Cable holder for robots

Abstract

To provide a cable holder for a robot arm that can readily hold an object to be held that is disposed along a robot arm so as to increase a degree of freedom in holding an object.SOLUTION: A cable holder for a robot includes: a base 24 fixed to a robot arm; a holder body 26 for holding a cable (object to be held) while being supported to the base 24 via a movable joint 33 so as to be rotatable and capable of being inclined; and a resistance adjustment mechanism 41 for changing a level of resistance when the holder body 26 moves relative to the base 24.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a cable holder for a robot that holds cables along a robot arm.

Background Art

[0002] Robot arms of industrial robots have various tip parts. Examples of the tip parts include air-driven parts, motor-driven parts, cameras, and various sensors. Cables, air hoses, etc. from these tip parts are installed along the robot arm either directly or in a state of being housed in a flexible tube.

[0003] Cables, air hoses, etc. from the tip parts are fixed to the robot arm 5 by fixing structures 1 to 4 as shown in FIGS. 30 to 33 so as to move in conjunction with the operation of the robot arm. The fixing structure 1 shown in FIG. 30 is a structure in which an air hose 6 and a cable 7 are wound and fixed to the robot arm 5 by a binding band 8. The fixing structure 2 shown in FIG. 31 is a structure in which a stay 9 erected on the robot arm 5 and an air hose 6 and a cable 7 are wound and fixed to this stay 9 by a binding band 10. The stay 9 is formed in a shape corresponding to the direction in which the robot arm 5 operates.

[0004] The fixing structure 3 shown in FIG. 32 is a structure in which a rod-shaped spacer 11 with adjustable height erected on the robot arm 5 and an air hose 6 and a cable 7 are wound and fixed to the tip of this spacer 11 by a cable clip 12. The fixing structure 4 shown in FIG. 33 is a structure in which a flexible tube 14 is supported on the robot arm 5 via a cable holder 13. The cable holder 13 includes a base 13a attached to the robot arm 5 and a saddle 13b rotatably supported on this base 13a. The flexible tube 14 is passed through and held by the saddle 13b. The flexible tube 14 is a tube that houses a cable (not shown). [Overview of the project] [Problems that the invention aims to solve]

[0005] In the fixed structure 1 shown in Figure 30, the air hose 6 and cable 7 cannot move in accordance with the robot arm 5, and are subjected to excessive bending or pulling, which can cause disconnection or breakage. Furthermore, if the air hose 6 and cable 7 are given more slack to allow them to follow the robot arm 5 and have a higher degree of freedom of hold, there is a risk that they may get caught on the robot arm 5 when it moves.

[0006] In the fixed structure 2 shown in Figure 31, the stay 9 is made to fit the movement of the robot arm 5, which means that the stay 9 is a one-off item and increases the manufacturing cost. In the fixed structure 3 shown in Figure 32, the spacer 11 must be attached to the robot arm 5 in an upright position, making the installation of the spacer 11 difficult. Furthermore, because general-purpose parts are used in combination, the air hose 6 and cable 7 cannot be easily attached, resulting in a longer installation time. In addition, there is the problem of poor appearance.

[0007] In the fixed structure 4 shown in Figure 33, the saddle 13b is rotatable, making it impossible to fix its position in the rotational direction. This resulted in a lack of flexibility in holding the cable. Furthermore, it was impossible to adjust the cable height, and it was impossible to install anything other than cables and hoses (for example, small equipment such as terminal boxes or amplifiers).

[0008] The objective of the present invention is to provide an inexpensive robotic cable holder that can easily and freely hold an object to be held along a robotic arm. [Means for solving the problem]

[0009] To achieve this objective, the robot cable holder according to the present invention comprises a base fixed to a robot arm, a holder body rotatably and tiltably supported on the base via a movable joint and for holding an object to be held along the robot arm, and a resistance adjustment mechanism that changes the magnitude of the resistance when the holder body moves relative to the base.

[0010] The present invention relates to a robot cable holder in which the movable joint is composed of a ball joint having a spherical body provided on the holder body and a bearing provided on the base that rotatably and tiltably supports the spherical body, and the resistance adjustment mechanism may be configured to include a screw member that provides frictional resistance between itself and the spherical body, and the magnitude of the frictional resistance may be changed by changing the amount the screw member is screwed in.

[0011] The present invention relates to a robot cable holder, wherein the bearing is recessed in the axial center of a male screw provided on the base, the holder body has a shaft portion with a spherical body provided at one end, the screw member is composed of a lock ring that passes through the shaft portion and fits onto the spherical body from the opposite side of the bearing, and a cap that passes through the shaft portion and is screwed onto the male screw in a state where it contacts the lock ring from the opposite side of the bearing, and the cap and the lock ring may be provided with a cam mechanism that pushes the lock ring toward the spherical body when the cap is screwed onto the male screw.

[0012] The present invention relates to a robot cable holder in which the inner diameter of one end of the lock ring in the axial direction is such that the spherical body can be inserted, the inner diameter of the other end of the lock ring in the axial direction is such that the spherical body cannot be inserted, the inner circumference of the lock ring is formed by a concave curved surface that conforms to the outer surface of the spherical body, and notches are formed at positions that divide the lock ring in the circumferential direction into two equal parts, opening to the other end, and the lock ring may be passed over the shaft by inserting the spherical body into the inner circumference of the lock ring in a bent state with the notches as the center so that the notches open, and then returning the bent state to its initial state.

[0013] The present invention relates to a robot cable holder in which the cap has a ring portion located coaxially with the male screw, the ring portion has a number of teeth arranged at predetermined intervals in the circumferential direction, and the base may have an elastic piece that engages with the teeth from the radially outer side of the ring portion.

[0014] The present invention relates to a robot cable holder in which the base has a through hole including a large-diameter portion opening to the bearing and a small-diameter portion opening to the end face on the robot arm side, and may be fixed to the robot arm by a fixing screw that is screwed from the large-diameter portion through the small-diameter portion to the robot arm.

[0015] In the present invention, the robot cable holder has a base having a hole extending in a direction perpendicular to the axis of the robot arm, and the base may be fixed to the robot arm by a cable tie passed through the hole.

[0016] In the present invention, the cable holder for the robot may be composed of a first holder body, one end of which is supported by the base, and a second holder body, the other end of which is attached to the base so as to be able to change the distance between it and the base.

[0017] The present invention relates to a robot cable holder, wherein the holder body may include a C-shaped holding piece with a space formed inside for passing long objects such as cables and hoses, and a holding diameter changing mechanism consisting of a plurality of teeth that interlock with each other and are provided at both ends of the holding piece.

[0018] The present invention relates to a robot cable holder in which one end and the other end of the holding piece are formed to overlap radially, the teeth are provided on the opposing portions of the one end and the other end, a hole is formed in one end that is located radially outward of the two ends, and the teeth provided on the one end and the teeth provided on the other end may be configured such that the meshing state is resolved when the outer end is pushed in the opposite direction to the inner end by a tool inserted into the hole.

[0019] The present invention relates to a cable holder for a robot in which a cylindrical cable-holding bush made of an elastic material is fitted inside the holding piece, and the cable-holding bush may have a hole through which a cable can be inserted.

[0020] In the present invention, the cable holder for the robot may have a component mounting portion on which a housing of a component arranged along the robot arm is attached.

[0021] In the present invention, the cable holder for the robot may have a mounting base to which the object to be held is secured by a cable tie.

[0022] The present invention relates to a robot cable holder, wherein the mounting base has a mounting surface on which the objects to be held are stacked, and a band-hanging portion provided adjacent to the mounting surface on which the cable tie is hung, and the mounting surface may constitute a part of the outer surface of the mounting base in a direction perpendicular to the axial direction of the robot arm.

Advantages of the Invention

[0023] According to the present invention, it is possible to provide, at a low cost, a cable holder for a robot that can easily hold an object to be held arranged along a robot arm and has a high degree of freedom in holding.

Brief Description of the Drawings

[0024] [Figure 1] FIG. 1 is a perspective view showing a usage state of a cable holder for a robot according to a first embodiment. [Figure 2] FIG. 2 is a view showing the cable holder for a robot. [Figure 3] FIG. 3 is a cross-sectional view of the cable holder for a robot. [Figure 4] FIG. 4 is a perspective view of the cable holder for a robot. [Figure 5] FIG. 5 is an exploded perspective view of the cable holder for a robot. [Figure 6] FIG. 6 is a view showing the cable holder for a robot disassembled. [Figure 7] FIG. 7 is a cross-sectional view showing an enlarged main part. [Figure 8] FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 2(A). [Figure 9] FIG. 9 is a view for explaining the movement of the hold part. [Figure 10] FIG. 10 is a perspective view of a cable holder for a robot fixed to a robot arm using a thin single binding band. [Figure 11] FIG. 11 is a perspective view of a cable holder for a robot fixed to a robot arm using a wide binding band. [Figure 12] FIG. 12 is a perspective view of a holder body, a tightening cap, and a lock ring for explaining an attachment procedure of the lock ring. [Figure 13] FIG. 13 is an enlarged perspective view showing a hold piece. [Figure 14] Figure 14 is a perspective view of a robotic cable holder illustrating the procedure for disengaging the first and second teeth. [Figure 15] Figure 15 shows a cable holder for a robot according to a second embodiment. [Figure 16] Figure 16 shows a cable retaining bush. [Figure 17] Figure 17 is a perspective view showing the usage configuration of a cable retaining bush. [Figure 18] Figure 18 is a front view of a robot cable holder according to a third embodiment. [Figure 19] Figure 19 is a cross-sectional view of a robot cable holder according to a third embodiment. [Figure 20] Figure 20 is a cross-sectional view of a robot cable holder according to the fourth embodiment. [Figure 21] Figure 21 is an exploded perspective view showing the base of the robot cable holder according to the fourth embodiment. [Figure 22] Figure 22 is a perspective view showing the usage configuration of the robot cable holder according to the fourth embodiment. [Figure 23] Figure 23 is a perspective view showing the usage configuration of the robot cable holder according to the fourth embodiment. [Figure 24] Figure 24 shows a robot cable holder according to the fifth embodiment. [Figure 25] Figure 25 is a perspective view showing the usage configuration of the robot cable holder according to the fifth embodiment. [Figure 26] Figure 26 shows a robot cable holder according to the sixth embodiment. [Figure 27] Figure 27 shows a modified example of a robot cable holder according to the sixth embodiment. [Figure 28] Figure 28 shows a modified example of a robot cable holder according to the sixth embodiment. [Figure 29]Figure 29 shows a modified example of a robot cable holder according to the sixth embodiment. [Figure 30] Figure 30 is a perspective view showing a conventional fixed structure. [Figure 31] Figure 31 is a perspective view showing a conventional fixed structure. [Figure 32] Figure 32 is a perspective view showing a conventional fixed structure. [Figure 33] Figure 33 is a front view showing a conventional fixed structure. [Modes for carrying out the invention]

[0025] (First Embodiment) Hereinafter, one embodiment of the robot cable holder according to the present invention will be described in detail with reference to Figures 1 to 15. The robot cable holder 21 shown in Figure 1 consists of a base 24 fixed to the robot arm 22 by cable ties 23, and a holder body 26 that holds the object to be held 25, which is positioned along the robot arm 22. The base 24 and the holder body 26, along with each component of the robot cable holder 21 according to this embodiment, are formed from plastic material.

[0026] The robot arm 22 shown in Figure 1 is cylindrical in shape and is rotatably connected at both ends to other robot arms (not shown). The object to be held 25 shown in Figure 1 is a cable or an air hose. The cable is a power supply cable or signal cable for electrical components located at the tip of the robot arm 22. The air hose is for supplying air to an air-driven component located at the tip of the robot arm 22. Although not shown, the object to be held 25 may be a flexible cable with multiple cables running through it.

[0027] As shown in Figure 2(A), the base 24 of the cable holder 21 in this embodiment has a curved bottom surface 24a that is in close contact with the outer surface of the robot arm 22. The base 24 also has a through hole 27 that extends in a direction perpendicular to the axial direction of the robot arm 22 {a direction perpendicular to the plane of the paper in Figure 2(B)}, as shown in Figure 2(B). The opening shape of the through hole 27 is a roughly rectangular shape that is elongated in the axial direction of the robot arm 22 {the left-right direction in Figure 2(B)}.

[0028] On the robot arm 22 side of the through hole 27, a rib 28 consisting of two protrusions is formed on the hole wall, dividing the hole wall into three sections. These ribs 28 are used to determine the position of the cable ties 23 when two ties are passed through both sides of the through hole 27, as shown in Figure 1, or when one cable tie 23 is passed through the center of the through hole 27, as shown in Figure 10. Note that, as shown in Figure 11, cable ties 23 with a width equal to the opening width of the through hole 27 can also be used.

[0029] On the side of the base 24 opposite to the robot arm 22, a male screw 31 and a protruding piece 32 are provided, as shown in Figures 3 and 5. Figure 3 is a cross-sectional view taken along line III-III in Figure 2(B). The male screw 31 extends in a direction perpendicular to the axial direction of the robot arm 22. A bearing 34, which constitutes part of the movable joint 33 described later, is formed at the axial center of the male screw 31. The bearing 34 is recessed in the axial center of the male screw 31, opening at the tip of the male screw 31. The opening shape of the bearing 34 is circular. This bearing 34 has a concave curved surface (34a) made of a spherical surface.

[0030] As shown in Figures 2(A), 4, and 6(B), the protruding piece 32 is provided protruding from one side of the base 24. In this embodiment, the protruding piece 32 is formed in such a shape that a part of the base 24 partially protrudes on the side opposite to the bottom surface 24a. The protruding piece 32 will be described later. As shown in Figures 3, 5, and 6, the holder body 26 includes a spherical body 35 located at one end close to the base 24, a C-shaped holding piece 36 located at the other end opposite the base 24, a connecting shaft 37 located between the spherical body 35 and the holding piece 36, and a holding diameter changing mechanism 38 provided at the end of the holding piece 36. The components of the spherical body 35, the holding piece 36, the connecting shaft 37, and the holding diameter changing mechanism 38 are integrally formed by integral molding.

[0031] The spherical body 35 cooperates with the bearing 34 of the base 24 to form a movable joint 33, and has a protruding curved surface 35a that is part of the spherical surface, and is slidably fitted into the bearing 34 of the base 24. The bearing 34 of the base 24 is configured to support the spherical body 35 so that it can rotate and tilt. The movable joint 33 is composed of a ball joint having the spherical body 35 provided on the holder body 26 and the bearing 34 provided on the base 24. Therefore, the holder body 26 is supported on the base 24 so that it can rotate and tilt via the movable joint 33.

[0032] The robot cable holder 21 according to this embodiment is equipped with a resistance adjustment mechanism 41 (see Figure 7) that changes the magnitude of the resistance when the holder body 26 moves relative to the base 24. The resistance adjustment mechanism 41 includes a screw member 42 that provides frictional resistance between itself and the spherical body 35, and is configured such that the magnitude of the frictional resistance can be changed by changing the amount the screw member 42 is screwed in. The screw member 42 consists of a lock ring 43 that is passed through the connecting shaft 37 of the holder body 26 and fitted onto the spherical body 35 from the side opposite to the bearing 34, and a tightening cap 44 that is passed through the connecting shaft 37 and screwed onto the male screw 31 in contact with the lock ring 43 from the side opposite to the bearing 34.

[0033] The lock ring 43 is formed in an annular shape from a plastic material. As shown in Figure 7(A), the inner diameter D1 of one axial end 43a (the lower end in Figure 7) of the lock ring 43 is a diameter into which the spherical body 35 can be inserted. The inner diameter D2 of the other axial end 43b of the lock ring 43 is a diameter into which the spherical body 35 cannot be inserted. The inner circumference 43c of the lock ring 43 is formed by a concave curved surface that follows the outer surface (protruding curved surface 35a) of the spherical body 35. As shown in Figure 5, notches 45 are formed at positions that divide the lock ring 43 into two equal parts in the circumferential direction. In this embodiment, as shown in Figure 6(A), the notches 45 are formed in a V-shape that opens to the other end 43b as described above when viewed from the radially outer side of the lock ring 43. Furthermore, as shown in Figures 6 and 7(A), a tapered first cam surface 46 is formed on the outer circumference of the other end 43b of the lock ring 43, such that the outer diameter gradually decreases as it moves away from the base 24.

[0034] Here, the procedure for passing the spherical body 35 through the lock ring 43, whose other end has an inner diameter smaller than the outer diameter of the spherical body 35, will be explained with reference to Figures 12(A) to (E). In order to pass the spherical body 35 through the lock ring 43, first, as shown in Figures 12(A) to (B), the lock ring 43 is bent around the notch 45 so that the notch 45 opens. By bending the lock ring 43 in this way, the inner circumference 43c of the lock ring 43 is exposed. Since the inner circumference 43c is formed by a concave curved surface that follows the outer surface (protruding curved surface 35a) of the spherical body 35, as shown in Figure 12(C), by bringing the inner circumference 43c closer to the spherical body 35, the spherical body 35 is inserted into the inner circumference 43c and the spherical body 35 overlaps the inner circumference 43c.

[0035] Next, as shown in Figures 12(D) to (E), by returning the lock ring 43 from its bent state to its initial state, the inner circumference 43c slides along the outer surface (protruding curved surface 35a) of the spherical body 35, and the other end 43b moves towards the connecting shaft 37, so that the lock ring 43 is passed over the shaft. In this way, even though the inner diameter of the other end 43b is smaller than the outer diameter of the spherical body 35, the spherical body 35 can be passed through the lock ring 43.

[0036] The tightening cap 44 is formed in the shape of a nut from a plastic material. As shown in Figure 7(A), a tapered second cam surface 47 is formed on the inner circumference of the tightening cap 44, which is inclined similarly to the first cam surface 46 of the lock ring 43. These first and second cam surfaces 46 and 47 come into contact with each other as shown in Figure 7(B) during the process of screwing the tightening cap 44 onto the male screw 31. As the tightening cap 44 is further screwed in while the first and second cam surfaces 46 and 47 are in contact with each other, the lock ring 43 is pressed more firmly against the spherical body 35 by the tightening cap 44, and the frictional resistance between the lock ring 43 and the spherical body 35 increases. In this embodiment, the first cam surface 46 and the second cam surface 47 correspond to the "cam mechanism" as defined in the present invention.

[0037] As shown in Figures 4 and 5, a ring portion 48 is provided at the end of the fastening cap 44 adjacent to the base 24, and is located coaxially with the male screw 31. As shown in Figure 8, the ring portion 48 has a number of teeth 48a arranged at predetermined intervals in the circumferential direction. The protrusions 32 of the base 24 described above engage with these teeth 48a from the radially outer side of the ring portion 48. As shown in Figure 6(B), the protrusions 32 have a vertical portion 32a erected on the base 24 and a contact portion 32b extending from the tip of the vertical portion 32a toward the male screw 31. The tip of the contact portion 32b engages with the teeth 48a of the ring portion 48.

[0038] The protrusion 32 is formed to be elastically deformable so that it can overcome the teeth 48a when the tightening cap 44 rotates. In this embodiment, the protrusion 32 corresponds to the "elastic piece" as defined in the present invention. In this way, the protrusion 32 engages with the teeth 48a of the ring portion 48, so that the protrusion 32 must overcome the teeth 48a in order for the tightening cap 44 to rotate. Therefore, even when the tightening cap 44 is loosened, the rotation of the tightening cap 44 can be restricted by the protrusion 32.

[0039] As shown in Figure 3, the holding piece 36 of the holder body 26 is formed in a C-shape in cross-section so as to surround a space 51 large enough to allow long objects, including cables and air hoses (not shown), to pass through. This holding piece 36 is formed in a shape like a rolled-up strip of metal to be flexible so that an operator (not shown) can easily spread it open with their fingers.

[0040] The one end 36a and the other end 36b of the holding piece 36 are formed to overlap in the radial direction of the holding piece 36. In this embodiment, in the radial direction of the holding piece 36, the other end 36b is located outside the one end 36a. In this embodiment, the holding piece 36 is connected to the connecting shaft 37 such that one end 36a and the other end 36b are far apart from the axis C1 of the connecting shaft 37. The length of the first main body portion 36c between the connecting shaft 37 and the one end 36a of the holding piece 36 is longer than the length of the second main body portion 36d between the connecting shaft 37 and the other end 36b of the holding piece 36. By adopting this configuration, the first main body portion 36c becomes more flexible than the second main body portion 36d, making it easier to widen the space between the one end 36a and the other end 36b and insert the object to be held 25.

[0041] The holding diameter changing mechanism 38 provided on the holding piece 36 consists of a plurality of first teeth 52 provided on one end 36a of the holding piece 36 so as to be aligned in the circumferential direction of the holding piece 36, and a plurality of second teeth 53 provided on the other end 36b of the holding piece 36 so as to be aligned in the circumferential direction of the holding piece 36. The first teeth 52 and the second teeth 53 are provided so as to mesh with each other on the opposing portions of the one end 36a and the other end 36b of the holding piece 36. The first teeth 52 are formed in two rows on the outer side (radially outward of the C-shaped cross-section of the hold piece 36) of the curved plate-like end 36a {see Figure 9(E)} of the hold piece 36, as shown in Figure 9(B).

[0042] As shown in Figure 13, the other end 36b of the holding piece 36 is formed by two claw pieces 54, 54 that overlap from the outside with the first teeth 52 which are formed in two rows, a tip-side connecting piece 55 that connects the tip portions of these claw pieces 54 to each other, and a base-side connecting piece 56 that connects the base portions of the two claw pieces 54 to each other. A second tooth 53 is formed on the inner side of the two claw pieces 54 (radially inward of the holding piece 36, which has a C-shaped cross-section).

[0043] The leading end connecting piece 55 is formed in a columnar shape that extends in the axial direction of the holding piece 36 (in Figure 3, in the direction perpendicular to the plane of the paper). The base-side connecting piece 56 extends parallel to the tip-side connecting piece 55 and extends radially inward from the base end of the claw piece 54 to connect to the second main body portion 36d of the holding piece 36. As shown in Figure 14(A), a hole 57 is formed at the other end 36b that is exposed when the first tooth 52 and the second tooth 53 are engaged.

[0044] The first tooth 52 and the second tooth 53 are each formed in a serrated shape so that they interlock with each other. The first tooth 52 and the second tooth 53 are configured such that one tooth can easily overcome the other tooth in the direction in which the diameter of the holding piece 36 decreases, but the engagement between the teeth is maintained in the opposite direction.

[0045] As shown in Figure 3, the holding piece 36 has a first plate-like piece 58 on the outside of one end 36a and a second plate-like piece 59 on the inside of the other end 36b. As shown in Figure 13, the first plate-like piece 58 is composed of a pair of curved plate pieces 58a, 58a that overlap the two claw pieces 54 from the outside, and a one-end connecting piece 58b that connects the base ends of these plate pieces 58a. By overlapping the claw pieces 54 with the pair of plate pieces 58a, the plate pieces 58a can prevent the claw pieces 54 from being unnecessarily displaced outwards. As shown in Figure 9(E), the second plate-like piece 59 is formed in a curved plate shape and is designed so that one end 36a can be inserted between it and the claw piece 54. This second plate-like piece 59 is intended to press the object to be held 25 in cooperation with the one end 36a.

[0046] Here, the procedure for holding an object to be held 25, such as a cable or air hose, using the holding piece 36 will be explained. In order to hold a cable or air hose, first, one end 36a of the holding piece 36 is detached from the other end 36b to release the holding piece 36. When one end 36a is connected to the other end 36b, that is, when the first tooth 52 and the second tooth 53 are engaged, one end 36a of the holding piece 36 will overlap with the tip-side connecting piece 55 of the other end 36b, as shown in Figure 14(A).

[0047] To detach one end 36a from the other end 36b from this connected state, a tool 60 is inserted into the hole 57 of the other end 36b, as shown in Figure 14(B). This tool 60 is formed in a plate shape with a thin tip, like the tip of a flathead screwdriver. The tool 60 is inserted into the boundary A {see Figure 14(A)} between the one end 36a and the tip-side connecting piece 55. By inserting the tool 60 into boundary A and tilting the tool 60 as shown by the arrow in Figure 14(C), the tip-side connecting piece 55 is pushed in the opposite direction to the one end 36a, creating a gap between the one end 36a and the tip-side connecting piece 55, causing them to separate from each other. The one end 36a is provided with a first tooth 52, and the other end 36b, which has the tip-side connecting piece 55, is provided with a second tooth 53. As a result, a gap is created between the end portion 36a and the tip-side connecting piece 55, which disengages the engagement between the first tooth 52 and the second tooth 53. With the engagement between the first and second teeth 52 and 53 disengaged, the spring force of the first main body portion 36c of the holding piece 36 causes the end portion 36a to separate from the other end portion 36b.

[0048] In order to hold the object to be held 25 with the holding piece 36, although not shown in the figure, the gap between one end 36a and the other end 36b is widened and the object to be held 25 is inserted into the gap. Then, one end 36a is connected to the other end 36b, and as shown by the arrow in Figure 3, the one-end connecting piece 58b of the first plate-shaped piece 58 of the holding piece 36 and the base-end connecting piece 56 of the other end 36b are pressed together, for example by pinching them with fingers (not shown), to reduce the diameter of the holding piece 36 and securely fasten the object to be held 25 with the holding piece 36. At this time, the first teeth 52 and the second teeth 53 will mesh with a number of teeth corresponding to the diameter of the holding piece 36. By meshing the first teeth 52 and the second teeth 53 in this way, the object to be held 25 is secured to the holding piece 36 and held in the holder body 26.

[0049] In the robot cable holder 21 configured in this way, the holder body 26 becomes movable relative to the base 24 by loosening the tightening cap 44. In this state, the holder body 26 can rotate and tilt relative to the base 24, as shown in Figures 9(A) to (F), for example. Figures 9(A) and 9(B) are a front view and a perspective view showing the holder body 26 rotated by a predetermined angle of rotation around the axis C2 of the male screw 31. The holder body 26 can be freely rotated around the axis C2.

[0050] Figures 9(C) and 9(D) are a front view and a perspective view showing the holder body 26 tilted at a predetermined angle with respect to the axis C2 of the male screw 31. The holder body 26 can be freely tilted with respect to the axis C2. Figures 9(E) and 9(F) are a front view and a perspective view, respectively, showing the holder body 26 rotated by a predetermined angle and tilted by a predetermined angle with respect to the axis C2 of the male screw 31.

[0051] In this robot cable holder 21, tightening the fastening cap 44 increases the frictional resistance between it and the spherical body 35, providing resistance when the holder body 26 is rotated or tilted relative to the base 24. In this state, the cable or air hose can be held with any desired tightness. Furthermore, by fully tightening the fastening cap 44, the holder body 26 is fixed to the base 24 so that it cannot move relative to the base 24.

[0052] Thus, the robot cable holder 21 according to this embodiment can be configured to hold an object 25 positioned along the robot arm 22 in a manner that allows it to rotate and tilt relative to the robot arm 22, or to fix the object 25 to the robot arm 22. Therefore, according to this embodiment, it is possible to provide a robot cable holder with a high degree of freedom in holding.

[0053] The movable joint 33 in this embodiment is a ball joint having a spherical body 35 provided on the holder body 26 and a bearing 34 provided on the base 24 that rotatably and tiltably supports the spherical body 35. The resistance adjustment mechanism 41 includes a screw member 42 that provides frictional resistance between itself and the spherical body 35, and is configured such that the magnitude of the frictional resistance changes by changing the amount the screw member 42 is screwed in. Therefore, since the resistance adjustment mechanism 41 can be realized using a movable joint 33 that movably supports the holder body 26, a compact and inexpensive cable holder for robots can be provided.

[0054] In this embodiment, the bearing 34 is recessed in the axial center of the male screw 31 provided on the base 24. The holder body 26 has a connecting shaft 37 with a spherical body 35 provided at one end. The screw member 42 is composed of a lock ring 43 that passes through the connecting shaft 37 and fits onto the spherical body 35 from the opposite side of the bearing 34, and a tightening cap 44 that passes through the connecting shaft 37 and is screwed onto the male screw 31 in contact with the lock ring 43 from the opposite side of the bearing 34. The tightening cap 44 and the lock ring 43 are provided with a cam mechanism (first cam surface 46, second cam surface 47) that pushes the lock ring 43 toward the spherical body 35 when the tightening cap 44 is screwed onto the male screw 31. Therefore, even if the holder body 26 is rotated or tilted relative to the base 24, the holder body 26 can be securely fixed to the base 24.

[0055] In this embodiment, the lock ring 43 is inserted into the inner circumference 43c while bent around the notch 45 so that the notch 45 opens, and then passed over the connecting shaft 37 by returning it from the bent state to its initial state. Therefore, since the spherical body 35 can be passed through the lock ring 43, which cannot be passed through in the operating state, the structure can be simplified compared to the case in which the connecting shaft 37 and the spherical body 35 are formed to be separable and the lock ring 43 is passed through the connecting shaft 37, and the connecting shaft 37 and the spherical body 35 can be formed by integral molding.

[0056] The fastening cap 44 according to this embodiment has a ring portion 48 located on the same axis as the male screw 31. The ring portion 48 has a number of teeth 48a arranged at predetermined intervals in the circumferential direction. The base 24 has a projection 32 that engages with the teeth 48a from the radially outer side of the ring portion 48. Therefore, even when the tightening cap 44 is not fully tightened, it can be held in place so that it does not loosen, allowing the holder body 26 to move relative to the base 24 against frictional resistance. Consequently, when excessive force is applied to the cable or air hose, the holder body 26 can rotate or tilt to protect the cable or air hose.

[0057] The base 24 in this embodiment has a through hole 27 extending in a direction perpendicular to the axis of the robot arm 22. The base 24 is fixed to the robot arm 22 by a cable tie 23 passed through the through hole 27. Therefore, there is no need to provide a mounting structure such as a mounting seat on the robot arm 22, making it possible to easily attach the cable holder 21 to the robot arm 22. As a result, the time required to attach the cable holder 21 to the robot arm 22 is short. Moreover, since there are no restrictions on the position in which it can be attached to the robot arm 22, it can be attached to any robot arm 22. This means that the versatility of the cable holder 21 is increased, and it becomes possible to keep manufacturing costs low through mass production and provide it at a low price.

[0058] The holder body 26 according to this embodiment includes a C-shaped holding piece 36 with a space 51 formed inside for passing long objects such as cables and air hoses, and a holding diameter changing mechanism 38 consisting of a plurality of teeth (first teeth 52, second teeth 53) that are provided at both ends of the holding piece 36 and interlock with each other. Therefore, it can hold cables of any size, air hoses, flexible cables, etc., providing a highly versatile cable holder.

[0059] In this embodiment, one end 36a and the other end 36b of the holding piece 36 are formed to overlap radially with the holding piece 36. The first teeth 52 and the second teeth 53 are provided on the opposing portions of the one end 36a and the other end 36b. A hole 57 is formed in one of the ends (the other end 36b) that is located radially outward, through which the other end (the one end 36a) is exposed. The teeth (second teeth 53) provided on one end (the other end 36b) and the teeth (first teeth 52) provided on the other end (the other end 36a) are configured such that the meshing state is resolved when the outer end (the other end 36b) is pushed in the opposite direction to the inner end (the other end 36a) by a tool 60 inserted into the hole 57. Therefore, the engagement between the first tooth 52 and the second tooth 53 can be easily disengaged, making it easy to remove the object to be held 25 from the holding piece 36.

[0060] (Second Embodiment) Cable holders can be fitted with cable-holding bushings as shown in Figures 15(A), (B) to 17(A), (B). In these figures, components identical or equivalent to those described in Figures 1 to 14 are denoted by the same reference numerals, and detailed explanations are omitted as appropriate.

[0061] The cable holder 21 shown in Figures 15(A) and (B) has a cable-holding bush 61 inserted into the holding piece 36. As shown in Figures 16(A) and (B), the cable retaining bush 61 is formed in a cylindrical shape from an elastic material such as rubber. The cable retaining bush 61 has first to fourth through holes 62 to 65 for passing cables through, and a slit 66 is formed in each through hole. Of the first to fourth through holes 62 to 65, the diameters of the first and second through holes 62 and 63 are larger than the diameters of the third and fourth through holes 64 and 65. This allows multiple types of cables with different thicknesses to be passed through.

[0062] The slit 66 is formed to extend from the first to fourth through holes 62 to 65 to the outer surface of the cable-retaining bush 61. The cable is inserted into the first to fourth through holes 62 to 65 through the gap created by expanding the slit. When using the cable retaining bush 61, first, as shown in Figure 17(A), pass the cables 67 and 68 through the cable retaining bush 61. In the through holes 62 to 65 of the first to fourth through holes that do not have cables 67 and 68 through them, insert blind bars 69 made of cylindrical rigid bodies in place of the cables 67 and 68.

[0063] Next, the cable retaining bush 61 through which cables 67 and 68 are passed is fitted into the holding piece 36 as shown in Figure 17(B), and the diameter of the holding piece 36 is reduced by the retaining diameter changing mechanism 38. By tightening the cable retaining bush 61 with the holding piece 36 in this way, the cable retaining bush 61 is compressed and the cables 67 and 68 are fixed to the cable holder 21. According to this embodiment, the cable can be fixed to the cable holder without passing it through a flexible tube, making it easy to hold the cable on the robot arm.

[0064] (Third embodiment) The holder body 26 can be configured as shown in Figures 18(A), (B) and 19. In these figures, the same or equivalent components as those described in Figures 1 to 14 are denoted by the same reference numerals, and detailed explanations are omitted as appropriate. The holder body 26 shown in Figures 18(A) and (B) consists of a first holder body 71, one end of which is supported by a base 24, and a second holder body 72, which is attached to the other end of the first holder body 71 so as to be able to change the distance from the base 24.

[0065] As shown in Figure 19, the first holder body 71 is composed of a spherical body 35 at one end and a male screw 73 at the other end. The second holder body 72 consists of a cylindrical body 75 having a female thread 74 into which the male thread 73 of the first holder body 71 is screwed, a holding piece 36 connected to the cylindrical body 75, and a holding diameter changing mechanism 38 provided on the holding piece 36. A lock nut 76 is screwed onto the male screw 73 so as to be positioned between the cylindrical body 75 and the spherical body 35.

[0066] According to this embodiment, the distance between the base 24 and the holding piece 36 can be changed by screwing the cylindrical body 75 of the second holder body 72 into or loosening the male screw 73. After setting this distance to a predetermined distance, the lock nut 76 is loosened against the male screw 73 and pressed against the cylindrical body 75, thereby preventing the cylindrical body 75 from rotating relative to the male screw 73 due to the so-called double nut principle, and the second holder body 72 can be fixed to the first holder body 71. By adopting this embodiment, the distance between cables and hoses and the robot arm 22 can be easily adjusted, thus increasing the flexibility of wiring and piping.

[0067] (Fourth embodiment) When attaching the cable holder to the robot arm, the mounting structures shown in Figures 20 and 21 can be used. In Figures 20 and 21, the same or equivalent components as those described in Figures 1 to 14 are denoted by the same reference numerals, and detailed explanations are omitted as appropriate. The base 24 of the cable holder 21 shown in Figure 20 has a first through hole 81 that connects the bearing 34 and the through hole 27 for inserting a cable tie, and a second through hole 82 that extends from the through hole 27 for inserting a cable tie to the bottom surface 24a. These first through hole 81 and second through hole 82 are located on the same axis. The diameter of the first through hole 81 is larger than the diameter of the second through hole 82. In this embodiment, the first through hole 81 and the second through hole 82 correspond to the "through hole" as defined in the present invention, and the first through hole 81 corresponds to the "large diameter portion," and the second through hole 82 corresponds to the "small diameter portion."

[0068] A single fixing screw 83 is passed through these first through holes 81 and second through holes 82. The diameter of the first through hole 81 is larger than the outer diameter of the head 83a of the fixing screw 83. The diameter of the second through hole 82 is smaller than the outer diameter of the head 83a and larger than the outer diameter of the threaded portion 83b of the fixing screw 83.

[0069] As shown in Figure 21, the fixing screw 83 is inserted from the first through hole 81 to the second through hole 82 in the bearing 34 with the holder body 26 removed from the base 24, and then screwed into the screw hole 84 of the robot arm 22, as shown in Figure 20. The fixing screw 83 can be screwed into the screw hole 84 until its head 83a abuts against the wall surface of the through hole 27 for inserting the cable tie. By tightening the fixing screw 83 in this way, the base 24 is fixed to the robot arm 22.

[0070] Therefore, according to this embodiment, since the base 24 is fixed to the robot arm 22 by fixing screws 83, the cable holder 21 can be firmly fixed to the robot arm 22, and the appearance of the robot arm 22 is improved, compared to the case where the base 24 is fixed to the robot arm 22 using cable ties 23.

[0071] Unlike the embodiments described above, the base 24 of the cable holder 21 shown in Figure 21 has a flat bottom surface 24a. Even if the bottom surface 24a is curved to closely adhere to the outer surface of the robot arm 22, the base 24 can still be fixed to the robot arm 22 using the fixing screws 83. If the base surface 24a is formed flat, the cable holder 21 can be attached to the prismatic robot arm 85 as shown in Figures 22 and 23. Figure 22 shows the case where the base 24 is attached to the robot arm 22 using the fixing screws 83 shown in Figure 20, and Figure 23 shows the case where the base 24 is attached to the robot arm 22 by two cable ties 23.

[0072] (Fifth embodiment) The cable holder of the present invention can be configured as shown in Figures 24(A) to (D) and Figure 25. Figure 24(A) is a front view, Figure 24(B) is a side view, Figure 24(C) is a top view, and Figure 24(D) is a perspective view. In these figures, the same or equivalent components as those described in Figures 1 to 14 are denoted by the same reference numerals, and detailed descriptions are omitted as appropriate.

[0073] The holder body 91 shown in Figures 24(A) to (D) differs from the holder body 26 shown in the first embodiment in the configuration of the tip side of the connecting shaft 37. In this embodiment, the holder body 91 is provided with a flat plate component mounting plate 92 at the tip of the connecting shaft 37, and the holding piece 36 is not provided. The other parts of this holder body 91, excluding the component mounting plate 92, can adopt the configuration shown in the first to fourth embodiments. Therefore, the holder body 26 having the holding piece 36 and the holder body 91 having the component mounting plate 92 can share the base 24. In this embodiment, the component mounting plate 92 corresponds to the "component mounting part" as referred to in the present invention.

[0074] Components (objects to be held 25, different from cables and hoses) that are positioned along the robot arm 22 are attached to the component mounting plate 92. Examples of such components include a terminal box 93 as shown in Figure 25, and small devices such as amplifiers (not shown). A screw hole 94 is formed in the center of the component mounting plate 92. Mounting screws (not shown) for attaching objects to be held 25, such as a terminal box 93 or small devices, to the component mounting plate 92 are screwed into this screw hole 94. The terminal box 93 shown in Figure 25 is provided in the middle of the cable 95 and has a rectangular prism-shaped housing 93a. One side of this housing 93a is superimposed on the component mounting plate 92 and is fixed to the component mounting plate 92 by mounting screws (not shown).

[0075] By providing the cable holder 21 with a component mounting plate 92 in this way, terminal boxes and small devices can be easily attached to a robot arm that does not have a mounting base for attaching terminal boxes or small devices.

[0076] (Sixth embodiment) The cable holder of the present invention can be configured as shown in Figures 26(A) to 29(D). Figure 26(A) is a perspective view of the cable holder alone, Figure 26(B) is a perspective view in use, and Figure 26(C) is a perspective cross-sectional view. Figure 27(A) is a perspective view of the cable holder alone, Figure 27(B) is a perspective view in use, and Figure 27(C) is a perspective cross-sectional view. Figure 28(A) is a perspective view of the cable holder alone, Figure 28(B) is a perspective view in use, Figure 28(C) is a perspective view in use, and Figure 28(D) is a longitudinal cross-sectional view. Figure 29(A) is a perspective view of the cable holder alone, Figure 29(B) is a plan view, Figure 29(C) is a side view, and Figure 29(D) is a perspective cross-sectional view. In these figures, the same or equivalent components as those described in Figures 1 to 14 are denoted by the same reference numerals, and detailed explanations are omitted as appropriate.

[0077] The cable holder 101 shown in Figures 26(A) to (C) differs from the cable holder 21 according to the first embodiment shown in Figures 1 to 14 in the configuration of the part for attaching the object to be held 25, but the other parts are the same configuration. The cable holder 101 shown in Figures 26(A) to (C) is equipped with a mounting base 102 instead of the holding piece 36 described above. The mounting base 102 is integrally formed at the tip of the connecting shaft 37 by integral molding and constitutes part of the holder body 103 including the connecting shaft 37. The holder body 103 is configured to be identical to the holder body 26 described above, except for the part for attaching the object to be held 25 (holding piece 36).

[0078] As shown in Figure 26(B), the object to be held 25 is secured to the mounting base 102 by a cable tie 104. The other parts of this cable holder 101, excluding the mounting base 102, can be configured as in the first to fifth embodiments. Therefore, the holder body 26 having the holding piece 36 and the holder body 103 having the mounting base 102 can share the base 24.

[0079] The mounting base 102 shown in Figures 26(A) to (C) is formed in a rectangular prism shape that extends in a direction perpendicular to the connecting shaft 37. A through hole 105 (see Figure 26(C)) is formed in this mounting base 102, which penetrates through the longitudinal direction for passing the cable tie 104 through. On the end of the mounting base 102 opposite to the connecting shaft 37, a concave mounting surface 106 is formed that overlaps with the outer surface of the object to be held 25, such as a cable or air hose. The mounting surface 106 constitutes a part of the outer surface of the mounting base 102 in a direction perpendicular to the axial direction of the robot arm 22. The axial direction of the robot arm 22, as referred to here, is the direction from the lower left to the upper right in Figure 26(A). A band-hanging portion 107 is provided adjacent to the mounting surface 106 of the mounting base 102, on which a cable tie 104 is attached. The band-hanging portion 107 shown in Figure 26 is formed in the portion of the mounting base 102 between the mounting surface 106 and the through hole 105. In this mounting base 102, the object to be held 25 is attached to the mounting seat 108, which consists of the mounting surface 106 and the band-hanging portion 107, by a cable tie 104.

[0080] In the cable holder 101 shown in Figure 26, one or more objects to be held 25 can be placed on the mounting surface 106 of the mounting base 102, and the objects to be held 25 can be secured to the mounting base 102 by placing them on top of each other and tightening a cable tie 104 that has been passed through a through hole 105 around the objects to be held 25. Therefore, this cable holder can accommodate objects to be held 25 of a thickness corresponding to the length of the cable tie 104, thus expanding the range of usable object thicknesses 25 compared to the case where a C-shaped holding piece 36 is used.

[0081] The holder body 111 of the cable holder 101 shown in Figures 27(A) to (C) is equipped with a mounting base 112 having multiple mounting seats 108. The other components of the holder body 111, excluding the mounting base 112, are the same as those of the holder body 26 described above. Multiple mounting seats 108 are provided at three ends of the mounting base 112 in the operating state shown in Figure 27(B), in directions perpendicular to the axial direction of the robot arm 22. Specifically, the mounting base 112 shown in Figure 27 is provided with a first mounting seat 108A located on the extension of the connecting shaft 37, and second and third mounting seats 108B and C located on either side of the axis of the connecting shaft 37. These first to third mounting seats 108A to 108C have first to third mounting surfaces 106A to 106C that form part of the outer surface of the mounting base 112. The first to third mounting surfaces 106A to 106C are each formed in a concave shape so as to conform to the outer circumferential surface of the object to be held 25.

[0082] As shown in Figure 27(C), inside the mounting base 112, on the back side of the first to third mounting surfaces 106A to 106C, first to third through holes 105A to 105C are formed for passing cable ties 104 through. The first through hole 105A extends in a direction perpendicular to the axial direction of the robot arm 22 and also perpendicular to the axis of the connecting shaft 37. The first through hole 105A is formed in the mounting base 112 such that first band-hanging portions 107A remain on both sides of the mounting base 112. The first band-hanging portions 107A are for hanging cable ties 104 used with the first mounting seat 108A.

[0083] The second through hole 105B and the third through hole 105C extend in a direction perpendicular to the axial direction of the robot arm 22 and parallel to the axis of the connecting shaft 37. A second band attachment portion 107B for attaching a cable tie 104 is provided between the second through hole 105B and the second mounting surface 106B. A third band attachment portion 107C for attaching a cable tie 104 is provided between the third through hole 105C and the third mounting surface 106C.

[0084] By forming the mounting base 112 as shown in Figure 27, multiple objects to be held 25 can be individually attached to the mounting base 112 with cable ties 104, as shown in Figure 27(B). If multiple objects to be held 25 are attached to one mounting seat 108 with one cable tie 104, as shown in Figure 26, cutting the cable tie 104 when it becomes necessary to remove one object to be held 25 will cause all objects to be held 25 to detach from the mounting base 112. However, with the mounting base 112 shown in Figure 27, only the object to be held 25 that needs to be removed can be removed, and the other objects to be held 25 can remain attached to the mounting base 112. Furthermore, in the mounting base 112 shown in Figure 27, multiple objects to be held 25 can be separated by type, and these objects to be held 25 can be attached to the first to third mounting seats 108A to 108C according to type. This makes it possible to organize many objects to be held 25 according to type.

[0085] The holder body 121 of the cable holder 101 shown in Figures 28(A) to (D) is equipped with a mounting base 122 that has a structure similar to the mounting base 102 shown in Figure 26, but extended in the axial direction of the robot arm 22. The mounting base 122 shown in Figure 28, like the mounting base 102 shown in Figure 26, has a mounting surface 106 of a mounting seat 108 at the end opposite to the connecting shaft 37, and a band attachment portion 107 adjacent to the mounting surface 106. The mounting seat 108 shown in Figure 28 has the same configuration as the mounting seat 108 shown in Figure 26, except that its length in the axial direction of the robot arm 22 is different.

[0086] On the back side of the mounting surface 106, a rib 123 consisting of two protrusions is formed on the wall of the through hole 105 located on the mounting seat 108 side, similar to the base 24. These ribs 123 are used to determine the position of the cable ties 104 when two cable ties 104 are passed through both sides of the through hole 105, as shown in Figure 28(B), or when one cable tie 104 is passed through the center of the through hole 105, although this is not shown. Note that, as shown in Figure 28(C), cable ties 104 with a width equal to the opening width of the through hole 105 can also be used.

[0087] The holder body 131 of the cable holder 101 shown in Figures 29(A) to (D) is equipped with a mounting base 132 that has a structure similar to the mounting base 112 shown in Figure 27 extended in the axial direction of the robot arm 22. The mounting base 132 shown in Figure 29, like the mounting base 112 shown in Figure 27, has mounting seats 108 (first to third mounting seats 108A to 108C) at three ends in a direction perpendicular to the axial direction of the robot arm 22 when the mounting base 112 is in use. The first to third mounting seats 108A to 108C shown in Figure 29 have the same configuration as the first to third mounting seats 108A to 108C shown in Figure 27, except that their length in the axial direction of the robot arm 22 is different.

[0088] As shown in Figures 29(B) and 29(C), the holes on the mounting seat 108 side of the first to third through holes 105A to 105C have ribs 123 made of two protrusions, similar to the holes shown in Figure 28. Therefore, by adopting the configuration shown in Figure 29, the object to be held 25 can be secured to the multiple mounting seats 108 (first to third mounting seats 108A to 108C) of the mounting base 132 using two cable ties 104 passed through both sides of the first to third through holes 105A to 105C, or one cable tie 104 passed through the center, or it can be secured using the wide cable tie 104 shown in Figure 28(C). [Explanation of Symbols]

[0089] 21,101…Robot cable holder, 22…Robot arm 22, 23,104…Cable tie, 24…Base, 25…Object to be held 25, 26,91,103,111,121,131…Holder body, 27…Through hole, 31…Male screw, 32…Convex piece (elastic piece), 33…Movable joint, 34…Bearing, 35…Spherical body, 35a…Protruding curved surface (outer surface), 36…Holding piece, 36a ...one end, 36b...other end, 37...connecting shaft 37, 38...holding diameter changing mechanism, 41...resistance adjustment mechanism, 42...threaded member, 43...locking ring, 43a...one end, 43b...other end, 43c...inner circumference, 44...tightening cap, 45...notch, 46...first cam surface (cam mechanism), 47...second cam surface (cam mechanism), 48...ring part, 48a...tooth, 52...first tooth, 53...second tooth, 57 ...hole, 61...cable retaining bush, 67, 68...cable, 71...first holder body, 72...second holder body, 81...first through hole (large diameter part), 82...second through hole (small diameter part), 83...fixing screw, 92...part mounting plate (part mounting part), 93...terminal box, 93a...housing, 102, 112, 122, 132...mounting base, 105...through hole, 105A...first through hole, 1 05B...Second through hole, 105C...Third through hole, 106...Mounting surface, 106A...First mounting surface, 106B...Second mounting surface, 106C...Third mounting surface, 107...Band attachment part, 107A...First band attachment part, 107B...Second band attachment part, 107C...Third band attachment part, 108...Mounting seat, 108A...First mounting seat, 108B...Second mounting seat, 108C...Third mounting seat.

Claims

1. A base that is fixed to the robot arm, A holder body is supported on the base via a movable joint so as to be rotatable and tiltable, and is positioned along the robot arm to hold an object to be held, A resistance adjustment mechanism that changes the magnitude of the resistance when the holder body moves relative to the base, Equipped with, The movable joint is composed of a ball joint having a spherical body provided on the holder body and a bearing provided on the base that rotatably and tiltably supports the spherical body. The resistance adjustment mechanism includes a screw member that provides frictional resistance between itself and the spherical body, and is configured such that the magnitude of the frictional resistance changes by changing the amount the screw member is threaded in. The bearing is recessed in the axial center of the male screw provided on the base, The holder body has a shaft portion with the spherical body provided at one end, The screw member is A locking ring is passed through the shaft portion and fitted onto the spherical body from the side opposite to the bearing, A cap that passes through the shaft and is screwed onto the male thread so as to contact the lock ring from the opposite side of the bearing, and It is composed of, The cap and the lock ring are provided with a cam mechanism that pushes the lock ring toward the spherical body when the cap is screwed onto the male thread. A cable holder for robots, characterized by the following features.

2. In the robot cable holder according to claim 1, The inner diameter of one end of the lock ring in the axial direction is such that the spherical body can be inserted. The inner diameter of the other end of the lock ring in the axial direction is such that the spherical body cannot be inserted. The inner circumference of the lock ring is formed by a concave curved surface that conforms to the outer surface of the spherical body. Notches are formed at positions that divide the lock ring into two equal parts in the circumferential direction, opening to the other end. The aforementioned lock ring is A robot cable holder characterized in that the spherical body is inserted into the inner circumference while bent around the notch so that the notch opens, and then passed through the shaft portion by returning it from the bent state to its initial state.

3. In the robot cable holder according to claim 1, The cap has a ring portion that is located on the same axis as the male screw, The ring portion has a number of teeth arranged at predetermined intervals in the circumferential direction, The base has an elastic piece that engages with the teeth from the radially outer side of the ring portion. A cable holder for robots featuring the following characteristics.

4. In the robot cable holder according to claim 1, The aforementioned base is, The bearing has a large diameter portion that opens up, It has a through hole including a small diameter portion that opens to the end face on the robot arm side, A robot cable holder characterized by being fixed to the robot arm by a fixing screw that is screwed onto the robot arm from the large diameter portion through the small diameter portion.

5. In the robot cable holder according to claim 1, The base has a hole extending in a direction perpendicular to the axis of the robot arm, and is fixed to the robot arm by a cable tie passed through the hole. A cable holder for robots, characterized by the following features.

6. In the robot cable holder according to claim 1, The holder body is, A first holder body, one end of which is supported by the base, It is composed of a first holder body and a second holder body attached to the other end of the first holder body so as to be able to change the distance from the base. A cable holder for robots, characterized by the following features.

7. A robot cable holder according to any one of claims 1 to 6, The cable holder for robots is characterized by comprising a holder body having a C-shaped holding piece with a space formed inside for passing long objects such as cables and hoses, and a holding diameter changing mechanism consisting of a plurality of teeth that interlock with each other and are provided at both ends of the holding piece.

8. In the robot cable holder according to claim 7, The one end and the other end of the holding piece are formed to overlap in the radial direction of the holding piece. The teeth are provided on the parts of the one end and the other end that face each other, A hole is formed in one of the two ends, the one located on the radially outer side, through which the other end is exposed. The teeth provided at one end and the teeth provided at the other end are configured such that the meshing state is released when the outer end is pushed in the opposite direction to the inner end by a tool inserted into the hole. A cable holder for robots, characterized by the following features.

9. In the robot cable holder according to claim 7, A cable-holding bush, formed in a cylindrical shape from an elastic material, is fitted inside the aforementioned holding piece. The cable retaining bush has a hole through which a cable can be inserted. A cable holder for robots, characterized by the following features.

10. A robot cable holder according to any one of claims 1 to 6, The holder body has a component mounting section to which the housing of a component that is positioned along the robot arm is attached. A cable holder for robots, characterized by the following features.

11. In a robot cable holder according to any one of claims 1 to 6, The holder body has a mounting base to which the object to be held is secured by a cable tie. A cable holder for robots, characterized by the following features.

12. In the robot cable holder according to claim 11, The mounting base has a mounting surface on which the objects to be held are stacked, and a mounting seat provided adjacent to the mounting surface on which the cable tie is attached. The mounting surface constitutes a part of the outer surface of the mounting base in a direction perpendicular to the axial direction of the robot arm. A cable holder for robots, characterized by the following features.

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