JPH0415075B2 - - Google Patents
Info
- Publication number
- JPH0415075B2 JPH0415075B2 JP5330984A JP5330984A JPH0415075B2 JP H0415075 B2 JPH0415075 B2 JP H0415075B2 JP 5330984 A JP5330984 A JP 5330984A JP 5330984 A JP5330984 A JP 5330984A JP H0415075 B2 JPH0415075 B2 JP H0415075B2
- Authority
- JP
- Japan
- Prior art keywords
- cable
- guide
- fixed
- holding member
- guide cover
- 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.)
- Expired - Lifetime
Links
- 238000003780 insertion Methods 0.000 claims description 15
- 230000037431 insertion Effects 0.000 claims description 15
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 210000000707 wrist Anatomy 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Electric Cable Arrangement Between Relatively Moving Parts (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
本発明は、例えば電動、油圧、空圧等からなる
工業用ロボツトに接続されたケーブルを支持する
工業用ロボツトのケーブル支持装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a cable support device for an industrial robot that supports a cable connected to the industrial robot, such as an electric, hydraulic, or pneumatic robot.
従来、工業用ロボツト、例えば電動ロボツトに
おいては、支柱、アームおよび手首を駆動するた
めのモータは固定台上に旋回可能に設けられた旋
回台に取付けられている。そして、該モータと動
力源との間に接続されたケーブルによつて旋回台
の動きが制約されることなく自由に旋回できるよ
うにするため、該ケーブルにゆとりを持たせて作
業場の床上にはわせたり、作業場の高所から吊下
げたりしている。 BACKGROUND ART Conventionally, in industrial robots, such as electric robots, motors for driving columns, arms, and wrists are mounted on a rotating base that is rotatably provided on a fixed base. In order to allow the swivel table to rotate freely without being restricted by the cable connected between the motor and the power source, the cable is provided with some slack and placed on the floor of the workshop. They are placed on the floor or hung from a high place in the workplace.
しかし、上述した従来のケーブル支持方法で
は、旋回台の旋回に伴なつてケーブルが床上を摺
動し、やがてはケーブルの被覆部が擦り切れてし
まつたり、高所から吊下げられているケーブルが
旋回台の旋回に伴なつて振り回され、ロボツトの
周囲にある物に引つ掛つてケーブルが切断されて
しまい、漏電、断線といつた事故が発生する危険
性がある。 However, with the above-mentioned conventional cable support method, the cable slides on the floor as the swivel table rotates, and the cable sheathing eventually wears out, and the cable suspended from a high place ends up being damaged. As the swivel table rotates, the cable may be swung around and become caught on objects around the robot, causing the cable to be cut, leading to an accident such as electrical leakage or disconnection.
また、工業用ロボツトのケーブル支持装置とし
ては実開昭58−184293号公報に示すものがある
が、該装置にはケーブルのカバーがないため該ケ
ーブルが周囲の物に当つたり、支持部材とバツク
プレートとの間に物を挾んでしまうという欠点が
あるし、角錐状という特殊な形状のサポートブロ
ツクを用いなければならず、製造工程や費用の点
でも問題がある。 Furthermore, as a cable support device for industrial robots, there is a device shown in Japanese Utility Model Application Publication No. 184293/1983, but since this device does not have a cover for the cable, the cable may hit surrounding objects or the support member may It has the disadvantage that objects are caught between it and the back plate, and it requires the use of a special pyramid-shaped support block, which also poses problems in terms of manufacturing process and cost.
本発明は、上述した従来技術の欠点に鑑みて提
案されたもので、旋回部側に接続され、該旋回部
の旋回に伴なつて移動するケーブルが、擦り切れ
たり、周囲の物に引つ掛つて切断されるのを防止
することができる工業用ロボツトのケーブル支持
装置を提供することを目的とする。 The present invention was proposed in view of the above-mentioned drawbacks of the prior art, and the cable that is connected to the rotating part and moves as the rotating part turns is prone to fraying or getting caught on surrounding objects. An object of the present invention is to provide a cable support device for an industrial robot that can prevent cables from being bent and cut.
この目的を達成するために採用された本発明の
構成は、円形の固定部と、該固定部の上部側に旋
回可能に設けられた旋回部と、前記固定部の外周
側に該固定部から径方向に離間して設けられたガ
イドと、該ガイドの所定位置に設けられたケーブ
ル挿入穴と、前記旋回部の外周側に設けられたケ
ーブル固定部材と、前記固定部とガイド部との間
に屈曲可能に収容され、一端が前記ケーブル固定
部材と対応する位置で前記旋回部に固定され、他
端が前記ケーブル挿入穴と対応する位置で前記ガ
イドに固定されたケーブル保持部材とからなる。 The configuration of the present invention adopted to achieve this object includes a circular fixed part, a rotating part rotatably provided on the upper side of the fixed part, and a rotating part provided on the outer circumferential side of the fixed part from the fixed part. A guide provided at a distance in the radial direction, a cable insertion hole provided at a predetermined position of the guide, a cable fixing member provided on the outer circumferential side of the rotating portion, and between the fixing portion and the guide portion. and a cable holding member, which is accommodated in a bendable manner and has one end fixed to the rotating part at a position corresponding to the cable fixing member, and the other end fixed to the guide at a position corresponding to the cable insertion hole.
このように構成することにより、外部からのケ
ーブルはケーブル挿入穴に挿入してケーブル保持
部材に接続し、固定部や旋回部等への内部側ケー
ブルはケーブル固定部材の位置でケーブル保持部
材に接続すればよく、旋回部が任意に旋回して
も、ケーブル保持部材が動くのみで、内部側ケー
ブルの擦り切れ、断線等を防止し、しかもガイド
内でのケーブルの引きまわしをなくすことができ
る。 With this configuration, the cable from the outside can be inserted into the cable insertion hole and connected to the cable holding member, and the internal cable to the fixed part or rotating part can be connected to the cable holding member at the position of the cable fixing member. Even if the swivel part turns arbitrarily, the cable holding member only moves, which prevents fraying, disconnection, etc. of the internal cable, and eliminates the need to route the cable around within the guide.
以下に、本発明の一実施例を電動ロボツトに適
用した場合を例に挙げ、図面に基づいて詳述す
る。 EMBODIMENT OF THE INVENTION Below, the case where one Example of this invention is applied to an electric robot is mentioned as an example, and it will explain in detail based on drawing.
図において、１は工業場の床上に設けられた固
定台で、該固定台１上には６自由度の電動ロボツ
ト２が載置されている。３は該電動ロボツト２の
本体を構成する円筒状の基台で、該基台３は前記
固定台１上に固着されている。４は前記基台１上
に旋回可能に設けられた円板状の旋回台で、該旋
回台４の上面には一対の取付ブラケツト４Ａ，４
Ｂが対向して立設されている。５は前記取付ブラ
ケツト４Ａ，４Ｂの上端部に揺動可能に支持され
た中空の支柱で、該支柱の背面５Ａには横方向に
取付ブラケツト５Ｂが突設されている。６は前記
支柱５の上端に上下方向に揺動可能に軸支された
中空体からなるアームで、該アーム６と支柱５と
の連結部はカバーで旋蓋されている。そして、該
アーム６の先端には上下に揺動、左右に旋回可能
で、かつ、先端に回転可能な作業工具取付軸７Ａ
が突設されている手首７が取付けられている。 In the figure, reference numeral 1 denotes a fixed stand provided on the floor of an industrial factory, and an electric robot 2 having six degrees of freedom is placed on the fixed stand 1. A cylindrical base 3 constitutes the main body of the electric robot 2, and the base 3 is fixed onto the fixed base 1. Reference numeral 4 denotes a disc-shaped swivel base that is rotatably provided on the base 1, and a pair of mounting brackets 4A, 4 are provided on the upper surface of the swivel base 4.
B is erected facing each other. Reference numeral 5 denotes a hollow support column that is swingably supported at the upper ends of the mounting brackets 4A and 4B, and a mounting bracket 5B is laterally projecting from the back surface 5A of the support support. Reference numeral 6 denotes an arm made of a hollow body pivotally supported by the upper end of the support column 5 so as to be able to swing vertically, and the connecting portion between the arm 6 and the support column 5 is covered with a cover. At the tip of the arm 6, there is a work tool mounting shaft 7A that can swing up and down, turn left and right, and can rotate at the tip.
A wrist 7 having a protrusion is attached thereto.
８は基台３内に固定された旋回用モータで、該
旋回用モータ８の出力軸は旋回台４に接続されて
おり、該旋回台４は矢示Ａ方向に旋回可能になつ
ている。９は一側の取付ブラケツト４ａの下端部
に位置して固着された支柱揺動用のモータで、該
モータ９の出力軸と支柱５の取付ブラケツト５Ｂ
との間に設けられた揺動機構１０を介して該支柱
５は矢示Ｂ方向に揺動されるようになつている。
１１は他側の取付ブラケツト４Ｂの下端部に位置
して固着されたアーム揺動用のモータで、該モー
タ１１の出力軸とアーム６との間に設けられた揺
動機構１２を介して該アーム６は矢示Ｃ方向に揺
動されるようになつている。 Reference numeral 8 denotes a turning motor fixed within the base 3, and the output shaft of the turning motor 8 is connected to the turning table 4, so that the turning table 4 can turn in the direction of arrow A. Reference numeral 9 denotes a column swinging motor located and fixed at the lower end of the mounting bracket 4a on one side, and the output shaft of the motor 9 and the mounting bracket 5B of the column 5 are connected to each other.
The support column 5 is configured to be swung in the direction of arrow B via a swiveling mechanism 10 provided between the support 5 and the swiveling mechanism 10.
Reference numeral 11 denotes an arm swinging motor located and fixed at the lower end of the mounting bracket 4B on the other side. 6 is adapted to be swung in the direction of arrow C.
１３は旋回台４の一側取付ブラケツト４Ａの上
端部に固着された手首揺動用のモータ、１４に他
側取付ブラケツト４Ｂの上端部に固着された手首
旋回用のモータで、該モータ１３，１４の各出力
軸と手首との間に設けられたスプロケツト、チエ
ン等からなる動力伝達機構（図示せず）を介して
該手首７は矢示Ｄ，Ｅ方向にそれぞれ揺動および
旋回されるようになつている。１５は支柱５の揺
動軸線に対して出力軸１５Ａの軸線が直角に交わ
るようにして旋回台４上に固着された作業工具取
付軸用のモータで、該モータ１５の前記出力軸１
５Ａと作業工具取付軸７Ａとの間に設けられた傘
歯車、スプロケツト、チエン等からなる動力伝達
機構（図示せず）を介して作業取付軸７Ａは矢示
Ｆ方向に回転されるようになつている。 13 is a wrist swinging motor fixed to the upper end of the mounting bracket 4A on one side of the swivel base 4; 14 is a wrist swinging motor fixed to the upper end of the mounting bracket 4B on the other side; The wrist 7 is swung and rotated in the directions of arrows D and E through a power transmission mechanism (not shown) consisting of a sprocket, a chain, etc., provided between each output shaft of the wrist and the wrist. It's summery. Reference numeral 15 denotes a motor for a power tool mounting shaft, which is fixed on the swivel base 4 so that the axis of the output shaft 15A intersects at right angles to the swing axis of the support column 5.
The work attachment shaft 7A is rotated in the direction of arrow F through a power transmission mechanism (not shown) consisting of a bevel gear, sprocket, chain, etc., provided between the work tool attachment shaft 7A and the work tool attachment shaft 7A. ing.
１６は基台３と同じ高さを有し、該基台３を囲
繞するように固定台１上に固着された二重円筒状
のガイドカバーで、該ガイドカバー１６は内ガイ
ドカバー１６Ａと、該内ガイドカバー１６Ａに対
し所定の間隔ｌ離間させて設けられた外ガイドカ
バー１６Ｂとからなり、内ガイドカバー１６Ａの
外周面と外ガイドカバー１６Ｂの内周面は平滑な
面に形成されている。該外ガイドカバー１６Ｂの
上端寄りの位置にはケーブル挿入口１７が設けら
れ、該挿入口１７には外方に結束ケーブル１８が
挿入されている。１９は前記ケーブル挿入口１７
の位置にほぼ対応させて固定台４の外周面に固着
されたケーブル固定部材としてのＬ字状ケーブル
固定用ブラケツトで、該ブラケツト１９の一側片
１９Ａには複数個の挿通孔が穿設されている。２
０Ａ〜２０Ｅは一端がモータ９，１１，１３，１
４，１５にそれぞれ接続され、他端が前記ケーブ
ル固定用ブラケツト１９の各挿通孔に挿入される
ことにより支持されたケーブルである。 Reference numeral 16 denotes a double cylindrical guide cover having the same height as the base 3 and fixed on the fixed base 1 so as to surround the base 3, and the guide cover 16 includes an inner guide cover 16A, It consists of an outer guide cover 16B provided at a predetermined distance l from the inner guide cover 16A, and the outer circumferential surface of the inner guide cover 16A and the inner circumferential surface of the outer guide cover 16B are formed into smooth surfaces. . A cable insertion opening 17 is provided at a position near the upper end of the outer guide cover 16B, and a binding cable 18 is inserted outward into the insertion opening 17. 19 is the cable insertion port 17
An L-shaped cable fixing bracket as a cable fixing member is fixed to the outer circumferential surface of the fixing base 4 in a position approximately corresponding to the position of the bracket 19, and one side piece 19A of the bracket 19 is provided with a plurality of insertion holes. ing. 2
For 0A to 20E, one end is motor 9, 11, 13, 1
4 and 15, respectively, and the other end of the cable is supported by being inserted into each insertion hole of the cable fixing bracket 19.
２１は前記内ガイドカバー１６Ａと外ガイドカ
バー１６Ｂとの間にＵ字状に屈曲して収容された
帯状のケーブル保持部材で、該ケーブル保持部材
２１としては、例えば平坦に列設した複数本の接
続ケーブルを可撓性材で一体に保持してなるケー
ブルベアが用いられる。そして該ケーブル保持部
材２１の一端はケーブル固定用ブラケツト１９に
固着されており、該ケーブル保持部材２１の当該
一端から露出している各接続ケーブルの一側先端
部はモータ側のケーブル２０Ａ〜２０Ｅにプラ
グ、ソケツト等の接続部材を介してそれぞれ接続
されている。一方、前記ケーブル保持部材２１の
他端はケーブル挿入口１７近傍に位置させて外ガ
イドカバー１６Ｂの内周面に固着されており、該
ケーブル保持部材２１の当該他端から露出してい
る各接続ケーブルの他側先端部は結束ケーブル１
８の各ケーブルに接続部材を介してそれぞれ接続
されている。 Reference numeral 21 denotes a belt-shaped cable holding member which is bent into a U-shape and housed between the inner guide cover 16A and the outer guide cover 16B. A cable carrier is used in which the connection cable is held together with a flexible material. One end of the cable holding member 21 is fixed to the cable fixing bracket 19, and one end of each connection cable exposed from the one end of the cable holding member 21 is connected to the motor side cables 20A to 20E. They are connected to each other via connecting members such as plugs and sockets. On the other hand, the other end of the cable holding member 21 is located near the cable insertion port 17 and fixed to the inner peripheral surface of the outer guide cover 16B, and each connection exposed from the other end of the cable holding member 21 is fixed to the inner peripheral surface of the outer guide cover 16B. The other end of the cable is bundled cable 1
8 cables via connecting members.
上述の如く構成されてなる本実施例装置によれ
ば、旋回用モータ８の駆動力により旋回台４が矢
示Ａ方向のいずれかの方向に旋回されると、ケー
ブル固定用ブラケツト１９に他端が支持されてい
るケーブル２０Ａ〜２０Ｅは旋回台４と共に旋回
する。同時に、該ケーブル固定用ブラケツト１９
に固着されているケーブル保持部材２１の一端側
は内ガイドカバー１６Ａの外周面に摺動しつつ案
内され旋回台４の旋回方向に移動するのに対し、
該ケーブル保持部材２１の他端側は外ガイドカバ
ー１６Ｂに固定されているが、該ケーブル保持部
材２１のＵ字状屈曲部位は旋回台４の旋回方向に
円滑に移動するから、該旋回台４は矢示Ａ方向に
自由に旋回することができる。 According to the device of this embodiment configured as described above, when the swivel base 4 is swiveled in either direction of the arrow A by the driving force of the swivel motor 8, the cable fixing bracket 19 is fixed to the other end. The cables 20A to 20E on which are supported rotate together with the swivel base 4. At the same time, the cable fixing bracket 19
The one end side of the cable holding member 21 fixed to the inner guide cover 16A is guided while sliding on the outer peripheral surface of the inner guide cover 16A, and moves in the direction of rotation of the swivel base 4.
The other end of the cable holding member 21 is fixed to the outer guide cover 16B, but since the U-shaped bent portion of the cable holding member 21 moves smoothly in the direction of rotation of the swivel base 4, the swivel base 4 can freely rotate in the direction of arrow A.
しかも、本実施例では内ガイドカバー１６Ａと
外ガイドカバー１６Ｂとの間には、ケーブル保持
部材２１が存在するのみで、結束ケーブル１８は
ケーブル挿入穴を介して該ケーブル保持部材２１
と接続され、旋回側の各ケーブル２０Ａ〜２０Ｅ
はケーブル固定用ブラケツト１９に接続されてい
るから、結束ケーブルや各旋回側のケーブル２０
Ａ〜２０Ｅが擦り切れたり、断線する事態を防止
し、またガイドカバー１６内でのこれらケーブル
２０Ａ〜２０Ｅの引きまわしをなくすことができ
ガイドカバー１６の径を小さくすることができ
る。 Moreover, in this embodiment, only the cable holding member 21 is present between the inner guide cover 16A and the outer guide cover 16B, and the bundled cable 18 is inserted into the cable holding member 21 through the cable insertion hole.
connected to each cable 20A to 20E on the rotation side.
is connected to the cable fixing bracket 19, so the bundled cables and the cables 20 on each turning side
It is possible to prevent the cables A to 20E from being frayed or disconnected, and also to eliminate the need to route these cables 20A to 20E within the guide cover 16, allowing the diameter of the guide cover 16 to be reduced.
なお、本実施例では、ガイドとしてガイドカバ
ー１６を用いるものとしたが、ガイドは環状ある
いは湾曲状のガイドレールを用いてもよい。 In this embodiment, the guide cover 16 is used as a guide, but an annular or curved guide rail may be used as the guide.
また、本実施例では、ガイドカバー１６は内ガ
イドカバー１６Ａと外ガイドカバー１６Ｂとで構
成されるものとして述べたが、基台３の外側面が
ケーブル案内部材２１が摺動できる程度に平滑な
面に形成されている場合には、該内ガイドカバー
１６Ａは廃止してもよいものである。更に、ガイ
ドカバー１６は基台３の外周全面を覆う形状のも
のとして述べたが、内ガイドカバー１６Ａも外ガ
イドカバー１６Ｂも旋回台４と共に旋回するケー
ブル固定用ブラケツト１９の旋回範囲を覆う形状
のものであればよく、必ずしも円筒状でなくても
よい。更にまた、ケーブル保持部材としてケーブ
ルベアを用いるものとして述べたが、Ｕ字状に屈
曲可能な可撓性を有する保持部材であればよく、
例えばフラツトケーブルのようなものでもよい。 In addition, in this embodiment, the guide cover 16 has been described as being composed of the inner guide cover 16A and the outer guide cover 16B, but the outer surface of the base 3 is smooth enough to allow the cable guide member 21 to slide thereon. If the inner guide cover 16A is formed on a surface, the inner guide cover 16A may be omitted. Furthermore, although the guide cover 16 has been described as having a shape that covers the entire outer circumference of the base 3, both the inner guide cover 16A and the outer guide cover 16B have a shape that covers the turning range of the cable fixing bracket 19 that turns with the turning table 4. It does not necessarily have to be cylindrical. Furthermore, although it has been described that a cable carrier is used as the cable holding member, any holding member that is flexible enough to be bent in a U-shape may be used.
For example, it may be something like a flat cable.
一方、本発明の工業用ロボツトは電動ロボツト
に限ることなく、油圧ロボツト、空圧ロボツトと
してもよく、この場合にはモータ９，１１，１
３，１４，１５は油圧、空圧モータとすればよ
く、ケーブル２０Ａ〜２０Ｅは油圧、空圧ケーブ
ルとすればよい。 On the other hand, the industrial robot of the present invention is not limited to an electric robot, but may also be a hydraulic robot or a pneumatic robot, in which case the motors 9, 11, 1
3, 14, and 15 may be hydraulic or pneumatic motors, and the cables 20A to 20E may be hydraulic or pneumatic cables.
以上詳細に述べた如く、本発明は固定部の外周
側にガイドを設け、該ガイドの所定位置にケーブ
ル挿入穴を設けると共に旋回部の外周側にケーブ
ル固定部材を設け、前記固定部とガイド部との間
にケーブル保持部材を屈曲可能に収容し、該ケー
ブル保持部材の一端をケーブル固定部材の位置で
旋回部に固定し、その他端をケーブル挿入穴の位
置でガイドに固定する構成としたから、固定部と
ガイドとの間の空間にはケーブル保持部材が存在
するのみであり、旋回部の旋回に伴つて、ケーブ
ル挿入穴側、ケーブル固定部材側にそれぞれ接続
されるケーブルが引きずられて擦り切れたり、周
囲の物に引つ掛つて切断されるのを確実に防止
し、しかもケーブル保持部を固定部とガイドとの
間に屈曲可能に収容するだけでよいから、ガイド
の径を小さくすることができ、小型のケーブル支
持装置とすることができる。 As described in detail above, the present invention provides a guide on the outer circumferential side of the fixed part, a cable insertion hole at a predetermined position of the guide, and a cable fixing member on the outer circumferential side of the swivel part, and the fixed part and the guide part A cable holding member is bendably accommodated between the cable holding member and the cable holding member, one end of which is fixed to the rotating part at the position of the cable fixing member, and the other end is fixed to the guide at the position of the cable insertion hole. , only the cable holding member exists in the space between the fixed part and the guide, and as the rotating part rotates, the cables connected to the cable insertion hole side and the cable fixing member side are dragged and frayed. The diameter of the guide can be made small to reliably prevent the cable from getting caught or cut by surrounding objects, and because it is only necessary to accommodate the cable holding part in a bendable manner between the fixed part and the guide. It can be used as a small cable support device.
第１図は本発明の一実施例に係る旋回部のケー
ブル支持装置を電動ロボツトに適用した場合を示
す一部破断斜視図、第２図は第１図の要部拡大図
である。
３…基台（固定部）、４…旋回台（旋回部）、１
６…ガイドカバー（ガイド）、２１…ケーブル保
持部材。
FIG. 1 is a partially cutaway perspective view showing a case where a cable support device for a rotating section according to an embodiment of the present invention is applied to an electric robot, and FIG. 2 is an enlarged view of the main part of FIG. 1. 3...Base (fixed part), 4...Swivel base (swivel part), 1
6...Guide cover (guide), 21...Cable holding member.
Claims (1)
能に設けられた旋回部と、前記固定部の外周側に
該固定部から径方向に離間して設けられたガイド
と、該ガイドの所定位置に設けられたケーブル挿
入穴と、前記旋回部の外周側に設けられたケーブ
ル固定部材と、前記固定部とガイド部との間に屈
曲可能に収容され、一端が前記ケーブル固定部材
と対応する位置で前記旋回部に固定され、他端が
前記ケーブル挿入穴と対応する位置で前記ガイド
に固定されたケーブル保持部材とからなる工業用
ロボツトのケーブル支持装置。 ２ 前記ケーブル保持部材はケーブルベアまたは
フラツトケーブルである特許請求の範囲第１項記
載の工業用ロボツトのケーブル支持装置。 ３ 前記ガイドは内ガイドと外ガイドとからな
り、前記ケーブル保持部材を該各カバー間に屈曲
可能に収容してなる特許請求の範囲第１項記載の
工業用ロボツトのケーブル支持装置。[Scope of Claims] 1. A circular fixed part, a rotating part rotatably provided on the upper side of the fixed part, and a rotating part provided radially apart from the fixed part on the outer circumferential side of the fixed part. A guide, a cable insertion hole provided at a predetermined position of the guide, a cable fixing member provided on the outer circumferential side of the rotating part, and a cable fixing member provided in the outer peripheral side of the rotating part, the cable being accommodated in a bendable manner between the fixing part and the guide part, and one end of which is bent. A cable support device for an industrial robot, comprising a cable holding member fixed to the rotating part at a position corresponding to the cable fixing member, and a cable holding member having the other end fixed to the guide at a position corresponding to the cable insertion hole. 2. The cable support device for an industrial robot according to claim 1, wherein the cable holding member is a cable bear or a flat cable. 3. The cable support device for an industrial robot according to claim 1, wherein the guide includes an inner guide and an outer guide, and the cable holding member is bendably housed between the covers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59053309A JPS60197390A (en) | 1984-03-19 | 1984-03-19 | Supporter for cable of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59053309A JPS60197390A (en) | 1984-03-19 | 1984-03-19 | Supporter for cable of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60197390A JPS60197390A (en) | 1985-10-05 |
| JPH0415075B2 true JPH0415075B2 (en) | 1992-03-16 |
Family
ID=12939116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59053309A Granted JPS60197390A (en) | 1984-03-19 | 1984-03-19 | Supporter for cable of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60197390A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011255993A (en) * | 2010-06-08 | 2011-12-22 | Eagle Kuranpu Kk | Power supply cable entanglement preventive device in coil lifter |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH054191A (en) * | 1991-06-28 | 1993-01-14 | Fanuc Ltd | Distribution hose arrangement device for one-arm small-sized robot with direct-acting/rotating function |
| KR102525041B1 (en) | 2018-08-06 | 2023-04-24 | 삼성전자주식회사 | Cable guide device for multi-articular joint robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5429491A (en) * | 1977-08-08 | 1979-03-05 | Tsubakimoto Chain Co | Swivel type cable drag chain apparatus |
| JPS57142118A (en) * | 1981-02-25 | 1982-09-02 | Shin Meiwa Ind Co Ltd | Wire supporting device |
| JPS58137596A (en) * | 1982-02-05 | 1983-08-16 | トキコ株式会社 | Industrial robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58191992U (en) * | 1982-06-16 | 1983-12-20 | 神鋼電機株式会社 | industrial robot |
-
1984
- 1984-03-19 JP JP59053309A patent/JPS60197390A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5429491A (en) * | 1977-08-08 | 1979-03-05 | Tsubakimoto Chain Co | Swivel type cable drag chain apparatus |
| JPS57142118A (en) * | 1981-02-25 | 1982-09-02 | Shin Meiwa Ind Co Ltd | Wire supporting device |
| JPS58137596A (en) * | 1982-02-05 | 1983-08-16 | トキコ株式会社 | Industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011255993A (en) * | 2010-06-08 | 2011-12-22 | Eagle Kuranpu Kk | Power supply cable entanglement preventive device in coil lifter |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60197390A (en) | 1985-10-05 |
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