Multi-joint support member and flat transmission device

Abstract

Provided are a multi-joint support member and a flat transmission device which each make it possible to suppress defective bending and play even when dimensional variations occur in the production. Link members (21) constituting a multi-joint support member (20) each have a hook portion (23) and a receiving portion (24) and are connected, in an engaged state, to each other by connection pins (25). The hook portion and the receiving portion have respective side surfaces (23A, 24A), each of which is a facing surface that faces the other in the connected state. Formed in at least one of the side surfaces is a protruding portion (40) which makes contact with the other one of the facing side surfaces (24A, 23A).

Description

Multi-joint support member, flat transmission device

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

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

[0003] The multi-joint support member is a long member in which a plurality of link members (also referred to as block bodies) are arranged in series and adjacent ones are rotatably connected to each other. The multi-joint support member can rotate in one direction in a direction intersecting the longitudinal direction and can be bent within a set bending radius. Bending itself is restricted with respect to the other direction opposite to the one direction side. Hereinafter, in this specification, the direction in which bending is possible is referred to as the bending direction, and the direction in which bending itself is restricted is referred to as the anti-bending direction.

[0004] Each link member in Patent Document 1 has a claw portion in the front and a receiving portion in the rear. Two adjacent link members are rotatably connected by a connecting pin in a state where the claw portion of the rear link member is engaged (inserted) with the receiving portion of the front link member.

[0005] When the respective line posture holding surfaces of two adjacent link members abut against each other, the two adjacent link members hold a linear state with each other and bending in the anti-bending direction is restricted.

[0006] It bends by rotating the rear link member in the bending direction with respect to the front link member from the linear state. When the respective bending posture holding surfaces of two adjacent link members abut against each other, further bending is restricted and it reaches a state of maximum bending.

[0007] Japanese Patent No. 4749494, Japanese Patent No. 6898517, Japanese Patent Application Laid-Open No. 2022-537510

[0008] Incidentally, conventionally, the goal for stable forward and backward movement of multi-joint support members has been to eliminate the gap between the claw portion and the receiving portion (the gap in the axial direction of the connecting pin).

[0009] However, if the gap is too narrow, the sides of the opposing claws and the receiving part interfere with each other, increasing the frictional force when the connecting pin rotates. As a result, the multi-joint support member cannot bend properly, leading to poor bending.

[0010] Conversely, if the gap is large, there will be no problem with bending. However, because the play between the link members increases when maintaining a straight posture, the multi-joint support member is more likely to tip over when the weight of the supported cables is applied laterally (in the direction of the connecting pin axis). In addition, the forward and backward movement of the multi-joint support member becomes unstable, and it is more likely to shift laterally and move diagonally.

[0011] It appears that these problems can be resolved by improving the dimensional accuracy of the link components. However, if the link components are made of molded resin, it is difficult to eliminate dimensional variations during manufacturing.

[0012] One aspect of this disclosure aims to provide a multi-joint support member and a flat transmission device that can prevent or suppress bending defects and looseness even if dimensional variations occur during manufacturing.

[0013] To solve the above problems, the articulated support member according to this disclosure comprises a plurality of link members, the plurality of link members are arranged in series and adjacent link members are rotatably connected to each other by connecting pins, the articulated support member is capable of bending in one direction and is restricted from bending in the other direction opposite to the one direction to assume a straight position, each of the plurality of link members has an engaging portion and an engaging receiving portion, and adjacent link members are connected by the connecting pin with the engaging receiving portion of one link member engaged with the engaging portion of the other link member, the engaging portion and the engaging receiving portion each have opposing surfaces that face each other when connected, and at least one of the opposing surfaces has a convex shape formed that contacts the other opposing surface.

[0014] According to one aspect of this disclosure, it is possible to provide a multi-joint support member and a flat transmission device that can suppress bending defects and looseness even if dimensional variations occur during manufacturing.

[0015] This is a schematic side view showing an example of equipment equipped with a flat cable having a multi-joint support member of Embodiment 1. This is a perspective view showing the flat cable. This is a perspective view showing the multi-joint support member. This is a side view of a partial cross-section of the multi-joint support member. This is a perspective view of the link members constituting the multi-joint support member, viewed from diagonally above and behind. This is a plan view of the two connected link members, viewed from above. This is a perspective view of a modified link member constituting the multi-joint support member, viewed from diagonally above and behind. This is a perspective view showing a linearly extending portion of the multi-joint support member of Embodiment 2. This is a perspective view showing the most bent portion of the multi-joint support member of Embodiment 2. This is a perspective view of a link member constituting the multi-joint support member of Embodiment 2. This is a perspective view of a link member with a convex shape formed thereon, showing a third embodiment. This is a perspective view of a link member with a convex shape formed thereon, showing a third embodiment.

[0016] [Embodiment 1] An embodiment of the present disclosure will be described in detail below. In this embodiment, a flat cable equipped with a cable is given as an example of a flat transmission device, but a flat transmission device equipped with a hose instead of a cable may also be used.

[0017] (Flat Cable) Figure 1 is a schematic side view showing an example of equipment equipped with a flat cable 11 having a multi-joint support member 20 according to Embodiment 1. As shown in Figure 1, the flat cable (flat transmission device) 11 is used, for example, to supply power from a power source (not shown) inside the main body of the equipment 100 to a movable body 101 that is movably provided on the equipment 100.

[0018] One end of the flat cable 11 (the fixed end) is held by a clamp member 12, and the other end of the flat cable 11 (the movable end) is held by a clamp member 13. The clamp member 12, which is the fixed end, is fixed to a predetermined location on a mounting surface 102 in the equipment 100, for example, which is substantially parallel to the movement path of the movable body 101. The clamp member 13, which is the movable end, is fixed to the movable body 101.

[0019] The flat cable 11 has a flexible strip-shaped portion 14. Between the clamp member 12 which is the fixed end and the clamp member 13 which is the movable end, the strip-shaped portion 14 extends from the fixed end in the direction of movement of the movable body 101, and at the same time forms a semicircular curved portion 15, reversing its direction of extension. From the curved portion 15 to the movable end, it is positioned in a nearly straight line extending into the air.

[0020] Figure 2 is a perspective view showing the flat cable 11. As shown in Figure 2, the strip portion 14 is flat and comprises a cable 16 as an example of multiple transmission members and a pair of support portions 17.

[0021] Multiple cables 16 are arranged in parallel and connected to one another. The ends of the multiple cables 16 are held by clamp members 12 and 13 (see Figure 1). The cables 16 are capable of transmitting at least one of power or signals.

[0022] The pair of support portions 17 are positioned on both sides of the width direction perpendicular to the extension direction of the multiple cables 16. The support portions 17 are provided to maintain the shape of the strip portion 14 and to impart a certain degree of rigidity to the strip portion 14. The support portion 17 has a multi-joint support member 20 that supports the strip portion 14 and a tubular portion 18 into which the multi-joint support member 20 is inserted. The pair of tubular portions 18 are integrally connected to the covering member 16a of the adjacent cable 16.

[0023] In the flat cable 11, the portion suspended in the air between the curved section 15 and the moving end is subjected to a downward force due to gravity (self-weight, load). At this time, the bending of this portion of the flat cable 11 in the downward direction is restricted by the multi-joint support member 20 in the support section 17.

[0024] (Jointed support member) Figure 3 is a perspective view showing the jointed support member 20. Figure 4 is a side view of a part of the cross-section of the jointed support member 20. In Figure 4, #1001 shows the member extended in a straight line, and #1002 shows the member in its most bent state.

[0025] As shown in Figure 3, the articulated support member 20 comprises a plurality of link members 21. The plurality of link members 21 are arranged in series, and adjacent link members 21 are rotatably connected to each other by connecting pins 25. The articulated support member 20 can bend in one direction, but bending in the opposite direction is restricted to maintain a straight posture.

[0026] Specifically, as shown in Figure 4, part #1002, the articulated support member 20 is configured to bend in one direction in a direction that intersects the longitudinal direction of the articulated support member 20 and the axial direction of the connecting pin 25 of the link member 21. The range of bending is restricted to the range up to the set bending radius R. The direction toward the inside of the curved shape in Figure 3 is the bending direction. The bent state is also referred to as the bent posture.

[0027] Furthermore, as shown in Figure 4, diagram #1001, the multi-joint support member 20 is restricted from bending from a straight line to the other direction opposite to the one direction. The direction toward the outside of the curved shape in Figure 3 is the anti-bending direction. The straight posture is also referred to as the straight posture.

[0028] (Link Member) Figure 5 is a perspective view of the link member 21 constituting the multi-joint support member 20, viewed from the rear and diagonally above. For the sake of explanation, the side of the link member 21 with the claw portion 23 (described later) is the front, the opposite side with the receiving portion 24 (described later) is the rear, the side in the anti-bending direction is the top, the opposite side in the bending direction is the bottom, and the axial direction of the connecting pin 25 is the left-right direction.

[0029] As shown in Figure 5, the link member 21 has a shape that is elongated in the same direction as the longitudinal direction of the articulated support member 20. The link member 21 has a base portion 22, and a claw portion (engaging portion) 23 is provided in front of the base portion 22. A receiving portion (engaging receiving portion) 24 is formed at the rear (rear) of the base portion 22, into which the claw portion 23 of the link member 21 connected to the rear is inserted (engaged). The receiving portion 24 is recessed from the upper surface side of the base portion 22, and the lower surface (bottom surface) of the rear of the receiving portion 24 and the rear surface of the link member 21 are open.

[0030] A pair of the aforementioned connecting pins 25 are provided on the left and right sides 23A of the claw portion 23, and a pair of connecting pin holes 26 are formed at the rear of the left and right side walls 22A that constitute the receiving portion 24. The pair of connecting pins 25 of the rear link member 21 are inserted into the pair of connecting pin holes 26 of the front link member 21, thereby connecting the two link members 21 that are arranged front and rear in a state in which they can rotate around the connecting pins 25 (see Figures 3 and 4). In other words, adjacent link members 21 are connected by the connecting pins 25 with the claw portion 23 of the rear link member 21 engaged with the receiving portion 24 of the front link member 21.

[0031] In this embodiment, the connecting pin 25 enters the connecting pin hole 26 by fitting the claw portion 23 from above the receiving portion 24. This allows the link members 21 to be easily connected to each other.

[0032] A straight-posture-maintaining surface 31A is formed on the lower surface (the surface facing the bending direction) of the tip of the claw portion 23. In addition, a straight-posture-maintaining surface 31B is formed on the front bottom surface of the receiving portion 24.

[0033] The straight-position holding surfaces 31A of the claw portions 23 of each link member 21 connected in series come into contact with (butt against) the straight-position holding surfaces 31B of the receiving portions 24 of the link member 21 connected to the front of each. As a result, the multiple link members 21 are held in a straight state, and bending in the opposite direction is restricted (see Figure #1001 in Figure 4).

[0034] A bending posture holding surface 32A is formed at the front end of the base portion 22, below the stepped portion with respect to the claw portion 23. Furthermore, a bending posture holding surface 32B is formed at the lower part of the rear end of the link member 21.

[0035] The bending posture holding surface 32A of each link member 21 connected in series rotates around the connecting pin 25 until it contacts the bending posture holding surface 32B of the rear end of the link member 21 connected to the front of each. When the bending posture holding surface 32A contacts the bending posture holding surface 32B, further bending in the bending direction is restricted, resulting in a state of maximum bending (see Figure #1002 in Figure 4).

[0036] <Convex Shape> As shown in Figure 5, convex shapes 40 are formed on the left and right side surfaces 23A of the claw portion 23 of the link member 21. The left and right side surfaces 23A of the claw portion 23 are opposing surfaces that face each other when connected to the receiving portion 24 of another link member 21.

[0037] The convex portion 40 is formed to protrude from the side surface 23A. The convex portion 40 is positioned to contact the side surface 24A of the receiving portion 24 when the claw portion 23 is inserted into the receiving portion 24. This prevents direct contact between the side surface 23A of the claw portion 23 and the left and right side surfaces 24A of the receiving portion 24 (the surfaces facing inward on the left and right side walls 22A).

[0038] In the example shown in Figure 5, the convex portion 40 is shown as the surface convex portion 40-1. The surface convex portion 40-1 has a height (thickness) that is constant (uniform) in the vertical direction, corresponding to the amount of protrusion from the side surface 23A (the surface on which it is formed). In the example shown in Figure 5, the surface convex portion 40-1 is formed on both side surfaces 23A of the tip of the claw portion 23, extending over the entire vertical direction.

[0039] If the left-right dimension of the receiving portion 24 is W2 (distance between the sides 24A), and the left-right dimension of the claw portion 23 including the convex-shaped portions 40 on both sides is W1, then W1 may be set slightly larger than W2 in order to intentionally bring the convex-shaped portions 40 into contact with the sides 24A of the receiving portion 24.

[0040] As a result, even if the link member 21 is a resin molded product and relatively large dimensional variations occur during manufacturing, the convex shape 40 can be reliably brought into contact with the side surface 24A of the receiving part 24, thereby reliably preventing looseness in a straight position. Furthermore, if the link member 21 is a resin molded product, even if W1 is set to be slightly larger than W2, it can be fitted in by utilizing the elasticity of the resin.

[0041] Figure 6 is a plan view of the two connected link members 21 as seen from above. As shown in Figure 6, the convex-shaped portion 40 provided on the side surface 23A of the claw portion 23 contacts (abuts against) the side surface 24A of the receiving portion 24, thereby forming a gap C between the side surface 23A of the claw portion 23 and the side surface 24A of the receiving portion 24, corresponding to the height of the convex-shaped portion 40. The only contact surface between the side surface 23A of the claw portion 23 and the side surface 24A of the receiving portion 24 is the convex-shaped portion 40.

[0042] In this configuration, a convex portion 40 is provided, which has a smaller contact area than when the side surface 23A of the claw portion 23 and the side surface 24A of the receiving portion 24 are in contact. The convex portion 40 is intentionally brought into contact with the side surface 24A of the receiving portion 24. This reduces the frictional force when the link member 21 rotates around the connecting pin 25, even if dimensional variations occur during manufacturing, thereby preventing (suppressing) bending defects.

[0043] Furthermore, since the convex portion 40 is intentionally in contact with the side surface 24A of the receiving portion 24, even if dimensional variations occur during manufacturing, no gaps that cause looseness are formed, and looseness in a straight position can also be prevented. This prevents the multi-joint support member 20 from tilting due to looseness between the link members 21, and from shifting laterally and moving diagonally during forward and backward movement.

[0044] In the example shown in Figure 5, the convex portion 40 is provided at the tip of the claw portion 23, but this is not the only option. For example, the convex portion 40 may be provided between the tip of the claw portion 23 and the connecting pin 25, or between the connecting pin 25 and the bending posture holding surface 32A. The position where the convex portion 40 is provided is any region on the side surface 23A of the claw portion 23 in which the side surface 24A of the receiving portion 24 moves relative to it.

[0045] Figure 7 is a perspective view of a link member 21 which is a modified example constituting the multi-articular support member 20, as viewed from the rear obliquely upward. As shown in Figure 7, the convex-shaped portion 40 may be provided on both side surfaces 24A of the receiving portion 24 instead of on both side surfaces 23A of the claw portion 23. The position where the convex-shaped portion 40 is provided may be any region on the side surface 24A of the receiving portion 24 where the side surface 23A of the claw portion 23 relatively moves.

[0046] In the example of Figure 7, an inclined convex-shaped portion 40-2 is shown as the convex-shaped portion 40. The inclined convex-shaped portion 40-2 is formed in an inclined shape such that the height from the side surface 24A is high at the lower side close to the straight posture holding surface 31B and gradually decreases from the center to the upper part in the vertical direction.

[0047] Specifically, the inclined convex-shaped portion 40-2 has a flat portion 41 with a constant height that contacts the side surface 23A of the claw portion 23 in a straight posture, and an inclined portion 42 whose height gradually decreases as it goes from the flat portion 41 to the other direction side. The side surface 23A of the claw portion 23 of the rear link member 21 contacts the inclined portion 42 of the inclined convex-shaped portion 40-2 in the front link member 21 in a state inclined (bent state) in the bending direction.

[0048] With such a configuration, a plurality of link members 21 connected in series can contact the flat portion 41 of the inclined convex-shaped portion 40-2 with the side surface 23A of the claw portion 23 in a straight posture state, and can firmly hold the straight posture without generating rattling.

[0049] When changing to a bent posture, as the link member 21 rotates, the side surface 23A of the claw portion 23 comes to face the inclined portion 42 in the inclined convex-shaped portion 40-2, and the contact area with the inclined convex-shaped portion 40-2 (flat portion 41) gradually becomes smaller. Thereby, the frictional force when the link member 21 rotates around the connecting pin 25 becomes even smaller, and it can be bent more smoothly. Also, by forming the inclined convex-shaped portion 40-2 such that the side surface 23A of the claw portion 23 only contacts the inclined portion 42 and does not contact the flat portion 41 in the maximally bent state (the most bent state), it can be bent even more smoothly.

[0050] In the example shown in Figure 7, the inclined convex portion 40-2 is provided on the front side of the side surface 24A of the receiving portion 24, but this is not the only option. For example, the inclined convex portion 40-2 may be provided between the front side and the connecting pin hole 26, or between the connecting pin hole 26 and the bending posture holding surface 32B.

[0051] Furthermore, although not shown in the figures, the configuration may involve forming the convex portion 40 on only one side 23A of the claw portion 23. Similarly, the configuration may involve forming the convex portion 40 on only one side 24A of the receiving portion 24. By forming the convex portion 40 on at least one side 23A or side 24A, frictional force can be reduced, thereby suppressing bending defects and rattling.

[0052] Although not shown in the figures, one of the convex portions 40 on the left or right side may be formed on the side surface 23A of the claw portion 23, and the other convex portion 40 may be provided on the side surface 24A of the receiving portion 24.

[0053] In short, it is sufficient that a convex shape is formed on at least one of the side surfaces 23A or 24A, which are opposing surfaces that face each other when the claw portion 23 and the receiving portion 24 are connected, so as to contact the other opposing surface.

[0054] [Embodiment 2] Another embodiment of the present disclosure is described below. For the sake of convenience of explanation, components having the same function as those described in the above embodiment will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0055] Figure 8 is a perspective view showing a linearly extending portion of the articulated support member 50 of this embodiment. Figure 9 is a perspective view showing the most bent portion of the articulated support member 50. Figure 10 is a perspective view of the link member 51 that constitutes the articulated support member 50. Figure #1003 in Figure 10 shows the link member 51 viewed from the front and diagonally above, and Figure #1004 shows the link member 51 viewed from the side and diagonally below.

[0056] The link member 21 of the aforementioned embodiment 1 was configured to have one claw portion 23 and one receiving portion 24 at the front and rear of the base portion 22 (see Figure 5).

[0057] In contrast, as shown in Figure 10, the link member 51 constituting the articulated support member 50 of this embodiment has three front claw portions (engaging portions) 53 in front of the base portion 22 and two rear claw portions (engaging portions) 54 behind the base portion 22. Between the three front claw portions 53, two front receiving portions (engaging receiving portions) 55 are formed into which the two rear claw portions 54 of the link member 51 connected to the front are inserted. Between the two rear claw portions 54 and outside the two rear claw portions 54, three rear receiving portions (engaging receiving portions) 56 are formed into which the three front claw portions 53 of the link member 51 connected to the rear are inserted.

[0058] Furthermore, the link member 21 of Embodiment 1 was provided with a pair of connecting pins 25 in the left-right direction on the claw portion 23, and a pair of connecting pin holes 26 were formed in the left and right side wall portions 22A that form the receiving portion 24 (see Figure 5).

[0059] In contrast, as shown in Figure 10, the link member 51 has three connecting pin holes 57 formed in the three front claw portions 53, and two connecting pin holes 58 formed in the two rear claw portions 54.

[0060] As shown in Figures 8 and 9, two adjacent link members 51 are connected such that the three front claws 53 of the rear link member 51 are inserted (engaged) into the three rear receiving portions 56 of the front link member 51. In this inserted state, the three connecting pin holes 57 and the two connecting pin holes 58 form a single shaft hole that penetrates in the left-right direction, with their positions aligned in the front-rear and up-down directions. A connecting pin 60, which is separate from the link member 51, is inserted into this shaft hole, thereby connecting the two adjacent link members 51 in a state where they can rotate around the connecting pin 60.

[0061] As shown in Figure 10, a straight-position holding surface 31A is formed on the lower surface (the surface facing the bending direction) of each front claw portion 53 and each rear claw portion 54. Furthermore, a straight-position holding surface 31B is formed on the base portion 22 side (the inner side in the direction in which the front claw portion 53 and rear claw portion 54 are inserted) of each front support portion 55 and each rear support portion 56.

[0062] The linear posture-holding surfaces 31A of each front claw portion 53 and each rear claw portion 54 of each link member 51 connected in series abut against (butt against) the linear posture-holding surfaces 31B of each front receiving portion 55 and each rear receiving portion 56 of the link member 51 connected to the front or rear of each. As a result, the multiple link members 51 are held in a straight state and bending in the anti-bending direction is restricted (see Figure 8).

[0063] Furthermore, an upper wall portion 59 extending towards the rear is provided on the upper part of the base portion 22. A bending posture holding surface 32B is formed on the lower surface (the surface facing the bending direction) of the upper wall portion 59. And a bending posture holding surface 32A is formed on the upper surface of each front claw portion 53. The bending posture holding surface 32A is formed as an inclined surface that approaches the lower surface as it moves forward away from the base portion 22.

[0064] Each link member 51 connected in series rotates around the connecting pin 60 until its respective bending posture holding surface 32A contacts the bending posture holding surface 32B of the link member 51 connected to its front. When the bending posture holding surface 32A contacts the bending posture holding surface 32B, further bending in the bending direction is restricted, resulting in a state of maximum bending (see Figure 9).

[0065] <Convex Shape> As shown in Figure 8, Figure 9, and Figure 10, as shown in Figure #1004, the inclined convex shape 40-2 described above is formed as a convex shape 40 on the base 22 side of the side surface 56A (same as the side surface of the rear claw portion 54) of the rear receiving portion 56 of the link member 51.

[0066] The inclined convex portion 40-2 is formed in a sloping shape, with its height from the side surface 56A being higher at the lower side near the straight posture holding surface 31B, and gradually decreasing from the center to the top in the vertical direction. The inclined convex portion 40-2 is formed so that when the link member 51 is inclined to its maximum extent in the bending direction (maximum bending state), the side surface 53A of the front claw portion 53 contacts the flat portion 41.

[0067] With this configuration, the multiple link members 51 connected in series can maintain a straight posture because the side surface 53A of the front claw portion 53 contacts the flat portion 41 of the inclined convex shape portion 40-2 when the link members are in a straight posture (see Figure 8).

[0068] When changing to a bent position, as the link member 51 rotates, the side surface 53A of the front claw portion 53 comes into contact with the inclined portion 42 of the inclined convex shape portion 40-2, and the area in contact with the inclined convex shape portion 40-2 (flat portion 41) gradually decreases. As a result, the frictional force when the link member 51 rotates around the connecting pin 25 is further reduced, allowing for even smoother bending. Furthermore, even in the maximum bent state, the side surface 53A of the front claw portion 53 and the flat portion 41 are in contact, so no rattle occurs (see Figure 9).

[0069] In the link member 51, the convex portion 40 only needs to be provided on at least one of the sides 56A of the rear receiving portion 56 that faces the side surface 53A of the front claw portion 53 of the link member 51 connected to the rear (the same as the side surface of the rear claw portion 54). Furthermore, as mentioned above, the position where the convex portion 40 is provided is not limited to the base portion 22 side of the side surface 56A of the rear receiving portion 56, but may also be provided on the tip side of the side surface 56A of the rear receiving portion 56, that is, at the tip of the rear claw portion 54. However, when provided at the tip of the rear claw portion 54, it is preferable to make the convex portion 40-1 so that it contacts the side surface of the front receiving portion 55 over a wide area in a straight position.

[0070] Similarly, the convex portion 40 may be provided on the side of the front receiving portion 55 that faces the side of the rear claw portion 54 of the link member 51 connected to the front (the same as the side 53A of the front claw portion 53). In this case as well, it is sufficient that it is provided on at least one of the sides of the front receiving portion 55 that faces the side of the rear claw portion 54. Furthermore, as mentioned above, the position where the convex portion 40 is provided is not limited to the base portion 22 side of the side of the front receiving portion 55, but may also be provided on the tip side of the side of the front receiving portion 55, that is, at the tip of the front claw portion 53. In this case as well, when provided at the tip of the front claw portion 53, it is preferable that the convex portion 40-1 be made so that it contacts the side 56A of the rear receiving portion 56 over a wide area in a straight position.

[0071] Furthermore, if the link member 51 has multiple front claw portions 53 and rear receiving portions 56, it is sufficient that the convex shape 40 is formed on at least one of the multiple front claw portions 53 and rear receiving portions 56. Similarly, if the link member 51 has multiple rear claw portions 54 and front receiving portions 55, it is sufficient that the convex shape 40 is formed on at least one of the multiple rear claw portions 54 and front receiving portions 55.

[0072] Furthermore, in the case of the link member 51, the convex portion 40 only needs to be formed in a region on the side surface 53A of the front claw portion 53 or the side surface 56A of the rear receiving portion 56, where the side surface 53A of the front claw portion 53 moves relative to the side surface 56A of the rear receiving portion 56, or in a region on the side surface of the rear claw portion 54 or the side surface of the front receiving portion 55, where the side surface of the rear claw portion 54 moves relative to the side surface of the front receiving portion 55.

[0073] [Embodiment 3] Another embodiment of the present disclosure is described below. For the sake of convenience of explanation, components having the same function as those described in the above embodiments are denoted by the same reference numerals, and their descriptions are not repeated.

[0074] In this embodiment, variations in the shape of the convex portion 40 and the position in which the convex portion 40 is provided will be explained with reference to the drawings. In this embodiment, a configuration in which the convex portion 40 is provided on the link member 51 constituting the articulated support member 50 of Embodiment 2 is illustrated, but it may also be provided on the link member 21 constituting the articulated support member 20 of Embodiment 1.

[0075] Figures 11 and 12 are perspective views of a link member 51 with a convex shape portion 40 formed thereon, showing a third embodiment. Figure #1005 in Figure 11 shows an example in which the aforementioned convex shape portion 40-1 is formed as the convex shape portion 40 on the base 22 side (inward side in the insertion direction) of the side surface 56A (same as the side surface of the rear claw portion 54) of the rear receiving portion 56 of the link member 51.

[0076] Furthermore, Figure #1006 in Figure 11 shows an example in which a vertically extending, straight convex portion 40-3 is formed as a convex portion 40 on the base 22 side of the side surface 56A of the rear support portion 56 of the link member 51. Multiple straight convex portions 40-3 may be arranged in a row in the front-rear direction.

[0077] Figure 11, diagram #1007, shows an example in which a convex shape 40 is formed on the base 22 side of the side surface 56A of the rear support portion 56 of the link member 51, with a dot row convex shape 40-4 having multiple hemispherical convex parts arranged in the vertical direction. Multiple dot row convex shapes 40-4 may also be arranged in the front-to-back direction.

[0078] When a linear convex shape 40-3 or a dot-row convex shape 40-4 is provided on the base 22 side of the side surface 56A of the rear support portion 56 of the link member 51, the height from the side surface 56A may be formed to be higher at the lower side near the linear posture holding surface 31B and lower from the center to the upper part in the vertical direction, as in the case of the inclined convex shape 40-2.

[0079] In other words, the linear convex portion 40-3 or the dot-row convex portion 40-4 may be formed to have a first portion 43 of constant height that contacts the side surface 53A of the front claw portion 53 in a straight position, and a second portion 44 located on the other side of the first portion 43 and having a lower height than the first portion 43. The side surface 53A of the front claw portion 53 of the rear link member 51 contacts the second portion 44 of the linear convex portion 40-3 or the dot-row convex portion 40-4 of the front link member 51 when it is inclined in the bending direction (bent state).

[0080] By adopting this configuration, the same functions and effects as those of the inclined convex shape portion 40-2 described above can be obtained.

[0081] Figure #1008 in Figure 12 shows an example in which the aforementioned convex surface portion 40-1 is formed as a convex shape 40 on the tip side of one of the two rear claw portions 54 of the link member 51 (on the opposite side from the base portion 22 of one of the three rear receiving portions 56A).

[0082] Figure #1009 in Figure 12 shows an example in which the aforementioned convex surface portion 40-1 is formed as a convex shape portion 40 on the tip side of the inner side surface 53A of the two outer front claw portions 53 of the link member 51 (opposite the base portion 22 of the outer side surface of each of the two front receiving portions 55).

[0083] Figure 12, diagram #1010 shows an example in which the aforementioned surface convex shape portion 40-1 is formed as a convex shape portion 40 on the tip side of both sides 53A of the central of the three front claw portions 53 of the link member 51 (opposite the base portion 22 of the inner side of each of the two front receiving portions 55).

[0084] In embodiments 1 to 3, a claw portion is exemplified as the engaging portion, and a receiving portion into which the claw portion is fitted from above, or a receiving portion into which it is inserted from the front or rear direction, is exemplified as the engaging receiving portion, but the invention is not limited to these. For example, a configuration in which a protruding projection portion protruding from one end is inserted into an insertion groove provided at the other end may be used, as in the unit support member disclosed in Patent Document 2. It can also be adapted to a configuration such as the chain link disclosed in Patent Document 3.

[0085] The articulated support member according to Embodiment 1 of the present disclosure comprises a plurality of link members, the plurality of link members arranged in series and adjacent link members rotatably connected to each other by connecting pins, the articulated support member is capable of bending in one direction and is restricted from bending in the other direction opposite to the one direction to assume a straight position, each of the plurality of link members has an engaging portion and an engaging receiving portion, and adjacent link members are connected by the connecting pin with the engaging receiving portion of one link member engaged with the engaging portion of the other link member, the engaging portion and the engaging receiving portion each have opposing surfaces that face each other when connected, and at least one of the opposing surfaces has a convex shape formed that contacts the other opposing surface.

[0086] According to the above configuration, a convex shape is provided that has a smaller contact area than when opposing surfaces are in contact with each other, and is intentionally brought into contact with the other opposing surface. As a result, even if dimensional variations occur during manufacturing, the frictional force when the link member rotates around the connecting pin is reduced, preventing (suppressing) bending defects. In addition, since no gap that causes looseness is formed, looseness can also be prevented (suppressed).

[0087] The articulated support member according to Embodiment 2 of the present disclosure, in Embodiment 1, the convex portion is formed on the opposing surface of the engaging receiving portion in a region where the opposing surface of the engaging portion moves relative to it, and the convex portion may have a flat portion with a constant height, which is the amount of protrusion from the formed surface, that contacts the opposing surface of the engaging portion in the linear position, and an inclined portion whose height gradually decreases as it moves from the flat portion toward the other direction.

[0088] According to the above configuration, the convex portion has a flat portion that contacts the opposing surface and an inclined portion that does not contact the opposing surface. In a straight position, the flat portion contacts the other opposing surface, so the straight position can be maintained. When changing to a bent position, the area in contact between the flat portion and the other opposing surface gradually decreases, so the frictional force when the link member rotates around the connecting pin can be reduced.

[0089] The articulated support member according to aspect 3 of the present disclosure, in aspect 1, the convex portion is formed on the opposing surface of the engagement receiving portion in a region where the opposing surface of the engagement portion moves relative to it, and the convex portion may have a first portion having a constant height which is the amount of protrusion from the formed surface that contacts the opposing surface of the engagement portion in the linear position, and a second portion located on the other side of the first portion and having a lower height than the first portion.

[0090] According to the above configuration, the convex portion has a first portion that contacts the opposing surface and a second portion that does not contact the opposing surface. In a straight position, the first portion contacts the other opposing surface, so the straight position can be maintained. When changing to a bent position, the area in contact between the first portion and the other opposing surface gradually decreases, so the frictional force when the link member rotates around the connecting pin can be reduced.

[0091] In the articulated support member according to aspect 4 of the present disclosure, in aspect 1, the convex portion is formed on the opposing surface of the tip of the engaging portion, and the height, which is the amount of protrusion from the surface on which it is formed, may be constant.

[0092] In any of embodiments 1 to 4, the articulated support member according to embodiment 5 of the present disclosure has, in each of the plurality of link members, a plurality of engagement portions and engagement receiving portions, and the convex shape portion may be formed in at least one of the plurality of engagement portions and engagement receiving portions.

[0093] With the above configuration, even in configurations where the above-mentioned problems due to dimensional variations during manufacturing are more likely to occur, the frictional force when the link member rotates around the connecting pin can be reduced to prevent (suppress) bending defects, and looseness can also be prevented (suppressed).

[0094] The articulated support member according to aspect 6 of the present disclosure comprises a strip-shaped portion on which multiple cables or hoses are arranged in parallel and connected to one another, and an articulated support member according to any one of aspects 1 to 5, wherein the strip-shaped portion is supported by the articulated support member.

[0095] According to the above configuration, even if dimensional variations occur during manufacturing, the inclusion of a multi-joint support member that can suppress bending defects and looseness ensures stable operation.

[0096] This disclosure is not limited to the embodiments described above, 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 this disclosure.

[0097] 11 Flat cable 16 Cable 20, 50 Multi-joint support member 21, 51 Link member 22 Base 22A Side wall 23 Claw (engaging part) 23A, 24A, 53A, 56A Side (opposing surface) 24 Receiving part (engaging receiving part) 25, 60 Connecting pin 40 Convex shape 40-1 Surface convex shape 40-2 Inclined convex shape 40-3 Linear convex shape 40-4 Dot row convex shape 41 Flat part 42 Inclined part 43 First part 44 Second part 53 Front claw (engaging part) 54 Rear claw (engaging part) 55 Front receiving part (engaging receiving part) 56 Rear receiving part (engaging receiving part)

Claims

1. A multi-joint support member comprising a plurality of link members, wherein the plurality of link members are arranged in series and adjacent link members are rotatably connected to each other by connecting pins, the multi-joint support member is capable of bending in one direction and is restricted from bending in the other direction opposite to the one direction to assume a straight position, each of the plurality of link members has an engaging portion and an engaging receiving portion, and adjacent link members are connected by the connecting pins with the engaging receiving portion of one link member engaged with the engaging portion of the other link member, the engaging portion and the engaging receiving portion each have opposing surfaces that face each other when connected, and at least one of the opposing surfaces has a convex shape formed thereon that contacts the other opposing surface.

2. The articulated support member according to claim 1, wherein the convex portion is formed on the opposing surface of the engaging receiving portion in a region where the opposing surface of the engaging portion moves relative to it, and the convex portion has a flat portion having a constant height which is the amount of protrusion from the formed surface that contacts the opposing surface of the engaging portion in the linear position, and an inclined portion whose height gradually decreases as it moves from the flat portion toward the other direction.

3. The articulated support member according to claim 1, wherein the convex portion is formed on the opposing surface of the engaging receiving portion in a region where the opposing surface of the engaging portion moves relative to it, and the convex portion has a first portion having a constant height which is the amount of protrusion from the formed surface that contacts the opposing surface of the engaging portion in the linear position, and a second portion located on the other side of the first portion and having a lower height than the first portion.

4. The articulated support member according to claim 1, wherein the convex portion is formed on the opposing surface of the tip of the engaging portion, and the height, which is the amount of protrusion from the formed surface, is constant.

5. The articulated support member according to claim 1, wherein each of the plurality of link members has a plurality of engaging portions and engaging receiving portions, and the convex shape is formed in at least one of the plurality of engaging portions and engaging receiving portions.

6. A flat transmission device comprising: a strip-shaped portion in which multiple cables or hoses are arranged in parallel and connected to one another; and a multi-joint support member according to any one of claims 1 to 5, wherein the strip-shaped portion is supported by the multi-joint support member.

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