Multi-joint support member and flat transmission device

Abstract

Provided are a multi-joint support member and a flat transmission device with which load on a linking shaft can be kept under control even if bending occurs in a linearly arranged section. In this multi-joint support member (20), a plurality of link members (21) are arranged in series. The plurality of link members are each formed with a linear-posture retaining surface (231) on one end side in the longitudinal direction and have, to the other end side in the longitudinal direction of the linear-posture retaining surface, a linear-posture control surface (241) that abuts on the linear-posture retaining surface of a neighboring link member to control crooking. On the linear-posture retaining surface and the linear-posture control surface, provided is an anti-slip structure (50) that suppresses mutual slipping between the linear-posture retaining surface and the linear-posture control surface due to the shapes of the surfaces.

Description

Multi-joint support member, flat transmission device

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

[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 (see, 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 to each other 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.

[0005] Japanese Patent No. 4749494

[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 recess 124 is provided in the rear portion of the base portion 122. The extension portion 123 is formed to be thinner than the base portion 122, and the recess 124 is formed so that the extension portion 123 of the link member 121 located in 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 in the rear fitted into the recess 124 of the link member 121 located in the front.

[0007] A linear posture maintaining surface 1231 is formed on the surface of the tip of the extension portion 123 facing the bending direction, and a linear posture restricting surface 1241 facing the counter-bending direction is formed within the recess 124. The linear posture maintaining surface 1231 and the linear 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 the link members 21 in a linear state (straight posture). The linear posture maintaining surface 1231 and the linear posture restricting surface 1241 also restrict bending from the linear 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 Figure 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 direction of the straight line.

[0009] 16 , when the rear link member 121 rotates in the bending direction, the linear posture maintaining surface 1231 moves away from the linear posture restricting surface 1241, and the rear link member 121 tilts relative to the front link member 121. When the 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 indicated by arrow F is applied between adjacent link members 121 in a direction that moves the link member 121 located below the tilt away from the link member located above 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 geometric resistance, so mutual slippage is likely to occur between the linear posture maintaining surface 1231 and the linear posture restricting surface 1241. As a result, the load on the connecting shaft 125 increases, and measures such as increasing the strength of the connecting shaft 125 are required.

[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.

[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 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.

[0016] 6 is a schematic side view showing an example of equipment including a flat cable having a multi-joint support member according to a first embodiment of the present invention; FIG. 7 is a perspective view showing the flat cable shown in FIG. 1 in a partially cutaway state; FIG. 8 is a perspective view showing a multi-joint support member according to a first embodiment of the present invention; FIG. 9 is a partial side view, partially in cross section, showing the multi-joint support member of FIG. 3 in a linearly extended state; FIG. 10 is a partial side view, partially in cross section, showing the multi-joint support member of FIG. 3 in a most bent state; FIG. 11 is a side view of a link member constituting the multi-joint support member shown in FIG. 3; FIG. 12 is a perspective view, viewed from obliquely above and front, of the link member shown in FIG. 6; FIG. 13 is a perspective view, viewed from obliquely above and rear, of the link member shown in FIG. 6; FIG. 14 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. 15 is a cross-sectional view of a main part showing a case where bending occurs in a linearly arranged portion in the multi-joint support member shown in FIG. 3; FIG. 16 is a partial side view of a multi-joint support member according to a third embodiment of the present invention; FIG. 17 is a partial side view of a modified multi-joint support member according to the third embodiment of the present invention; FIG. 18 is a perspective view of a link member constituting a multi-joint support member according to a fourth embodiment of the present invention; 10 is a cross-sectional view showing a main part of an example of a conventional articulated support member, and FIG. 11 is a cross-sectional view showing a main part of a conventional articulated support member when deflection occurs in a linearly arranged portion thereof.

[0017] [Embodiment 1] Hereinafter, one 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.

[0018] (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 according to 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.

[0019] 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 of facility 100, which is substantially parallel to the movement path of moving body 101. Clamp member 13, which serves as the moving end, is fixed to moving body 101.

[0020] The flat cable 11 has a flexible, flat band-like portion 14. A plurality of cables 16 are arranged in parallel and connected to each other in the band-like portion 14. Portions of the plurality of cables 16 near both ends are held by the clamp members 12 and 13.

[0021] Between clamp member 12, which is the fixed end, and clamp member 13, which is the moving end, strip portion 14 extends from the fixed end to the opposite side to 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 portion 14 is disposed in a state of extending almost straight in the air.

[0022] Fig. 2 is a partially cutaway perspective view of the flat cable 11. 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 disposed 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.

[0023] The support portion 17 is provided to provide a certain degree of rigidity to the belt-shaped portion 14 while maintaining the shape of the belt-shaped 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-shaped portion 14.

[0024] The portion 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, bending of this portion of the flat cable 11 in the hanging direction is restricted by the articulated support member 20 of the support portion 17.

[0025] (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.

[0026] 3, the articulated 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. Adjacent ends of the plurality of link members 21 in the series direction are connected to each other so that they can rotate freely via connecting shafts 25. The articulated 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.

[0027] Specifically, as shown in Fig. 5, the multi-joint 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 multi-joint support member 20 and 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 and the downward direction in Fig. 4 are the bending directions. The bent state is also referred to as the bent posture.

[0028] Furthermore, as shown in Figure 4, the 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.

[0029] Fig. 6 is a side view of the link member 21. Fig. 7 is a perspective view of the link member 21 as seen from diagonally above the front. Fig. 8 is a perspective view of the link member 21 as seen from diagonally above the rear. For ease of explanation, the side of the link member 21 on which the extension portion 23 described below is located will be referred to as the front, the opposite side as the rear, the surface on which the recess 24 described below 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.

[0030] 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 top surface side of the base 22.

[0031] The pair of connecting shafts 25 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 aligned front-to-rear link members 21 are connected in a state where they can rotate around the connecting shafts 25 (see FIGS. 3 and 4).

[0032] 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 at the rear from above into the recess 24 of the link member 21 located at the front.

[0033] <Bending restriction in the counter-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) that faces the bending direction (one direction side), and a linear posture restricting surface 241 formed on the rear side (the other end side in the longitudinal direction) of the linear posture maintaining surface 231 that faces the counter-bending direction (other direction side) and abuts against the linear posture maintaining surface 231 of the adjacent link member 21 to restrict bending in the counter-bending direction (other direction side).

[0034] Specifically, a linear posture maintaining surface 231 is formed on the underside (surface facing the bending direction) of the tip of the extension portion 23. A linear posture restricting surface 241 against which the linear posture maintaining surface 231 of the link member 21 located at the rear abuts is formed within the recess 24. The linear posture maintaining surface 231 and the linear 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 linear state.

[0035] 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.

[0036] <Restricting the bending range in the bending direction> A bending posture maintaining surface 221 is formed at the lower part of the step at the front end of the base 22, which is in contact with 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 abuts.

[0037] 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 link member 20 is bent to the maximum extent.

[0038] <Slip prevention structure> In the multi-joint support member 20, each link member 21 is provided with a slip prevention structure 50 on the aforementioned linear posture maintaining surface 231 and linear posture regulating surface 241 that maintain the link members 21 in a linear state, which suppresses slippage between the linear posture maintaining surface 231 and the linear posture regulating surface 241 by the shape of each surface.

[0039] 9 is a cross-sectional view of a main part of the anti-slip structure 50 in the articulated support member 20 of this embodiment. As shown in Figures 6 and 9, in this embodiment, the anti-slip structure 50 includes a first inclined shape 51 that is inclined in the bending direction (one direction) toward the front side (one end side) of the linear posture maintaining surface 231, and a second inclined shape 52 that is inclined in the opposite bending direction (the other direction) toward the rear side (the other end side) of the linear posture restricting surface 241.

[0040] 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 Fig. 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.

[0041] As shown in Figures 16 and 17 above, in the conventional multi-joint support member 120, the linear posture maintaining surface 1231 and the linear posture regulating surface 1241 were formed in a linear state and parallel to the direction of the line, and therefore their shape was not able to resist the force in the separating direction indicated by arrow F.

[0042] In contrast, as shown in Figure 10, the linear posture maintaining surface 231 and the linear posture regulating surface 241 have a first inclined shape 51 and a second inclined shape 52, so that their shapes resist the force in the separating direction indicated by arrow F.

[0043] In other words, by having the first inclined shape 51 and the second inclined shape 52, when a force is applied in the direction indicated by the arrow F, the linear posture maintaining surface 231 of the link member 21 located on the lower side of the incline attracts the linear posture restricting surface 241 of the link member 21 located on the upper side of the incline. This suppresses slippage between the linear posture maintaining surface 231 and the linear posture restricting surface 241.

[0044] 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.

[0045] 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.

[0046] 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).

[0047] 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 inclination attracts the linear posture maintaining surface 231 of the link member 21 located on the upper side of the inclination. 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 at the other end of the flexure.

[0048] [Embodiment 2] Another embodiment 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.

[0049] Fig. 11 is a partial side view of a multi-joint support member 20A of embodiment 2. As shown in Fig. 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.

[0050] In addition to the first inclined shape 51 and the second inclined shape 52 described above, the slip prevention structure 50A also 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. 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.

[0051] 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 plurality of concave shapes 53 and between the plurality of convex shapes 54. Fig. 12 is a partial side view showing a modified example of the articulated support member 20A of the second embodiment.

[0052] [Embodiment 3] Another embodiment of the present invention will be described below. For the sake of convenience, 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.

[0053] Fig. 13 is a partial side view of a multi-joint support member 20B of embodiment 3. As shown in Fig. 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.

[0054] As shown in Figure 13, in this embodiment, the linear posture maintaining surface 231 and the linear posture restricting surface 241 are formed in a linear state and parallel to the direction of the line. The slip prevention 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, which are formed parallel to each other. The concave shape 53 is recessed toward the counter-bending direction side (the other direction) on the linear posture maintaining surface 231. The convex shape 54 is convex toward the counter-bending direction side (the other direction) 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.

[0055] 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 plurality of concave shapes 53 and between the plurality of convex shapes 54. Fig. 14 is a partial side view showing a modified example of the articulated support member 20B of the third embodiment.

[0056] [Embodiment 4] Another embodiment 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.

[0057] 15 is a perspective view of a link member 31 that constitutes the multi-joint 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 multi-joint 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.

[0058] 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.

[0059] The three extension portions 33 have axial holes 36 formed therein for connecting to the link member 31 located in front, and the fitting receiving portion 34 has axial holes 35 formed therein for connecting to the link member 31 located in the rear.

[0060] 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 rotatable state around the connecting shaft.

[0061] A linear posture maintaining surface 231 is formed on the underside (the 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.

[0062] In addition, within the fitting receiving portion 34, the surface facing downward (in the bending direction) located on the side (upper side) opposite the linear posture restricting surface 241 corresponds to the bending posture restricting surface, and the upper surface (surface facing the opposite bending direction) of the extension portion 33 corresponds to the bending posture maintaining surface. When the upper surface (bending posture maintaining surface) of the extension portion 33 of the rear link member 31 abuts against the bending posture restricting surface of the front link member 31, further bending in the bending direction is restricted, and the link member 31 is bent to the maximum extent. The slip prevention structures 50 to 50B described in the first to third embodiments can also be applied to a link member 31 configured in this manner. In the example of FIG. 15, the slip prevention structure 50 is applied.

[0063] 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 set.

[0064] (Summary) The multi-joint support member of aspect 1 of the present invention is a long 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 so that they can rotate freely, and which is capable of bending 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 as to assume 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 in the longitudinal direction, and a straight posture restricting surface facing the other direction, on the other end side of the longitudinal direction than the straight posture maintaining surface, 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.

[0065] 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.

[0066] A multi-joint support member according to aspect 2 of the present invention may be such that, in the above-mentioned aspect 1, the slip prevention 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.

[0067] 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.

[0068] A multi-joint support member according to aspect 3 of the present invention may be such that, in the above-mentioned 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.

[0069] According to the above configuration, in addition to the first inclined shape and the second inclined shape, the engagement of the concave shape and the convex shape also makes it possible to resist a force in a direction that pulls the link members apart, which is caused by bending occurring in the linear arrangement portion.

[0070] A multi-joint support member according to aspect 4 of the present invention may be such that, in the above-mentioned aspect 1, the anti-slip structure has 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.

[0071] 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.

[0072] A flat transmission device according to aspect 5 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 above, wherein the strip-shaped portion is supported by the multi-joint support member.

[0073] 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.

[0074] 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.

[0075] DESCRIPTION OF SYMBOLS 11 Flat cable (flat transmission device) 14 Belt-shaped portion 15 Curved portion 16 Cable 20, 20A, 20B Articulated support member 21, 21A, 21B, 31 Link member 22, 32 Base portion 23, 33 Extension portion 24 Recessed portion 25 Connecting shaft 26, 35, 36 Shaft hole 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 Linear posture restricting surface 231 Linear posture maintaining surface

Claims

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

2. The articulated support member according to claim 1, wherein the anti-slip structure comprises a first inclined shape of the linear posture maintaining surface that is inclined in one direction toward the one end, and a second inclined shape of the linear posture restricting surface that is inclined in the other direction toward the other end.

3. A multi-joint support member as described in claim 2, wherein the linear posture maintaining surface further has at least one concave shape recessed toward the other direction side, and the linear posture restricting surface further has at least one convex shape that is convex toward the other direction side and engages with the concave shape.

4. The articulated support member of claim 1, wherein the anti-slip structure comprises: at least one concave shape on the linear posture maintaining surface that is recessed toward the other side; and at least one convex shape on the linear posture restricting surface that is convex toward the other side and engages with the concave shape.

5. A flat transmission device comprising: a belt-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 claims 1 to 4, wherein the belt-shaped portion is supported by the multi-joint support member.

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