JP2015104764A5 - - Google Patents
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- JP2015104764A5 JP2015104764A5 JP2013246870A JP2013246870A JP2015104764A5 JP 2015104764 A5 JP2015104764 A5 JP 2015104764A5 JP 2013246870 A JP2013246870 A JP 2013246870A JP 2013246870 A JP2013246870 A JP 2013246870A JP 2015104764 A5 JP2015104764 A5 JP 2015104764A5
- Authority
- JP
- Japan
- Prior art keywords
- frame member
- cable
- arm mechanism
- mechanism according
- holding means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 239000000463 material Substances 0.000 claims 4
- 239000004734 Polyphenylene sulfide Substances 0.000 claims 1
- 229920000069 poly(p-phenylene sulfide) Polymers 0.000 claims 1
- 239000011347 resin Substances 0.000 claims 1
- 229920005989 resin Polymers 0.000 claims 1
- 229920001169 thermoplastic Polymers 0.000 claims 1
- 239000004416 thermosoftening plastic Substances 0.000 claims 1
Description
本発明のアーム機構は、支持部材と、前記支持部材に対して回転可能に支持されるフレーム部材と、前記フレーム部材の長手方向に沿って、少なくとも一部が前記フレーム部材の外側に配線されるケーブルと、前記フレーム部材に取り付けられ、前記ケーブルを前記フレーム部材の外側で保持する保持手段と、を備え、前記フレーム部材の回転中心は、前記フレーム部材の長手方向に沿って前記フレーム部材の内部を通る軸であり、前記保持手段及び前記フレーム部材に沿った区間の前記ケーブルは、前記フレーム部材の前記回転中心から最も離れた部位の前記回転中心からの距離を半径とする円筒形状の空間内に配置されることを特徴とする。 Arm mechanism of the present invention includes a support member, a frame member that is rotating rotatably supported by respect to the supporting member, along the longitudinal direction of the frame member, is wired to the outside of at least a part of said frame member And a holding means attached to the frame member and holding the cable on the outside of the frame member, the rotation center of the frame member extending along the longitudinal direction of the frame member A cylindrical space that is an axis passing through the inside, and the cable in the section along the holding means and the frame member has a radius from the rotation center of a portion of the frame member farthest from the rotation center. It is characterized by being arranged inside.
Claims (8)
前記支持部材に対して回転可能に支持されるフレーム部材と、
前記フレーム部材の長手方向に沿って、少なくとも一部が前記フレーム部材の外側に配線されるケーブルと、
前記フレーム部材に取り付けられ、前記ケーブルを前記フレーム部材の外側で保持する保持手段と、を備え、
前記フレーム部材の回転中心は、前記フレーム部材の長手方向に沿って前記フレーム部材の内部を通る軸であり、
前記保持手段及び前記フレーム部材に沿った区間の前記ケーブルは、前記フレーム部材の前記回転中心から最も離れた部位の前記回転中心からの距離を半径とする円筒形状の空間内に配置される、
ことを特徴とするアーム機構。 A support member;
A frame member which is rotating rotatably supported by to said support member,
A cable that is routed at least partially outside the frame member along the longitudinal direction of the frame member;
Holding means attached to the frame member and holding the cable outside the frame member;
The rotation center of the frame member is an axis passing through the inside of the frame member along the longitudinal direction of the frame member,
The cable in the section along the holding means and the frame member is disposed in a cylindrical space whose radius is a distance from the rotation center of a portion of the frame member farthest from the rotation center.
An arm mechanism characterized by that.
ことを特徴とする請求項1記載のアーム機構。 The holding means includes a first holding member that holds the cable on one side in the longitudinal direction of the frame member, and a second holding member that holds the cable on the other side in the longitudinal direction of the frame member. Prepare
The arm mechanism according to claim 1.
ことを特徴とする請求項1又は2に記載のアーム機構。 The holding means holds the cable slidably with respect to the frame member;
The arm mechanism according to claim 1 or 2, wherein
ことを特徴とする請求項1又は2に記載のアーム機構。 The holding means fixes the cable to the frame member;
The arm mechanism according to claim 1 or 2, wherein
ことを特徴とする請求項1乃至4のいずれか1項に記載のアーム機構。 The cable includes at least one connector separable outside the frame member;
The arm mechanism according to any one of claims 1 to 4, wherein:
ことを特徴とする請求項1乃至5のいずれか1項に記載のアーム機構。 The material of the holding means is lower in wear resistance than the material of the cable covering material,
The arm mechanism according to any one of claims 1 to 5, wherein:
ことを特徴とする請求項6記載のアーム機構。 The holding means is made of polyphenylene sulfide resin, and the covering material is made of a thermoplastic fluororesin.
The arm mechanism according to claim 6.
ことを特徴とするロボットアーム。 Comprising an arm mechanism according to any one of 請 Motomeko 1 to 7,
A robot arm characterized by that.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013246870A JP6351244B2 (en) | 2013-11-29 | 2013-11-29 | Arm mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013246870A JP6351244B2 (en) | 2013-11-29 | 2013-11-29 | Arm mechanism |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2015104764A JP2015104764A (en) | 2015-06-08 |
JP2015104764A5 true JP2015104764A5 (en) | 2017-01-12 |
JP6351244B2 JP6351244B2 (en) | 2018-07-04 |
Family
ID=53435212
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013246870A Active JP6351244B2 (en) | 2013-11-29 | 2013-11-29 | Arm mechanism |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP6351244B2 (en) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6299962B2 (en) * | 2014-02-28 | 2018-03-28 | 株式会社不二越 | Industrial robot |
JP6868841B2 (en) | 2016-02-19 | 2021-05-12 | パナソニックIpマネジメント株式会社 | Electric device |
JP6692078B2 (en) | 2016-02-19 | 2020-05-13 | パナソニックIpマネジメント株式会社 | Electric device |
JP6525915B2 (en) | 2016-04-07 | 2019-06-05 | ファナック株式会社 | Robot's striatal processing structure |
JP6945188B2 (en) | 2016-11-30 | 2021-10-06 | パナソニックIpマネジメント株式会社 | Wireless power supply unit, power transmission module, power receiving module and wireless power transmission system |
JP6988152B2 (en) * | 2017-05-08 | 2022-01-05 | セイコーエプソン株式会社 | robot |
JP6629826B2 (en) | 2017-12-25 | 2020-01-15 | ファナック株式会社 | Robot and its striatum processing structure |
JP6730352B2 (en) | 2018-03-20 | 2020-07-29 | ファナック株式会社 | Cable clamps and robots |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5942893U (en) * | 1982-09-14 | 1984-03-21 | マツダ株式会社 | Welding robot cable support mechanism |
JPS61288989A (en) * | 1985-06-18 | 1986-12-19 | 三菱電機株式会社 | Industrial robot device |
JPS62244214A (en) * | 1986-04-14 | 1987-10-24 | 三菱電機株式会社 | Industrial robot |
JP2008178968A (en) * | 2006-12-25 | 2008-08-07 | Yaskawa Electric Corp | Robot hand |
WO2008084737A1 (en) * | 2007-01-09 | 2008-07-17 | Kabushiki Kaisha Yaskawa Denki | Industrial robot |
JP2013166223A (en) * | 2012-02-16 | 2013-08-29 | Canon Inc | Robot arm |
JP5783087B2 (en) * | 2012-02-29 | 2015-09-24 | 日立金属株式会社 | Cable holder |
-
2013
- 2013-11-29 JP JP2013246870A patent/JP6351244B2/en active Active
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