the engagement of the concave and convex shapes in addition to the first and second inclined shapes can also resist a force in a direction that pulls the link members apart, which is caused by bending occurring in the linear arrangement portion.

[0020] A multi-joint support member according to aspect 4 of the present invention may be configured such that, in aspect 1, the anti-slip structure comprises at least one concave shape on the linear posture maintaining surface that is recessed toward the other direction, and at least one convex shape on the linear posture regulating surface that is convex toward the other direction and engages with the concave shape.

[0021] According to the above configuration, the engagement between the concave and convex shapes makes it possible to resist a force in a direction that pulls the link members apart, which is caused by bending that occurs in the linear arrangement portion.

[0022] A flat transmission device according to aspect 4 of the present invention comprises a strip-shaped portion in which a plurality of cables or hoses are arranged in parallel and connected to each other, and a multi-joint support member according to any one of aspects 1 to 4, wherein the strip-shaped portion is supported by the multi-joint support member.

[0023] According to the above configuration, by providing a multi-joint support member that can suppress the load on the connecting shaft even if deflection occurs in the linearly arranged portion, durability can be improved. [Effects of the Invention]

[0024] According to one aspect of the present invention, it is possible to provide a multi-joint support member and a flat transmission device that can suppress the load on the connecting shaft even if deflection occurs in the linearly arranged portion. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a schematic side view showing an example of equipment including a flat cable having an articulated support member according to a first embodiment of the present invention. [Figure 2] 2 is a perspective view showing the flat cable shown in FIG. 1 in a partially cutaway state. [Figure 3] 1 is a perspective view showing an articulated support member according to a first embodiment of the present invention. [Figure 4] 4 is a partial side view, partly in section, showing the articulated support member of FIG. 3 in a linearly extended state. [Figure 5] 4 is a partial side view, partly in section, showing the articulated support member of FIG. 3 in its most bent state. [Figure 6] 4 is a side view of a link member that constitutes the articulated support member shown in FIG. 3. FIG. [Figure 7] 7 is a perspective view of the link member shown in FIG. 6, seen from diagonally above the front. [Figure 8] 7 is a perspective view of the link member shown in FIG. 6, seen from diagonally above the rear. [Figure 9] 4 is a cross-sectional view of a main part showing a slip prevention structure in the multi-joint support member shown in FIG. 3. FIG. [Figure 10] 4 is a cross-sectional view showing a main part of the articulated support member shown in FIG. 3 when a deflection occurs in a linearly arranged portion. [Figure 11] FIG. 10 is a partial side view of a multi-joint support member according to a second embodiment of the present invention. [Figure 12] Fig. 10 is a partial side view showing a modified example of the multi-joint support member according to Embodiment 2 of the present invention.Fig. 11 is a cross-sectional view of a main part showing the slip prevention structure in the joint support member. [Figure 13] FIG. 10 is a partial side view of a multi-joint support member according to a third embodiment of the present invention. [Figure 14] FIG. 10 is a partial side view showing a modified example of the articulated support member according to the third embodiment of the present invention. [Figure 15] FIG. 10 is a perspective view of a link member that constitutes a multi-joint support member according to a fourth embodiment of the present invention. [Figure 16] FIG. 10 is a cross-sectional view showing a main part of an example of a conventional articulated support member. [Figure 17] 10 is a cross-sectional view showing a main part of a conventional articulated support member when deflection occurs in a linearly arranged portion. DETAILED DESCRIPTION OF THE INVENTION

[0026] [Embodiment 1] Hereinafter, an embodiment of the present invention will be described in detail. In this embodiment, a flat cable including a cable is exemplified as a flat transmission device, but the flat transmission device may be a hose instead of a cable.

[0027] (flat cable) Fig. 1 is a schematic side view showing an example of equipment including a flat cable 11 having an articulated support member 20 of embodiment 1. As shown in Fig. 1, the flat cable (flat transmission device) 11 is used to supply power from a power source (not shown) within the main body of the equipment 100 to a mobile body 101 that is movably provided in the equipment 100, for example.

[0028] A portion of flat cable 11 near one end (fixed end) is held by clamp member 12, and a portion of flat cable 11 near the other end (moving end) is held by clamp member 13. Clamp member 12, which serves as the fixed end, is fixed to a predetermined location on mounting surface 102 in facility 100, which is approximately parallel to the movement path of moving body 101. Clamp member 13, which serves as the moving end, is fixed to moving body 101.

[0029] The flat cable 11 has a flexible, flat band-like portion 14. Adjacent cables 16 are connected to each other in the band-like portion 14 while being arranged in parallel. Portions of the cables 16 near both ends are held by the clamp members 12 and 13.

[0030] Between clamp member 12, which is the fixed end, and clamp member 13, which is the moving end, strip-shaped portion 14 extends from the fixed end to the opposite side of the moving end in the moving direction of movable body 101, and then forms semicircular arc-shaped curved portion 15, reversing the extending direction. From curved portion 15 to the moving end, strip-shaped portion 14 is disposed in a state of extending almost straight in the air.

[0031] Fig. 2 is a perspective view showing a part of the flat cable 11 in a cutaway state. As shown in Fig. 2, the strip portion 14 includes a plurality of cables 16 as an example of transmission members, and a pair of support portions 17 arranged on both sides of the plurality of cables 16 in a width direction perpendicular to the extension direction of the cables 16. The cables 16 are capable of transmitting at least one of power and signals.

[0032] The support portion 17 is provided to provide a certain degree of rigidity to the belt-like portion 14 while maintaining the shape of the belt-like portion 14. The support portion 17 has a tubular portion 18 and an articulated support member 20 inserted into the tubular portion 18. The pair of tubular portions 18 are integrally connected to the covering member 16a of the adjacent cable 16. The articulated support member 20 supports the belt-like portion 14.

[0033] The part of the flat cable 11 suspended in the air between the curved portion 15 and the moving end is subjected to a force in the hanging direction due to gravity (its own weight, load). At this time, the bending of this part of the flat cable 11 in the hanging direction is restricted by the articulated support member 20 of the support portion 17.

[0034] (articulated support member) Fig. 3 is a perspective view showing the articulated support member 20. Fig. 4 is a partial cross-sectional side view showing the articulated support member 20 in a linearly extended state. Fig. 5 is a partial cross-sectional side view showing the articulated support member 20 in a most bent state.

[0035] 3, the multi-joint support member 20 is formed into a long shape by connecting a plurality of link members 21 arranged in series so that they can rotate freely via connecting shafts 25. The plurality of link members 21 are connected so that adjacent ends in the series can rotate freely via connecting shafts 25. The multi-joint support member 20 can bend in one direction in a direction intersecting the longitudinal direction, but is restricted from bending in the other direction opposite to the one direction, so that it assumes a straight posture.

[0036] Specifically, as shown in Fig. 5, the articulated support member 20 is configured to be bendable in one direction (toward the inside of the curved shape in Fig. 3) in a direction that intersects with the longitudinal direction of the articulated support member 20 and intersects with the axial direction of the connecting shaft 25 of the link member 21. The bendable range is restricted to a range up to a set bending radius R. The direction toward the inside of the curved shape in Fig. 3, or the downward direction in Fig. 4, is the bending direction. The bent state is also referred to as the bent posture.

[0037] Furthermore, as shown in Figure 4, bending of the articulated support member 20 from a straight line in the other direction opposite to the one direction (the direction toward the outside of the curved shape in Figure 3) is restricted. The direction toward the outside of the curved shape in Figure 3, or the upward direction in Figure 4, is the anti-bending direction. The straight-line posture is also referred to as a straight-line posture.

[0038] Fig. 6 is a side view of link member 21. Fig. 7 is a perspective view of link member 21 as seen from diagonally above the front. Fig. 8 is a perspective view of link member 21 as seen from diagonally above the rear. For ease of explanation, the side of link member 21 on which extension portion 23 described later is located will be referred to as the front, the opposite side as the rear, the surface side on which recessed portion 24 described later is recessed will be referred to as the top, and the opposite side as the bottom. The upward direction corresponds to the anti-bending direction described above, and the downward direction corresponds to the bending direction.

[0039] As shown in Figures 6 to 8, the link member 21 has a shape that is long in the same direction as the longitudinal direction of the articulated support member 20. In other words, the link member 21 has a shape that is long in the front-to-rear direction. The link member 21 has a base 22, and a plate-shaped extension 23 that is thinner than the base 22 is provided in front of the base 22. A recess 24 is formed in the rear of the base 22, into which the extension 23 of the link member 21 located at the rear is fitted. The rear surface of the base 22 is opened at the recess 24. The recess 24 is recessed from the upper surface side of the base 22.

[0040] The pair of connecting shafts 25 described above protrude from both side surfaces of the extension portion 23. A pair of shaft holes 26 are formed in the portion of the base portion 22 where the recess 24 is formed. The pair of connecting shafts 25 of the rear link member 21 are inserted into the pair of shaft holes 26 of the front link member 21, respectively, so that the two link members 21 lined up in the front and rear are connected in a state where they can rotate around the connecting shafts 25 (see Figures 3 and 4).

[0041] In the configuration of this embodiment, the link members 21 can be easily connected to each other by fitting the extension portion 23 of the link member 21 connected to the rear from above into the recess 24 of the link member 21 located in the front.

[0042] <Bending restriction in the anti-bending direction> Each of the multiple link members 21 has a linear posture maintaining surface 231 formed on the front side (one end side in the longitudinal direction) facing the bending direction (one direction side), and has a linear posture restricting surface 241 formed on the rear side (other end side in the longitudinal direction) of the linear posture maintaining surface 231 facing in the opposite bending direction (other direction side) to abut against the linear posture maintaining surface 231 of the adjacent link member 21 and restrict bending in the opposite bending direction (other direction side).

[0043] Specifically, a straight-line posture maintaining surface 231 is formed on the underside (surface facing the bending direction) of the tip of the extension portion 23. A straight-line posture restricting surface 241 against which the straight-line posture maintaining surface 231 of the link member 21 located at the rear abuts is formed within the recess 24. The straight-line posture maintaining surface 231 and the straight-line posture restricting surface 241 position the link members 21 in abutting contact with each other in the vertical direction (the bending direction and the counter-bending direction) and maintain them in a straight state.

[0044] 4, the articulated support member 20 is maintained in a linear state by the linear posture maintaining surface 231 of the extension portion 23 of each link member 21 abutting against the linear posture restricting surface 241 in the recess 24 of the link member 21 located in front of it. When the linear posture maintaining surface 231 of the link member 21 located in the rear abuts against the linear posture restricting surface 241 of the link member 21 located in the front, adjacent link members 21 are maintained in a linear state relative to each other and bending in the opposite bending direction is restricted.

[0045] <Bending range restriction in bending direction> A bending posture maintaining surface 221 is formed at the lower part of the step between the front end of the base 22 and the extension 23. A bending posture restricting surface 222 is formed at the lower part of the rear end of the link member 21, which is also the rear end of the base 22, against which the bending posture maintaining surface 221 of the link member 21 located at the rear comes into contact.

[0046] 5, the articulated support member 20 rotates on the connecting shaft 25 until the bending posture maintaining surface 221 at the step portion of each link member 21 abuts against the bending posture restricting surface 222 at the rear end of the respective forward link member 21. When the bending posture maintaining surface 221 of the rear link member 21 abuts against the bending posture restricting surface 222 of the forward link member 21, further bending in the bending direction is restricted, and the articulated support member 20 is bent to the maximum extent.

[0047] <Slip prevention structure> In the articulated support member 20, each link member 21 is provided with a slippage prevention structure 50 on the aforementioned linear posture maintaining surface 231 and linear posture regulating surface 241, which maintain the link members 21 in a linear state, to prevent slippage between the linear posture maintaining surface 231 and the linear posture regulating surface 241 by the shape of each surface.

[0048] 9 is a cross-sectional view of a main part of the slip prevention structure 50 in the articulated support member 20 of this embodiment. As shown in Fig. 6 and Fig. 9, in this embodiment, the slip prevention structure 50 includes a first inclined shape 51 that is provided on the linear posture maintaining surface 231 and is inclined in the bending direction (one direction) toward the front side (one end side), and a second inclined shape 52 that is provided on the linear posture restricting surface 241 and is inclined in the opposite bending direction (the other direction) toward the rear side (the other end side).

[0049] Figure 10 is a cross-sectional view showing the main parts of the articulated support member 20 of this embodiment when bending occurs in the linearly arranged portion. As shown in Figure 10, when bending occurs in the linearly arranged portion, the direction of the line tilts downward, and a force indicated by arrow F is applied between adjacent link members 21 in a direction that moves the link member 21 located below the tilt away from the link member located above the tilt.

[0050] As shown in Figures 16 and 17 above, in the conventional articulated support member 120, the linear posture maintaining surface 1231 and the linear posture restricting surface 1241 were formed in a linear state and parallel to the direction of the line, and therefore, due to their shape, they were unable to resist the force in the separating direction indicated by arrow F.

[0051] In contrast, as shown in FIG. 10, the linear posture maintaining surface 231 and the linear posture restricting surface 241 have the first inclined shape 51 and the second inclined shape 52, so that the shapes resist the force in the separating direction indicated by the arrow F.

[0052] In other words, by having first inclined shape 51 and second inclined shape 52, when a force is applied in the direction indicated by arrow F, linear posture maintaining surface 231 of link member 21 located on the lower side of the incline attracts linear posture restricting surface 241 of link member 21 located on the upper side of the incline. This suppresses slippage between linear posture maintaining surface 231 and linear posture restricting surface 241.

[0053] The above-mentioned "resisting in terms of shape" refers to a shape that resists a force in the separating direction, a shape that attracts, a shape that catches, a shape that increases frictional resistance, etc. Any shape may be used as long as it can suppress slippage between the linear posture maintaining surface 231 and the linear posture restricting surface 241.

[0054] In this way, by having the first inclined shape 51 and the second inclined shape 52, deflection occurs in the linearly arranged portion, and even if a force in the direction of pulling apart, as indicated by arrow F, is applied between adjacent link members 21, the shape is able to resist this force, and the load on the connecting shaft 25 can be suppressed.

[0055] 9 and 10 have been used to describe one end of the deflection occurring in the linearly arranged portion, but a force is also applied to the other end of the deflection in a direction that moves the link member 21 located on the lower side of the slope away from the link member located on the upper side of the slope. While a force directed diagonally downward to the right, as indicated by arrow F, is applied to the one end of the deflection shown in FIGS. 9 and 10, a force directed diagonally downward to the left is applied to the other end of the deflection. At the other end of the deflection, a force acts that causes the linear posture restricting surface 241 of the link member 21 located on the lower side of the slope (the link member 21 located in the front) to slide against the linear posture maintaining surface 231 of the link member 21 located on the upper side of the slope (the link member 21 located in the rear).

[0056] Also at the other end of the flexure, the linear posture maintaining surface 231 and the linear posture restricting surface 241 have the first inclined shape 51 and the second inclined shape 52, so that the linear posture restricting surface 241 of the link member 21 located on the lower side of the incline attracts the linear posture maintaining surface 231 of the link member 21 located on the upper side of the incline. As a result, similar to the one end of the flexure, slippage between the linear posture maintaining surface 231 and the linear posture restricting surface 241 is suppressed also at the other end of the flexure.

[0057] [Embodiment 2] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0058] Figure 11 is a partial side view of a multi-joint support member 20A of embodiment 2. As shown in Figure 11, in this embodiment, the multi-joint support member 20A includes a link member 21A instead of the link member 21. The link member 21A includes an anti-slip structure 50A instead of the anti-slip structure 50.

[0059] In addition to the first inclined shape 51 and the second inclined shape 52 described above, the slip prevention structure 50A also has a concave shape 53 and a convex shape 54 formed on the linear posture maintaining surface 231 and the linear posture restricting surface 241. The concave shape 53 is recessed toward the counter-bending direction side (the other direction side) on the linear posture maintaining surface 231. The convex shape 54 is convex toward the counter-bending direction side (the other direction side) on the linear posture restricting surface 241 and engages with the concave shape 53. It is sufficient that at least one concave shape 53 and one convex shape 54 are formed.

[0060] The concave shapes 53 and the convex shapes 54 may have a rectangular cross section as shown in Fig. 11, or may have a V-shaped cross section as shown by reference numeral 1201 in Fig. 12. Furthermore, as shown by reference numeral 1202 in Fig. 12, flat surfaces may be provided between the multiple concave shapes 53 and between the multiple convex shapes 54. Fig. 12 is a partial side view showing a modified example of the articulated support member 20A of the second embodiment.

[0061] [Embodiment 3] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0062] Figure 13 is a partial side view of the multi-joint support member 20B of embodiment 3. As shown in Figure 13, in this embodiment, the multi-joint support member 20B includes a link member 21B instead of the link member 21. The link member 21B includes an anti-slip structure 50B instead of the anti-slip structure 50.

[0063] As shown in FIG. 13 , in this embodiment, the linear posture maintaining surface 231 and the linear posture restricting surface 241 are formed in a straight line and parallel to the direction of the line. The slippage suppression structure 50B includes a concave shape 53 and a convex shape 54 formed on the linear posture maintaining surface 231 and the linear posture restricting surface 241 that are formed in parallel in this way. The concave shape 53 is recessed toward the counter-bending direction side (the other direction side) on the linear posture maintaining surface 231. The convex shape 54 is convex toward the counter-bending direction side (the other direction side) on the linear posture restricting surface 241 and engages with the concave shape 53. It is sufficient that at least one concave shape 53 and one convex shape 54 are formed.

[0064] The concave shapes 53 and the convex shapes 54 may have a rectangular cross section as shown in Fig. 13, or may have a V-shaped cross section as shown by reference numeral 1401 in Fig. 14. Furthermore, as shown by reference numeral 1402 in Fig. 14, flat surfaces may be provided between the multiple concave shapes 53 and between the multiple convex shapes 54. Fig. 14 is a partial side view showing a modified example of the articulated support member 20B of the third embodiment.

[0065] [Embodiment 4] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0066] 15 is a perspective view of a link member 31 that constitutes the articulated support member of embodiment 4. Similar to link member 21, link member 31 has a long shape in the front-to-rear direction, and multiple link members 31 are arranged in series and rotatably connected by connecting shafts to constitute a long articulated support member. Link member 31 does not have the above-mentioned connecting shaft 25, and the connecting shaft is a separate member from link member 31.

[0067] The link member 31 has a base 32, and a plurality of (three in this example) plate-like extending portions 33 that are thinner than the base 32 are provided in the front (one end) of the base 32. In place of the recess 24 described above, a fitting receiving portion 34 is formed in the rear of the base 32, into which the extending portions 33 of the link member 31 arranged at the rear are fitted. Three fitting receiving portions 34 are provided corresponding to the three extending portions 33.

[0068] The three extension portions 33 have axial holes 36 formed therein for connection with the link member 31 arranged in front, and the fitting receiving portion 34 has axial holes 35 formed therein for connection with the link member 31 arranged in the rear.

[0069] The three extension portions 33 of the rear link member 31 are inserted into the three fitting receiving portions 34 of the front link member 31. In this state, the shaft holes 36 and 35 are aligned in a side view, and a connecting shaft (not shown) is inserted, connecting the two link members 31 in a state where they can rotate around the connecting shaft.

[0070] A linear posture maintaining surface 231 is formed on the lower surface (surface facing the bending direction) of the tip of the extension portion 33. A linear posture restricting surface 241 is formed inside the fitting receiving portion 34, against which the linear posture maintaining surface 231 of the link member 31 located at the rear abuts.

[0071] The slip prevention structures 50 to 50B described in the above-described first to third embodiments can also be applied to the link member 31 having such a configuration. In the example of Fig. 15, the slip prevention structure 50 is applied.

[0072] In a configuration in which there are multiple sets of extension portions 33 and fitting receiving portions 34, as in the case of link member 31, it is sufficient to apply slip prevention structures 50 to 50B to at least one of the sets.

[0073] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0074] 11 Flat cable (flat transmission device) 14 Belt 15 Curved section 16 Cable 20, 20A, 20B Multi-joint support member 21, 21A, 21B, 31 Link members 22, 32 base 23, 33 extension part 24 recess 25 Connecting shaft 26, 35, 36 shaft holes 50, 50A, 50B Anti-slip structure 51 First inclined shape (anti-slip structure) 52 Second inclined shape (anti-slip structure) 53 Concave shape (anti-slip structure) 54 Convex shape (anti-slip structure) 241 Straight posture control surface 231 Linear posture maintenance surface

Claims

1. A long, articulated support member in which a plurality of link members are arranged in series and adjacent link members are rotatably connected to each other by connecting shafts, and which can be bent in one direction in a direction intersecting the longitudinal direction, but is restricted from being bent in another direction opposite to the one direction, and which maintains a straight posture, each of the plurality of link members has a linear posture maintaining surface formed on one end side in the longitudinal direction and facing the one direction, and a linear posture restricting surface facing the other direction, which is located on the other end side of the linear posture maintaining surface and abuts against the linear posture maintaining surface of an adjacent link member to restrict bending in the other direction, A multi-joint support member in which the linear posture maintaining surface and the linear posture regulating surface are provided with a slip prevention structure that suppresses mutual slippage between the linear posture maintaining surface and the linear posture regulating surface by the shape of each surface.

2. The slip prevention structure is a first inclined shape inclined toward the one direction toward the one end side, the first inclined shape being included in the linear posture maintaining surface; The articulated support member according to claim 1 , further comprising: a second inclined shape inclined toward the other end side of the linear attitude restriction surface.

3. the linear attitude maintaining surface further has at least one concave shape recessed toward the other direction, The articulated support member according to claim 2 , wherein the linear attitude restriction surface is convex toward the other direction and further has at least one convex shape that engages with the concave shape.

4. The slip prevention structure is At least one recessed shape recessed toward the other direction side, the recessed shape being included in the linear attitude maintaining surface; The articulated support member according to claim 1 , further comprising at least one convex shape that is convex toward the other direction and engages with the concave shape, the linear attitude restriction surface having such a shape.

5. a belt-shaped portion in which a plurality of cables or hoses are arranged in parallel and connected to each other; The articulated support member according to any one of claims 1 to 4, A flat transmission device in which the band-shaped portion is supported by the articulated support member.

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