TWI515985B - Cables protection and guiding device - Google Patents

Description

Cable protection guiding device

The present invention relates to a cable type protection guiding device which securely and reliably protects a flexible cable such as a guiding cable or a hose, which is used for industrial use. A moving portion and a stationary portion of a machine or a vehicle to supply electric signals or supply electric power, and the hose supplies hydraulic pressure or air pressure.

Previously, there has been known a cable type protection guiding device that joins a plurality of link members along a cable length direction to form a multi-joint link, from a cable fixing end Directing the cable to the cable moving end so that the cable presents a linear posture in contact with the support surface of the support and a curved posture away from the support surface

(for example, Patent Document 1 and Patent Document 2).

The conventional cable-type protection and guiding device is configured to store the cable in the state with a degree of freedom and guide the cable.

Prior art literature

Patent literature

Patent Document 1: Japanese Patent Laid-Open No. Hei 5-38034

Patent Document 2: Japanese Patent No. 4586221

However, the above-described cable-type protection and guiding device adopts a structure in which the cable is housed inside with a degree of freedom, and thus there is a problem that the cable and the cable are moved when the moving end of the cable moves. The type of protection guiding device slides relatively, and the skin of the cable is worn to cause abrasion powder; or, in order to store the cable inside, the cable protection and guiding device must be enlarged, so that the quality is relatively large. This causes a problem that the inertial force when the moving end of the cable moves becomes large and cannot be stopped with high positional accuracy.

Accordingly, the present invention solves the problems of the prior art as described above, that is, an object of the present invention is to provide a cable-like protection guiding device that prevents abrasion of a skin of a cable type and that has high positional accuracy of the multi-joint link. stop.

The present invention solves the above problems by the following means, that is, a cable type protection guiding device that connects a plurality of link members along a cable length direction to form a multi-joint link Guiding the cable from the cable fixing end toward the cable moving end so that the cable presents the supporting surface of the support body a linear posture of the contact and a bending posture away from the support surface, wherein the multi-joint link is provided with the plurality of link members and a clamping member, and the clamping member is mounted in the plurality of link members At least a part, and holding a cable, at least a part of the plurality of link members having a coupling pin, a pin hole, and a through hole, the coupling pin being formed on one end side of the cable length direction, the pin The hole is formed on the other end side of the longitudinal direction of the cable, and is rotatably engaged with a coupling pin that penetrates the multi-joint chain between the coupling pin and the pin hole in the longitudinal direction of the cable In the width direction of the joint, the clamping member integrally has a base portion and a clamping portion, the base portion being engaged with the through hole, the clamping portion being from the base portion toward the multi-joint link The outer side of the width direction extends and is divided into two strands, and the cable is clamped from both sides of the curved inner side and the outer side of the multi-joint link.

The present invention further solves the above-described problems by the configuration in which the holding member is formed of a flexible material.

The present invention further solves the above-described problems by the configuration in which the base portion of the holding member has claws that are elastically deformed in a direction intersecting the through direction of the through hole of the link member. In a state where the holding member is attached to the link member, the claw abuts against the peripheral portion of the through hole from the outer side in the width direction of the multi-joint link.

According to the present invention, the above-described problem is further solved in that, in a state in which the holding member is attached to the link member, the claws are respectively disposed on both sides of the through hole of the base portion. .

The present invention further solves the above problems by the following structure, that is, The nip portion divided into two strands has a plurality of locking holes which are provided at predetermined intervals in the width direction of the multi-joint link and which are divided into two strands. The locking hole is provided to be freely engageable with a pin independent of the holding member.

The present invention further solves the above problems by the configuration that one side of the two-shaped clamping portion has a plurality of locking holes, and the plurality of locking holes are at the multi-joint link width. The direction is set at a predetermined interval, and the other of the two-shaped nip portions has a plurality of protrusions which are provided at predetermined intervals in the width direction of the multi-joint link, and The locking holes are free to be engaged.

The present invention further solves the above-described problems by the configuration that at least one of the support portion supporting the grip member is larger than the through hole of the link member from the curved inner side and the outer side of the multi-joint link The sides extend toward both outer sides in the width direction of the multi-joint link.

The cable-type protection guiding device of the present invention connects a plurality of link members along a cable length direction to form a multi-joint link, and guides the cable from the cable fixing end toward the cable moving end, so that the cable The cable exhibits a linear posture in contact with the support surface of the support and a curved posture away from the support surface, whereby not only the cable can be protected and guided, but also the specific effects as described below can be achieved.

According to the cable-type protection guiding device of the present invention, the multi-joint link has a plurality of link members and a clamping member, and the clamping member is attached to at least a part of the plurality of link members and holds the cable Class, at least part of a plurality of link members The connection pin is formed on one end side in the longitudinal direction of the cable, and the pin hole is formed on the other end side in the longitudinal direction of the cable, and is rotatably engaged with the coupling pin. The through hole is a width direction of the multi-joint link between the coupling pin and the pin hole in the longitudinal direction of the cable, and the clamping member integrally has a base portion and a clamping portion, and the base portion is a card with the through hole The clamping portion extends from the base portion toward both outer sides in the width direction of the multi-joint chain, and is disposed in two strands, and clamps the cable from the curved inner side and the outer side of the multi-joint link. In the wire type, the clamp member holds the cable and the cable does not slide with respect to the clamp member, so that abrasion of the skin of the cable can be prevented.

Further, compared with the conventional structure in which the inside of the link member is hollow to insert the cable into the inside, the link member itself is compact, and the quality of the link member itself is reduced, and the inertia at the time of stopping is suppressed. Since the force is small, the multi-joint link can be stopped with high positional accuracy as compared with the conventional structure in which the inside of the link member is hollow to insert the cable into the inside.

Similarly, the link member itself becomes compact, the quality of the link member itself becomes small, and the inertial force at the time of movement becomes small, so that the magnitude of the output of the power source of the device can be reduced.

In other words, it is possible to reduce the size of a motor or the like as a power source.

Further, since the number of parts is small and the number of parts is small, the manufacturing cost can be greatly reduced.

Further, compared with the conventional structure in which the inside of the link member is hollow to insert the cable into the inside, the link member itself is compact, and the collision portion between the link members at the time of movement is reduced, so that it can be reduced. Collision sound.

Further, even when a plurality of cables are present, since the cables are arranged in the multi-joint link width direction and the plurality of cables are bent, the bending radii of the plurality of cables are substantially the same. Problems such as disconnection of cables caused by excessive bending force on cables caused by different bending radii.

Further, when a plurality of cables are present and the cables are held on both sides in the width direction of the multi-joint link, the cables are formed by sandwiching the cables in the multi-joint link width direction side. The repulsive force caused by the bending resistance and the repulsive force generated in the same manner on the other side in the width direction will cancel or weaken, so that the action of the force in the direction in which the multi-joint link is twisted can be substantially eliminated.

In other words, the balance of the forces on both sides in the width direction of the multi-joint link is good, and the distortion of the multi-joint link can be prevented, and the bending of the multi-joint link can be smoothed.

According to the cable-type protection and guiding device of the present invention, the holding member is formed of a flexible material, so that the holding member is in contact with the supporting surface of the supporting body serving as the reference surface even when the holding member is moved. Since the deflection also absorbs the impact, the noise can be reduced as compared with a structure in which the holding member is formed of a material that does not bend.

According to the cable-type protection guiding device of the present invention, the base portion of the holding member has a claw that elastically deforms in a direction intersecting the through-hole of the link member, and the clamping member is attached to the link member In the state in which the claw abuts on the outer peripheral portion of the through hole from the outer side in the width direction of the multi-joint link, the claw is elastically deformed from the peripheral portion side of the through hole toward the through-hole side, and the grip member Since the claw can be inserted in the through hole of the link member, the clamp member can be easily attached and detached to the link member.

Further, in the mounted state, the claw abuts against the peripheral portion of the through hole to restrict the movement of the holding member toward the side further entering the through hole of the link member, thereby being able to restrict the holding member toward the multi-joint link width direction The relative positional relationship of one side.

According to the cable-type protection and guiding device of the present invention, in a state in which the clamp member is attached to the link member, the claws are respectively disposed on both sides in the penetration direction of the through hole of the base portion, whereby the claw is attached in the mounted state. Abutting the peripheral portion of the through hole on both sides in the through direction to restrict the movement of the holding member toward the side further entering the through hole of the link member, thereby being able to restrict the holding member toward the multi-joint link width direction The relative positional relationship of the sides.

According to the cable-type protection guiding device of the present invention, the nip portion divided into two strands has a plurality of locking holes which are provided at predetermined intervals in the width direction of the multi-joint link and penetrate The portion is divided into two strands, and the locking hole is provided to be freely engaged with a pin independent of the holding member, whereby the holding member is selected by selecting a locking hole corresponding to the diameter of the cable The unhelpful gap between the nip portion divided into two strands and the cable is small, and the clamping force for the cable is increased, so that the skin of the cable can be more reliably prevented from being worn.

Further, since the pin is located between the plurality of cables in the width direction of the multi-joint link, the plurality of cables are arranged in the multi-joint link width direction without coming into contact with each other, and thus it is possible to prevent the plurality of cables from being prevented from being in contact with each other. Wear of the skin caused by the contact of the cables with each other.

According to the cable-type protection and guiding device of the present invention, one of the two-shaped nip portions has a plurality of locking holes which are provided at predetermined intervals in the multi-joint link width direction. The other of the two-shaped nip portions has a plurality of protrusions which are provided at predetermined intervals in the width direction of the multi-joint link and are engageable with the locking holes, thereby Selecting a locking hole corresponding to the diameter of the cable type, so that the unprofitable gap between the clamping portion of the clamping member divided into two strands and the cable type becomes small, and the clamping force for the cable type As the size is increased, the same effects as those produced by the above invention can be obtained.

Further, since the other protrusion of the sandwiched portion which is divided into two strands is engaged with one of the locking holes, it is not necessary to provide a pin as an independent member, and the number of parts can be reduced as compared with the above configuration.

According to the cable-type protection guiding device of the present invention, the support portion supporting the grip member is wider than the through-hole of the link member from the at least one of the curved inner side and the outer side of the multi-joint link toward the multi-joint link When the posture is extended from the curved state to the straight state or from the straight state to the curved state, the clamping member is subjected to the repulsive force due to the bending resistance from the cable to be deflected. A part of the repulsive force acts on the support portion that abuts against the gripping member, so that the support portion can withstand a part of the repulsive force, and thus the deflection of the gripping member can be eliminated or reduced.

100, 200, 300‧‧‧ cable protection and guiding device

100A, 200A, 300A‧‧‧multi-joint links

110, 210, 310‧‧‧1st link member

111, 211, 311‧‧ ‧ joint pin

112, 212, 312‧‧ pin holes

113, 213, 313‧‧‧through holes

113a, 213a, 313a‧‧‧ peripheral parts

114‧‧‧1st straight posture maintaining surface

115‧‧‧2nd straight posture maintaining surface

116‧‧‧1st bending posture limit surface

117‧‧‧2nd bending posture limit surface

218, 318‧‧‧ bending inner support part

319‧‧‧Bent outer support part

120, 220, 320‧‧‧ clamping members

121, 221, 321‧‧‧ base parts

121a, 221a, 321a‧‧‧ claws

122, 222, 322‧‧‧ clamping part

122a, 222a, 322a‧‧‧ bending inner clamping part

122aa, 122ba‧‧‧ card hole

122b, 222b, 322b‧‧‧ bending outer clamping part

130, 230, 330‧‧ ‧ sales

131‧‧‧Great Path Section

132‧‧‧Path section

133‧‧‧ Medium diameter section

140‧‧‧2nd link member

150‧‧‧Support

151‧‧‧Support surface

C‧‧‧Cables

E1‧‧‧ cable mobile terminal

E2‧‧‧ cable fixed end

X‧‧‧Multi-joint link width direction

Y‧‧‧ cable length direction

3A, 3B, 4B, 4C, 5B, 6B, 7B‧‧‧ arrow direction

Fig. 1 is a schematic view showing a cable-type protection and guiding device according to a first embodiment of the present invention.

Fig. 2 is a perspective view showing a first link member and a sandwiching member according to the first embodiment of the present invention.

3(A) and 3(B) are views showing a multi-joint link and a cable according to a first embodiment of the present invention.

4(A), 4(B), and 4(C) are views showing a first link member according to the first embodiment of the present invention.

5(A), 5(B), and 5(C) are views showing a sandwiching member and a pin according to the first embodiment of the present invention.

6(A), 6(B), and 6(C) are diagrams showing a first link member, a multi-joint link, and a cable according to a second embodiment of the present invention.

7(A), 7(B), and 7(C) are diagrams showing a first link member, a multi-joint link, and a cable according to a third embodiment of the present invention.

The present invention relates to a cable type protection guiding device that connects a plurality of link members along a cable length direction to form a multi-joint link, from a cable fixing end toward a cable moving end. Leading the cable to cause the cable to assume a linear posture in contact with the support surface of the support and a bending posture away from the support surface, wherein the multi-joint link is provided with a plurality of link members and a clamping member, a clamping member is mounted to at least a portion of the plurality of link members and clamps the cable type, At least a part of the plurality of link members has a coupling pin formed on one end side in the longitudinal direction of the cable, and a through hole formed in the other end side of the cable length direction, and The coupling pin is rotatably engaged, and the through hole penetrates the multi-joint link width direction between the coupling pin and the pin hole in the longitudinal direction of the cable, and the clamping member integrally has a base portion and a clamping portion. The base portion is engaged with the through hole, and the clamping portion extends from the base portion toward both outer sides in the width direction of the multi-joint link, and is disposed in two strands, and is bent from the inner side and the outer side of the multi-joint link. The cables are clamped on both sides, thereby preventing the abrasion of the skin of the cable, and the multi-joint chain energy saving is stopped with high positional accuracy. As long as the present invention is the device as described above, the specific embodiment thereof is anyway. Can be.

For example, the specific material of the link member used in the cable-type protection and guiding device of the present invention may be any of synthetic resin such as engineering resin or metal such as aluminum, and for the specific shape of the link member. In any case, any shape can be used as long as it can be connected in the cable length direction and the cable can be folded back and relatively moved between the cable fixing end and the cable moving end along the cable length direction.

Further, the cable type may be any flexible flexible linear body, and includes, for example, a cable for supplying electric power or signal in a machine, and a hose for guiding a substance containing a fluid.

[Example 1]

Hereinafter, a cable-type protection and guidance device 100 according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 5(A), 5(B), and 5(C).

Here, Fig. 1 is a view showing a cable protection guide package according to a first embodiment of the present invention. FIG. 2 is a perspective view showing the first link member 110 and the sandwiching member 120 according to the first embodiment of the present invention, and FIG. 3(A) is a schematic view of the first link member 110 and the sandwiching member 120 according to the first embodiment of the present invention. The multi-joint link 100A and the cable C of the first embodiment of the present invention are observed on the outer side of the multi-joint link, and FIG. 3(B) is a view from the symbol 3B shown in FIG. 3(A). 4(A) is a view of the first link member 110 according to the first embodiment of the present invention as seen from the outer side of the multi-joint link bending, and FIG. 4(B) is a view seen from the symbol 4B shown in FIG. 4(A). 4(C) is a view seen from the symbol 4C shown in FIG. 4(A), and FIG. 5(A) is a view of the sandwiching member 120 according to the first embodiment of the present invention as seen from the outer side of the multi-joint link bending. 5(B) is a view seen from the symbol 5B shown in FIG. 5(A), and FIG. 5(C) is a view showing the pin 130.

3(A) and 3(B), the cable type C is illustrated. However, in FIG. 2, in order to facilitate understanding of the shape of the clamp member 120, the illustration of the cable type C is omitted.

The cable-type protection and guidance device 100 according to the first embodiment of the present invention is disposed in a machine including a cable C as shown in FIGS. 1 to 5 (A), 5 (B), and 5 (C). In the unillustrated), it is used to protect and guide the cable type C.

The machine is, for example, a semiconductor manufacturing device, a drug development test device, a vehicle door opening and closing device, or a work machine.

The cable type protection guiding device 100 is disposed in such a manner that a plurality of link members (110, 140) are coupled along the cable length direction Y to constitute a multi-joint link 100A, from the cable fixing end E2 toward the cable The wire moving end E1 guides the cable type C such that the cable type C assumes a linear posture in contact with the support surface 151 of the support body 150. And a curved posture away from the support surface 151.

Further, the multi-joint link 100A includes: a first link member 110 and a second link member 140 as a plurality of link members; and a grip member 120 attached to at least a part of the plurality of link members The first link member 110 holds the cable C.

Here, the first link member 110 refers to a link member to which the clamp member 120 is attached.

On the other hand, the second link member 140 refers to a link member to which the clamp member 120 is not attached.

Further, the configuration of the second link member 140 is basically the same as that of the first link member 110, except that the through hole 113 to be described later is not provided, or the sandwiching member 120 is not attached even if the through hole 113 is provided, and therefore the description is omitted. Description of the specific structure of the second link member 140.

In the present invention, the first link member 110 may be used at least in part, and the plurality of first link members 110 may be coupled in the cable longitudinal direction Y to form the multi-joint link 100A.

In other words, the second link member 140 may be coupled between the first link member 110 and the first link member 110, or only the plurality of first link members 110 may be added without adding the second link member 140. Link it.

Further, the first link member 110 has a coupling pin 111 formed on one end side in the longitudinal direction of the cable, and a pin hole 112 formed on the other end side in the longitudinal direction of the cable, and rotatably engaged with the coupling pin 111; Hole 113, in the cable length direction Y The multi-joint link width direction X is penetrated between the joint pin 111 and the pin hole 112.

Further, the holding member 120 integrally has: a base portion 121 that is engaged with the through hole 113; and a clamping portion 122 that extends from the base portion 121 toward both outer sides in the width direction of the multi-joint link, and is divided into two strands. And the cable type C is clamped from the inner side and the outer side of the multi-joint link bending.

Thereby, the clamp member 120 holds the cable C and the cable C does not slide with respect to the clamp member 120.

Further, compared with the prior art structure in which the inside of the link member is hollow to insert the cable C into the inside, the link members (110, 140) themselves become compact and the link members (110, 140) themselves The quality is reduced, so that the inertial force at the time of stopping becomes small.

Similarly, the link members (110, 140) themselves become compact, the quality of the link members (110, 140) themselves becomes small, and the inertial force at the time of movement becomes small.

In other words, it is possible to reduce the size of a motor or the like as a power source.

Further, since the number of parts is small and the number of parts is small, the manufacturing cost can be greatly reduced.

Further, compared with the conventional structure in which the inside of the link member is hollow to insert the cable C into the inside, the link members (110, 140) themselves become compact, and the link members (110, when moving) 140) The collision sites of each other become smaller.

Further, even when a plurality of cable types C are present, the cable types C are arranged in the multi-joint link width direction X, and the bending radii of the plurality of cable types C when the plurality of cable types C are bent become substantially the same.

Furthermore, there are a plurality of cable types C and are sandwiched on both sides of the multi-joint link width direction. In the case of the cable type C, the repulsive force due to the bending resistance of the cable C generated by clamping the cable C in the multi-joint link width direction side and the repulsive force generated on the other side in the width direction Will offset or weaken.

In other words, the balance of the forces on both sides in the width direction of the multi-joint link is good, and the twist of the multi-joint link 100A can be prevented, and the bending of the multi-joint link 100A can be smoothly performed.

Specifically, as shown in FIGS. 4A to 4C , the first link member 110 has a coupling pin 111 , a pin hole 112 , a through hole 113 , a first linear posture holding surface 114 , and a second straight posture. The holding surface 115, the first bending posture regulating surface 116, and the second bending posture regulating surface 117 are provided.

In addition, the connection pin 111 is disposed so as to protrude toward both sides in the width direction of the multi-joint link in the first link side of the first link member 110 in the longitudinal direction of the cable.

Further, the pin hole 112 is disposed on the other end side in the cable length direction of the first link member 110, and is disposed in such a manner as to be adjacent to the first link member 110 adjacent to the cable length direction Y. The joint pin 111 is rotatably engaged.

Further, the through hole 113 is disposed in the cable length direction Y so as to penetrate the multi-joint link width direction X between the coupling pin 111 and the pin hole 112 in the first link member 110.

Further, the first linear posture holding surface 114 is disposed at one end side in the longitudinal direction of the cable in the first link member 110, and the second linear posture holding surface 115 is the cable length disposed in the first link member 110. Direction to the other end side.

Further, when the multi-joint link 100A is in the straight posture, the first linear posture holding surface 114 of the one first link member 110 and the second link member 140 adjacent to the cable length direction Y (or the first one) The second linear posture holding surface 115 of the link member 110) is in surface contact.

Similarly, the first bending posture regulating surface 116 is disposed at one end side in the longitudinal direction of the cable in the first link member 110, and the second bending posture regulating surface 117 is the cable length disposed in the first link member 110. Direction to the other end side.

Further, when the multi-joint link 100A is in the bending posture, the first bending posture regulating surface 116 of the one first link member 110 and the second link member 140 adjacent to the cable length direction Y (or the first one) The second bending posture regulating surface 117 of the link member 110) is in surface contact.

In other words, the one first link member 110 and the adjacent second link member 140 (or the first link member 110) are slightly bent at an obtuse angle, and the curved portion of the multi-joint link 100A is curved.

As a result, the cable type C is not bent but curved in a curved manner.

Further, as shown in FIGS. 5(A) and 5(B), the sandwiching member 120 integrally has a base portion 121 and a sandwiching portion 122.

Here, the clamping member 120 is formed of a flexible raw material.

Thereby, even when the holding surface 151 of the support body 150 which becomes a reference surface is hit by the clamping member 120, the clamping member 120 bends and absorbs an impact.

That is, noise can be reduced.

Further, the base portion 121 has a claw 121a that is elastically deformed in a direction intersecting the penetration direction of the through hole 113 of the first link member 110.

Further, as shown in FIG. 2 to FIG. 3(B), in a state in which the sandwiching member 120 is attached to the first link member 110, the claw 121a is outward from the multi-joint link width direction and the peripheral portion of the through hole 113. 113a abuts.

Thus, the claw 121a can be elastically deformed from the side of the peripheral edge portion 113a of the through hole 113 toward the side of the through hole 113, and the claw 121a of the sandwiching member 120 can be inserted into the through hole 113 of the first link member 110.

That is, the sandwiching member 120 can be easily attached to the first link member 110.

Further, in the mounted state, the claw 121a abuts against the peripheral edge portion 113a of the through hole 113 to restrict the movement of the sandwiching member 120 toward the side further entering the through hole 113 of the first link member 110.

Further, in the present embodiment, the claws 121a are disposed on both sides of the through-hole 113 of the base portion 121 in the penetrating direction (the multi-joint link width direction X).

Thereby, in the mounted state, the claws 121a abut against the peripheral edge portion 113a of the through hole 113 on both sides in the penetrating direction (multi-joint link width direction X) to restrict the grip member 120 from moving further into the first link. One side of the through hole 113 of the member 110 moves.

That is, the relative positional relationship of the grip member 120 toward both sides in the width direction of the multi-joint link is restricted.

In addition, in the present embodiment, in the through direction (multi-joint link width direction X) The claws 121a are provided on both sides, but they may be provided only on one side, and the other side is an abutment portion that does not elastically deform.

Further, in the present embodiment, two claws 121a are provided on both sides in the longitudinal direction of the cable, but they may each be one.

Further, the position of the claw 121a may be any position as long as it can abut against the peripheral edge portion 113a of the through hole 113.

Further, the holding portion 122 is divided into two shapes of a curved inner side clamping portion 122a and a curved outer side clamping portion 122b from the base portion 121, and is extended toward both outer sides in the multi-joint link width direction.

Further, the curved inner side clamping portion 122a and the curved outer side clamping portion 122b sandwich the cable type C from the inner side and the outer side of the multi-joint link bending.

In the present embodiment, the curved inner clamping portion 122a and the curved outer clamping portion 122b of the two-shaped clamping portion 122 respectively have a plurality of locking holes 122aa, 122ba, and the plurality of locking holes 122aa, 122ba are It is provided at a predetermined interval in the multi-joint link width direction X, and penetrates into a portion which is divided into two strands.

Further, the locking holes 122aa and 122ba are provided to be engageable with the pin 130, and the pin 130 is a member independent of the clamping member 120.

Thus, by selecting the locking holes 122aa, 122ba corresponding to the diameter of the cable C, the unbalanced gap between the clamping portion 122 of the clamping member 120 divided into two strands and the cable C is selected. When it becomes smaller, the clamping force with respect to the cable type C becomes large.

Further, the pin 130 is located between the plurality of cable types C in the multi-joint link width direction X, whereby the plurality of cable types C are not arranged in contact with each other in the multi-joint link In the width direction X.

That is, abrasion of the skin due to contact of the plurality of cable types C with each other is prevented.

Specifically, the pin 130 includes a large diameter portion 131, a small diameter portion 132, and a middle diameter portion 133.

The diameter of the large diameter portion 131 and the diameter of the intermediate diameter portion 133 are set larger than the diameters of the locking holes 122aa, 122ba, and the diameter of the small diameter portion 132 is set smaller than the diameter of the locking holes 122aa, 122ba.

Further, when the intermediate diameter portion 133 is pressed into the locking holes 122aa and 122ba, the locking holes 122aa and 122ba are enlarged and the intermediate diameter portion 133 is passed, whereby the curved inner side is sandwiched by the large diameter portion 131 and the intermediate diameter portion 133. The state of the holding portion 122a and the bending outer holding portion 122b.

Thereby, the clamping force with respect to the cable type C becomes large.

Further, for example, the curved inner side clamping portion 122a of the two-shaped clamping portion 122 may have a plurality of locking holes 122aa, 122ba, and the plurality of locking holes 122aa, 122ba are in multiple joints. The link width direction X is provided at a predetermined interval, and the other curved outer side clamping portion 122b divided into the two-shaped clamping portion 122 has a plurality of protrusions in the multi-joint link width direction X. It is provided at a predetermined interval and is engageable with the locking holes 122aa and 122ba.

Thereby, it is not necessary to provide the pin 130 as a separate member, so the number of parts can be reduced correspondingly.

Further, in the present embodiment, the pin 130 is used to increase the clamping force to the cable C, but it is not necessarily required to be fixed by the pin 130.

As a technical idea, the gap between the curved inner side clamping portion 122a and the curved outer side clamping portion 122b of the holding portion 122 may be smaller than the diameter of the cable type C, and the curved inner side clamping portion 122a may be firmly provided. The curved outer clamping portion 122b is bent so as not to be fixed by the pin 130 to generate a sufficient clamping force so that the curved inner clamping portion 122a of the clamping portion 122 and the curved outer clamping portion 122b sandwich the cable type C.

Further, two or more rows of the multi-joint links 100A may be arranged in the multi-joint link width direction as needed.

Thereby, even when the number of the cable types C is increased, it can be firmly supported.

Further, a plurality of multi-joint links 100A may be arranged to overlap each other in the inner and outer directions of the multi-joint link bending.

Thereby, even when the space is restricted in the width direction of the multi-joint link, a plurality of cable types C can be supported.

In the cable-type protection and guiding device 100 according to the first embodiment of the present invention, the multi-joint link 100A includes the first link member 110 and the second link member 140 as a plurality of link members and the holding member. 120, the holding member 120 is attached to the first link member 110 which is at least a part of the plurality of link members, and holds the cable C, and the first link member 110 has a coupling pin 111 and a pin hole 112 and the through hole 113, the coupling pin 111 is formed on one end side in the longitudinal direction of the cable, and the pin hole 112 is formed on the other end side in the longitudinal direction of the cable, and is rotatably engaged with the coupling pin 111, The through hole 113 is in the cable length direction Y at the joint pin 111 and The pin holes 112 extend through the multi-joint link width direction X, and the clamping member 120 integrally has a base portion 121 and a clamping portion 122, the base portion 121 being engaged with the through hole 113, the clamping portion 122 being The base portion 121 extends toward both outer sides in the width direction of the multi-joint link, and is disposed in two strands, and clamps the cable C from the inner side and the outer side of the multi-joint link bending, thereby preventing the cable The wear of the skin of the wire type C can be stopped by the high joint accuracy of the multi-joint link 100A as compared with the conventional structure in which the inside of the link member is hollowed to insert the cable C into the inside. The size of the output of the power source of the small device can reduce the collision sound, and can prevent problems such as disconnection of the cable C due to excessive force applied to the cable C due to the difference in the bending radius, and can substantially eliminate the orientation toward the multiple joints. The effect of the force in the direction in which the link 100A is twisted.

Further, since the sandwiching member 120 is formed of a flexible material, noise can be reduced as compared with a structure in which the sandwiching member 120 is formed of a material that does not bend.

Further, the base portion 121 of the sandwiching member 120 has a claw 121a that elastically deforms in a direction intersecting the penetration direction of the through hole 113 of the first link member 110, and the clamp member 120 is attached to the first member. In the state of the one link member 110, the claw 121a abuts against the peripheral edge portion 113a of the through hole 113 from the outer side in the multi-joint link width direction, whereby the first link member 110 can be easily attached or detached. The member 120 is capable of restricting the relative positional relationship of the holding member 120 toward one side in the width direction of the multi-joint link 100A.

Further, the holding member 120 is attached to the first link member 110. In the state in which the claws 121a are respectively disposed on both sides in the penetration direction of the through hole 113 of the base portion 121, the relative positional relationship of the sandwiching member 120 toward both sides in the width direction of the multi-joint link can be restricted.

Further, the nip portion 122 divided into two strands has a plurality of locking holes 122aa, 122ba which are provided at a predetermined interval in the multi-joint link width direction X, and are divided into two. In the femoral portion, the locking holes 122aa, 122ba are provided freely from the pin 130, and the pin 130 is a member independent of the clamping member 120, whereby the effect is great, for example, the cable can be more reliably prevented. The skin of the type C is worn, and abrasion of the skin due to contact between the plurality of cables C can be prevented.

[Embodiment 2]

Next, a cable-type protection and guiding device 200 according to a second embodiment of the present invention will be described based on FIGS. 6(A), 6(B) and 6(C).

Here, FIG. 6(A) is a view of the first link member 210 of the second embodiment of the present invention viewed from the multi-joint link width direction X, and FIG. 6(B) is a view of FIG. 6(A). The cross-sectional view of the symbol 6B-6B, and FIG. 6(C) is a view of the multi-joint link 200A and the cable C of the second embodiment of the present invention as seen from the cable length direction Y.

The cable-type protection and guiding device 200 of the second embodiment is formed by adding a curved inner supporting portion 218 as a supporting portion to the first link member 110 of the cable-type protection and guiding device 100 of the first embodiment. Since the elements are shared with the cable-type protection and guidance device 100 of the first embodiment, the detailed description of the common items will be omitted, and only the symbols starting from the last two digits will be indicated.

As shown in FIGS. 6(A) to 6(C), the first link member 210 of the cable-type protection and guiding device 200 according to the second embodiment of the present invention has a curved inner side as a supporting portion for supporting the holding member 220. Support portion 218.

The curved inner side support portion 218 is extended from the inner side of the multi-joint link bending toward the outer side in the multi-joint link width direction, compared to the through hole 213 of the first link member 210.

Thereby, even when the posture is changed from the curved state to the straight state or from the straight state to the curved state, the grip member 220 is subjected to the repulsive force due to the bending resistance from the cable C, and a part of the repulsive force is caused. The curved inner support portion 218 abuts against the gripping member 220, so that the curved inner support portion 218 is subjected to a portion of the repulsive force.

That is, the deflection of the grip member 220 can be eliminated or reduced.

Further, the support portion (the curved inner support portion 218) is provided on the inner side and the outer side of the multi-joint link bending of the through hole 213, and the support portion (the curved inner support portion 218) is provided inside the multi-joint link bending, but the same effect can be obtained even if it is provided outside. .

In the cable-type protection and guiding device 200 of the second embodiment of the present invention thus obtained, the curved inner support portion 218 as the support portion for supporting the sandwiching member 220 is larger than the through-hole 213 of the first link member 210. The inner side of the multi-joint link bend extends toward both outer sides in the width direction of the multi-joint link, whereby the effect is great, for example, the deflection of the grip member 220 can be eliminated or reduced.

[Example 3]

Next, the present invention will be described based on FIG. 7(A), FIG. 7(B), and FIG. 7(C). The third embodiment of the present invention is a cable protection and guiding device 300.

Here, FIG. 7(A) is a view of the first link member 310 of the third embodiment of the present invention as seen from the multi-joint link width direction X, and FIG. 7(B) is a view of FIG. 7(A). The cross-sectional view of the symbol 7B-7B, and FIG. 7(C) is a view of the multi-joint link 300A and the cable C of the third embodiment of the present invention as seen from the cable length direction Y.

In the cable-type protection and guidance device 300 of the third embodiment, the curved outer-side support portion 319 as a support portion is added to the first link member 210 of the cable-type protection and guidance device 200 of the second embodiment. Since the elements are shared with the cable-type protection and guidance device 200 of the second embodiment, the detailed description of the common items will be omitted, and only the 300-head symbols common to the last two digits will be noted.

As shown in Figs. 7(A) to 7(C), the first link member 310 of the cable-type protection and guiding device 300 according to the third embodiment of the present invention has a curved inner side as a supporting portion for supporting the holding member 320. The support portion 318 and the curved outer support portion 319.

Here, the curved inner side support portion 318 is extended from the inner side of the multi-joint link bending toward the outer side in the multi-joint link width direction, compared to the through hole 313 of the first link member 310.

On the other hand, the curved outer side support portion 319 is extended from the outer side of the multi-joint link bending toward the outer side in the multi-joint link width direction, compared to the through hole 313 of the first link member 310.

Thereby, even when the posture is changed from the curved state to the straight state or from the straight state to the curved state, the grip member 320 is subjected to the bending resistance from the cable type C. In the case where the repulsion is to be deflected, a part of the repulsion acts on the curved inner support portion 318 and the curved outer support portion 319 which abut against the grip member 320, thereby bending the inner support portion 318 and the curved outer support portion 319. Will take part in the repulsive force.

In the cable-type protection and guiding device 300 of the third embodiment of the present invention thus obtained, the curved inner support portion 318 as the support portion of the support clamp member 320 is compared with the through hole 313 of the first link member 310. The inner side of the multi-joint link bend extends toward both outer sides in the width direction of the multi-joint link, and similarly, the curved outer support portion 319 as the support portion is bent from the outer side of the multi-joint link than the through-hole 313 of the first link member 310 It is extended toward both outer sides in the width direction of the multi-joint link, whereby the effect is great, for example, the deflection of the grip member 320 can be eliminated or reduced.

100A‧‧‧Multi-joint chain links

110‧‧‧1st link member

111‧‧‧Links

112‧‧ ‧ pinhole

113a‧‧‧ Peripheral part

120‧‧‧Clamping members

121‧‧‧ base part

121a‧‧‧ claw

122‧‧‧Clamping section

122ba‧‧‧ card hole

122b‧‧‧Bending outside clamping part

130‧‧ ‧ sales

131‧‧‧Great Path Section

C‧‧‧Cables

X‧‧‧Multi-joint link width direction

Y‧‧‧ cable length direction

3B‧‧‧ arrow direction

Claims (7)

A multi-joint type cable type protection guiding device, which connects a plurality of link members along a cable length direction to form a multi-joint link, and guides a cable from a cable fixing end toward a cable moving end, so that The cable type exhibits a linear posture in contact with a support surface of the support body and a bending posture away from the support surface, and the cable-type protection guiding device is characterized in that the multi-joint link is provided with the plurality of link members And a clamping member mounted to at least a portion of the plurality of link members and clamping the cable, at least a portion of the plurality of link members having a coupling pin, a pin In the hole and the through hole, the coupling pin is formed on one end side in the longitudinal direction of the cable, and the pin hole is formed on the other end side in the longitudinal direction of the cable, and is rotatably engaged with the coupling pin. The through hole is in a width direction of the cable, and a width direction of the multi-joint link is penetrated between the connecting pin and the pin hole, and the clamping member integrally has a base portion and a clamping portion Part of the base portion is The through hole is engaged, the clamping portion extends from the base portion toward both outer sides in the width direction of the multi-joint link, and is disposed in two strands, and is bent from the multi-joint link The inner side and the outer side are used to hold the cable type. The cable-type protection guiding device according to claim 1, wherein the clamping member is formed of a flexible material. The cable protection guiding device according to claim 2, wherein The base portion of the clamping member has a claw that elastically deforms in a direction crossing a through direction of the through hole of the link member, and the clamping member is attached to the link member In the state of the plurality of joint links, the claw abuts against the peripheral portion of the through hole from the outer side in the width direction of the multi-joint link. The cable-type protection guiding device according to claim 3, wherein the claws are respectively disposed in a through hole of the base portion in a state in which the clamping member is attached to the link member. Both sides of the direction. The cable-type protection guiding device according to any one of claims 1 to 4, wherein the two-shaped clamping portion has a plurality of locking holes, the plurality of locking holes It is provided at a predetermined interval in the width direction of the multi-joint link, and penetrates into a portion which is divided into two strands, and the locking hole is provided to be engageable with a pin independent of the holding member. The cable-type protection guiding device according to any one of claims 1 to 4, wherein the one of the two-shaped clamping portions has a plurality of locking holes, the plurality of cards The stop hole is provided at a predetermined interval in the width direction of the multi-joint link, and the other of the two-part nip portion has a plurality of protrusions, and the plurality of protrusions are at the multi-joint link It is provided at a predetermined interval in the width direction, and is engageable with the locking hole. The cable-type protection guiding device according to any one of claims 1 to 4, wherein a support portion supporting the clamping member is compared with the through hole of the link member The inside and outside of the curved joint of the multi-joint link The lesser one side extends toward both outer sides in the width direction of the multi-joint link.