Wire guides and electrical equipment

Abstract

To provide a wire guide that can suppress adverse effects on the movement of the wire. [Solution] The wire guide of this disclosure includes spheres arranged in a bead-like fashion to cover an outer tube that covers a wire passed through a first fixed end and a second fixed end between the first fixed end and the second fixed end, and when the wire deforms, the bead-like spheres follow the deformation of the outer tube accompanying the deformation of the wire while restraining the outer surface of the outer tube.

Description

Technical Field

[0001] The present disclosure relates to a wire guide and an electrical device.

Background Art

[0002] For example, a wire, which is a representative example of a wire material, is covered and protected by an outer tube. At this time, the outer tube is generally formed of a flexible material so as to follow the deformation of the wire.

[0003] Incidentally, Patent Document 1 discloses an electric curtain device that opens and closes a curtain by feeding out or pulling in a wire by a driving unit. Such an electric curtain device covers the wire with spherical bodies arranged in a bead shape, and moves the spherical bodies along a moving groove of a spherical body movement path, so that the curtain can be smoothly opened and closed by the followability of the spherical bodies even at a position along a curve having a curvature.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When the outer tube follows the deformation of the wire, the outer tube may be crushed, stretched, or deformed. In that case, the outer tube has an adverse effect on the movement of the wire.

[0006] One of the objectives that the embodiments disclosed herein aim to achieve is to provide wire guides and electrical equipment that contribute to solving the aforementioned problem. It should be noted that this objective is only one of several objectives that the embodiments disclosed herein aim to achieve. Other objectives or problems and novel features will be revealed in this specification or in the accompanying drawings. [Means for solving the problem]

[0007] A wire guide according to one embodiment of the present disclosure comprises spheres arranged in a bead-like fashion to cover an outer tube that covers a wire passed through a first fixed end and a second fixed end between the first fixed end and the second fixed end, When the wire deforms, the spheres arranged in a bead-like pattern follow the deformation of the outer tube caused by the deformation of the wire, while restraining the outer surface of the outer tube.

[0008] An electrical device relating to one embodiment of this disclosure includes the wire guide described above. [Effects of the Invention]

[0009] According to this disclosure, it is possible to provide a wire guide and electrical equipment that can suppress adverse effects on the movement of wires. [Brief explanation of the drawing]

[0010] [Figure 1] This perspective view shows an example of a robot hand to which the wire guide of this disclosure is applied, with the thumb adducted at the carpal tunnel joint. [Figure 2] This is a perspective view showing an example of a robot hand to which the wire guide of this disclosure is applied, with the thumb abducted at the carpal tunnel joint. [Figure 3] This is a perspective view showing an example configuration of the wire, outer tube, and wire guide of the wire traction drive mechanism of the present disclosure. [Figure 4] This is a partial cross-sectional view showing an example of the configuration of the outer tube and wire guide of the wire traction drive mechanism of the present disclosure. [Figure 5]This figure illustrates how the wire guide of the wire traction drive mechanism of the present disclosure rotates in accordance with the deformation of the wire. [Figure 6] This is a perspective view illustrating how the wire guide of the wire traction drive mechanism of this disclosure rotates in accordance with the deformation of the wire. [Figure 7] This is a cross-sectional view illustrating a portion of the wire, outer tube, and wire guide of the wire traction drive mechanism of the present disclosure, in a state where the wire is arranged in a straight line. [Figure 8] This is a cross-sectional view illustrating a portion of the wire, outer tube, and wire guide of the wire traction drive mechanism of the present disclosure when the wire is in a curved state. [Modes for carrying out the invention]

[0011] The best mode for implementing this disclosure will be described below with reference to the attached drawings. However, this disclosure is not limited to the following embodiments. Also, for clarity, the following descriptions and drawings have been simplified as appropriate.

[0012] <Embodiment 1> First, an example of the configuration of a robot hand to which the wire guide of this disclosure is applied will be described. Figure 1 is a perspective view showing an example of a robot hand to which the wire guide of this disclosure is applied in a state in which the thumb is adducted at the CM joint. Figure 2 is a perspective view showing an example of a robot hand to which the wire guide of this disclosure is applied in a state in which the thumb is abducted at the CM joint.

[0013] The robot hand 1 is a typical example of an electrical device, and as shown in Figures 1 and 2, for example, the thumb 2a, index finger 2b, middle finger 2c, ring finger 2d, and little finger 2e are configured to be adductible and abductible relative to the palm 2f.

[0014] In this configuration, the thumb 2a of the robot hand 1 is configured to be adductible and abductible relative to the palm 2f by a drive mechanism 3 having a motor at the CM (Carpometacarpal) joint of the thumb 2a, as shown in Figures 1 and 2. The robot hand 1 is fixed to the arm 4.

[0015] Further, the thumb 2a of the robot hand 1 is configured to be able to rotate inward (flex) at the IP (Interphalangeal) joint and the MP (Metacarpo Phalangeal) joint by a wire traction drive mechanism 5, for example, as shown in FIGS. 1 and 2.

[0016] Furthermore, the thumb 2a of the robot hand 1 is configured to be able to rotate outward (extend) at the IP joint and the MP joint by an elastic member such as a spring, for example, as shown in FIGS. 1 and 2. At this time, the MP joint is rotatably fixed to the drive mechanism 3.

[0017] FIG. 3 is a perspective view showing a configuration example of a wire, an outer tube, and a wire guide of the wire traction drive mechanism of the present disclosure. FIG. 4 is a partial cross-sectional view showing a configuration example of the outer tube and the wire guide of the wire traction drive mechanism of the present disclosure.

[0018] The wire traction drive mechanism 5 includes, for example, as shown in FIGS. 3 and 4, a wire 11, an outer tube 12, and a wire guide 13, and the thumb 2a is rotated inward by pulling the wire 11 by a drive mechanism (not shown) having a motor or the like. The wire 11 is, for example, a wire.

[0019] One end of the wire 11 is fixed to the IP joint of the thumb 2a in a state of being passed through a first fixed end 7 fixed to the MP joint of the thumb 2a of the robot hand 1, for example, as shown in FIGS. 1 and

[0020] Thereby, when the wire 11 is pulled by the drive mechanism of the wire traction drive mechanism 5, the thumb 2a of the robot hand 1 rotates inward at the MP joint and the IP joint, and when the wire 11 is fed out by the drive mechanism of the wire traction drive mechanism 5, the thumb 2a of the robot hand 1 rotates outward by the elastic force of the elastic member 6.

[0021] The outer tube 12 covers the wire 11, for example, as shown in Figures 3 and 4. The outer tube 12 is made of a flexible resin, and may be, for example, a Teflon® tube.

[0022] One end of the outer tube 12 is fixed to the first fixed end 7 in the first state where the distance between the first fixed end 7 and the second fixed end 8 is greatest when the thumb 2a of the robot hand 1 rotates at the CM joint. The other end of the outer tube 12 is fixed to the second fixed end 8 in the first state of the thumb 2a of the robot hand 1.

[0023] The wire guide 13 comprises a plurality of spheres 14, as shown in Figures 3 and 4, for example. Each sphere 14 has a through hole 14a with a diameter approximately equal to the outer diameter of the outer tube 12. The spheres 14 have a diameter such that adjacent spheres 14 come into contact in the axial direction of the wire 11 when the outer tube 12 deforms and assumes an unnatural position with a large curvature.

[0024] The spheres 14 are rigid relative to the outer tube 12 so as not to deform when adjacent spheres 14 come into contact in the axial direction of the wire 11, and may be made of, for example, ABS (Acrylonitrile Butadiene Styrene) resin. The spheres 14 are arranged, for example, in close proximity between the first fixed end 7 and the second fixed end 8 of the thumb 2a of the robot hand 1 in the first state.

[0025] Next, a modified example of the outer tube 12 and wire guide 13 in the wire traction drive mechanism 5 of this disclosure will be described when the thumb 2a is abducted at the CM joint from the state in Figure 1 to the state in Figure 2. Figure 5 is a diagram illustrating how the wire guide of the wire traction drive mechanism of this disclosure rotates in accordance with the deformation of the wire.

[0026] Figure 6 is a perspective view illustrating how the wire guide of the wire traction drive mechanism of this disclosure rotates in accordance with the deformation of the wire. When the thumb 2a abducts at the CM joint from the state in Figure 1 to the state in Figure 2, the wire 11 deforms.

[0027] Consequently, the outer tube 12 also deforms, but both ends of the outer tube 12 are fixed to the first fixed end 7 and the second fixed end 8 of the thumb 2a of the robot hand 1 in the first state, respectively.

[0028] Furthermore, the diameter of the through-hole 14a of the sphere 14 is approximately equal to the outer diameter of the outer tube 12, and the sphere 14 is positioned in close contact between the first fixed end 7 and the second fixed end 8 of the thumb 2a of the robot hand 1 in the first state.

[0029] Therefore, the wire guide 13 deforms to follow the changes in the outer tube 12, and the outer surface of the outer tube 12 comes into contact with the through hole 14a of the sphere 14, causing the wire guide 13 to restrain the outer tube 12. Moreover, if the outer tube 12 attempts to assume an unnatural position with a large curvature, the adjacent spheres 14 come into contact with the wire 11 in the axial direction.

[0030] This makes it possible to suppress the outer tube 12 from expanding or bending due to an unnatural posture in the wire guide 13 and robot hand 1 of this disclosure, thereby suppressing adverse effects on the movement of the wire 11.

[0031] Furthermore, the wire guide 13 deforms to guide the outer tube 12 so that the length of the outer tube 12 does not change significantly. At this time, the length of the portion of the wire 11 covered by the outer tube 12 also does not change significantly.

[0032] Therefore, the tension of the wire 11 can be kept approximately constant, and for example, when the thumb 2a of the robot hand 1 is rotated at the CM joint, the amount of rotation at the IP joint and MP joint of the thumb 2a can be maintained.

[0033] Furthermore, since the outer tube 12 is covered by the sphere 14 of the wire guide 13, the outer tube 12 can be protected. In addition, as shown in Figures 5 and 6, the sphere 14 rotates along the spherical surface of the adjacent sphere 14 in the axial direction of the wire 11, causing the wire guide 13 to deform. Therefore, it can follow well the deformation of the outer tube 12 accompanying the deformation of the wire 11 and does not hinder the movement of the first fixed end 7.

[0034] <Embodiment 2> Figure 7 is a cross-sectional view illustrating a portion of the wire, outer tube, and wire guide of the wire traction drive mechanism of the present disclosure when the wire is arranged in a straight line. Figure 8 is a cross-sectional view illustrating a portion of the wire, outer tube, and wire guide of the wire traction drive mechanism of the present disclosure when the wire is curved.

[0035] As shown in Figures 7 and 8, the wire traction drive mechanism 21 of this disclosure has substantially the same configuration as the wire traction drive mechanism 5 of Embodiment 1, but the spherical part 23 of the wire guide 22 is provided with a protruding part 23a, and furthermore, a relay member 24 is arranged between the spherical parts 23.

[0036] The protrusions 23a project radially from the sphere 23, as shown in Figures 7 and 8, for example. The protrusions 23a are arranged continuously or at predetermined intervals around the circumferential direction of the sphere 23. The protrusions 23a are arranged in approximately equal angular ranges on both sides of a great circle that is approximately perpendicular to the wire 11, when the wire 11 is arranged in a straight line.

[0037] As shown in Figures 7 and 8, the intermediate member 24 is substantially cylindrical in shape. The outer diameter of the intermediate member 24 is smaller than the diameter of the sphere 14 and larger than the outer diameter of the outer tube 12. The diameter of the through hole 24a of the intermediate member 24 is also larger than the outer diameter of the outer tube 12. Spherical recesses 24b, having a diameter approximately equal to the diameter of the sphere 23, are formed at both axial ends of the intermediate member 24.

[0038] As shown in Figures 7 and 8, the connecting member 24 is placed between adjacent spheres 23 in the axial direction of the wire 11 while being passed through the outer tube 12. At this time, the spherical recess 24b of the connecting member 24 is in substantially surface contact with the sphere 23.

[0039] In such a wire traction drive mechanism 21, as shown in Figures 7 and 8, when the wire 11 is bent, the relay member 24 moves to the inner side of the bent wire 11, and when the outer tube 12 attempts to assume an unnatural position with a large curvature (i.e., a predetermined curvature), it comes into contact with the protruding portion 23a of the sphere 23.

[0040] In the wire traction drive mechanism 5 of Embodiment 1, when the wire 11 is bent, adjacent spheres 14 come into contact in the axial direction of the wire 11 to prevent the outer tube 12 from being in an unnatural position. However, in such cases, the spheres 14 may deform, causing the outer tube 12 to be in an unnatural position.

[0041] On the other hand, in the wire traction drive mechanism 21 of this disclosure, when the wire 11 is bent, the intermediate member 24 contacts the protruding portion 23a of the adjacent sphere 23 in the axial direction of the wire 11, as shown in Figure 8, without the adjacent spheres 23 in the axial direction of the wire 11 coming into contact. This reliably prevents the outer tube 12 from being in an unnatural position.

[0042] In addition, as shown in Figures 7 and 8, the outer end of the curved wire 11 on the outer circumferential surface of the outer tube 12 contacts the outer end of the curved wire 11 in the through hole 24a of the relay member 24. This allows the outer tube 12 to be restrained not only by the sphere 23 but also by the relay member 24, thereby suppressing expansion of the outer tube 12.

[0043] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0044] For example, in the embodiment described above, the wire guide was applied to the robot hand 1, but the type of electrical equipment to which the wire guide can be applied is not limited. For example, the wire guide can be applied to the cords of vacuum cleaners, lighting devices, and the like.

[0045] For example, in the above-described embodiment, the outer tube and wire guide are arranged over the entire area between the first fixed end 7 and the second fixed end 8, but they may also be arranged over a portion of the area between the first fixed end 7 and the second fixed end 8.

[0046] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features described with reference to any one drawing can be combined with features shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features may be omitted.

[0047] Some or all of the embodiments described above may also be described as follows, but are not limited to these. (Note 1) The device comprises spheres arranged in a bead-like fashion to cover an outer tube that covers a wire passed through a first fixed end and a second fixed end between the first fixed end and the second fixed end, When the wire deforms, the beaded arrangement of spheres acts as a wire guide, following the deformation of the outer tube caused by the deformation of the wire while restraining the outer surface of the outer tube.

[0048] (Note 2) The sphere has a through hole through which the outer tube passes, The wire guide described in Appendix 1, wherein the outer diameter of the outer tube and the diameter of the through-hole in the sphere are equal.

[0049] (Note 3) The wire guide according to Appendix 1 or 2, wherein one end of the outer tube is fixed to the first fixed end in a first state where the first fixed end and the second fixed end are furthest apart, and the other end of the outer tube is fixed to the second fixed end in the first state, and the sphere is positioned in close contact between the first fixed end and the second fixed end in the first state.

[0050] (Note 4) The wire guide according to any one of the appendices 1 to 3, wherein the spheres are rigid with respect to the outer tube so as not to deform when adjacent spheres come into contact in the axial direction of the wire.

[0051] (Note 5) A relay member positioned between the spheres, A protruding portion extending from the sphere, Equipped with, A wire guide according to any one of the appendices 1 to 4, wherein when the wire is bent, the relay member contacts the protruding portion to suppress the bending of the outer tube beyond a predetermined curvature.

[0052] (Note 6) The relay member has a through hole through which the outer tube passes, The wire guide described in Appendix 5, wherein the diameter of the through hole is larger than the outer diameter of the outer tube, such that when the wire is curved with the predetermined curvature, the relay member moves to the inner side of the curved wire, and the outer end of the curved wire in the through hole of the relay member contacts the outer end of the curved wire on the outer surface of the outer tube.

[0053] (Note 7) The outer diameter of the relay member is smaller than the diameter of the sphere and larger than the outer diameter of the outer tube. The wire guide according to Appendix 5 or 6, wherein a spherical recess having a diameter equal to the diameter of the sphere is formed on the surface of the relay member facing the sphere.

[0054] (Note 8) An electrical device equipped with a wire guide as described in any one of the appendices 1 to 7.

[0055] (Note 9) An electrical device as described in Appendix 8, equipped with a wire traction drive mechanism.

[0056] (Note 10) The aforementioned electrical device is a robot hand, The wire pulling drive mechanism is the electrical equipment described in Appendix 9, mounted on the joint of the robot hand. [Explanation of Symbols]

[0057] 1. Robot Hand 5. Wire Traction Drive Mechanism 7 First fixed end 8. Second fixed end 11 Wire rod 12 Outer tube 13 Wire Guide 14 Sphere, 14a Through hole 21 Wire Traction Drive Mechanism 22 Wire Guide 23 sphere, 23a protrusion 24 Intermediate member, 24a Through hole, 24b Spherical recess

Claims

1. The device includes spheres arranged in a bead-like fashion to cover an outer tube that covers a wire passed through a first fixed end and a second fixed end between the first fixed end and the second fixed end, When the wire deforms, the beaded arrangement of spheres acts as a wire guide, following the deformation of the outer tube caused by the deformation of the wire while restraining the outer surface of the outer tube.

2. The sphere has a through hole through which the outer tube passes, The wire guide according to claim 1, wherein the outer diameter of the outer tube and the diameter of the through hole in the sphere are equal.

3. The wire guide according to claim 1 or 2, wherein one end of the outer tube is fixed to the first fixed end in a first state where the first fixed end and the second fixed end are furthest apart, and the other end of the outer tube is fixed to the second fixed end in the first state, and the sphere is positioned in close contact between the first fixed end and the second fixed end in the first state.

4. The wire guide according to claim 1 or 2, wherein the spheres are rigid with respect to the outer tube so as not to deform when adjacent spheres come into contact in the axial direction of the wire.

5. A relay member positioned between the spheres, A protruding portion extending from the sphere, Equipped with, The wire guide according to claim 1 or 2, wherein when the wire is bent, the relay member contacts the protruding portion to suppress the bending of the outer tube beyond a predetermined curvature.

6. The relay member has a through hole through which the outer tube passes, The wire guide according to claim 5, wherein the diameter of the through hole is larger than the outer diameter of the outer tube such that when the wire is curved with the predetermined curvature, the relay member moves to the inner side of the curved wire, and the outer end of the curved wire in the through hole of the relay member contacts the outer end of the curved wire on the outer surface of the outer tube.

7. The outer diameter of the relay member is smaller than the diameter of the sphere and larger than the outer diameter of the outer tube. The wire guide according to claim 5, wherein a spherical recess having a diameter equal to the diameter of the sphere is formed on the surface of the relay member facing the sphere.

8. An electrical device comprising a wire guide as described in claim 1 or 2.

9. The electrical equipment according to claim 8, comprising a wire traction drive mechanism.

10. The aforementioned electrical device is a robot hand, The electrical device according to claim 9, wherein the wire pulling drive mechanism is mounted on the joint of the robot hand.

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