JP3513014B2 - Cable winding device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for winding a large number of cable groups, and more particularly to a cable winding device for winding a large number of cable groups in a limited space around one turning axis. It is a thing.

[0002]

2. Description of the Related Art FIG. 4 is a diagram showing an outline of a conventional cable winding device described in a catalog of igus Japan. This device is, for example, a power source for the robot around the turning axis of an assembling robot. It winds multiple cables such as cables and signal cables. In FIG. 1, reference numeral 1 denotes a swivel shaft of the cable winding device, and the rotation side of the device rotates around this swivel shaft 1. Reference numeral 2 is a cable group composed of a plurality of cables. One end of each cable is connected to the rotation side of the device, and the other end is connected to the fixed side of the device. Reference numeral 3 is a locus of movement of the wound cable group 2 during operation (hereinafter referred to as a circulation curve). Further, 4 is a cable fixed end for connecting one end of the cable group 2 to the fixed side of the device, and 5 is a cable rotating side fixed end for connecting the other end of the cable group 2 to the rotating side of the device. Reference numeral 6 denotes a rectangular tubular storage frame through which the cable group 2 is inserted and fixed, and a plurality of storage frames 6 are provided in the longitudinal direction of the cable group 2. A chain mechanism 7 connects the storage frames 6 to each other, and a storage frame group 6G composed of a plurality of storage frames 6 connected by the chain mechanism 7 moves along the circulation curve 3. As shown in FIG. 5, the chain mechanism 7 is composed of a connecting plate 8 and pins 9 provided on both left and right side surfaces of the storage frame 6. The left and right pins 9 are attached in the directions along the generatrix of a cone 10 described later. 10 is a part of the circulation curve 3 and the swivel axis 1 at each moment of winding the cable.
It is a virtual cone formed by connecting one point on the top, and one point on the turning axis 1 is the apex.

Next, the operation of the conventional cable winding device will be described. When the device body rotates, the rotation side of the device rotates around the swivel shaft 1, and the cable rotation side fixed end 5 also rotates together with the rotation side. On the other hand, the cable fixed end 4 is attached to the fixed side of the device, and the storage frame group 6G for storing the cable group 2 is connected by the chain mechanism 7. Therefore, with the rotation around the rotation axis 1 on the rotation side, The storage frame group 6G and the cable group 2 are wound up along the cone 10. This movement, as shown in FIG.
This is possible because the arranging directions of the left and right pins 9 constituting the above are aligned with the generatrix 11 of the cone 10. By the way, since the plurality of storage frames 6 forming the storage frame group 6G are connected only by the chain mechanism 7, the chain mechanism 7 supports the weight of the cable group 2 and the storage frame group 6G. Therefore, in the conventional cable winding device, the number of cables, the weight of the storage frame 6, and the like are set so that the cable group 2 and the storage frame group 6G are not deformed beyond the allowable value caused by the weight. Furthermore, the cable group 2 and the storage frame group 6G
The positional deviation of the storage frame 6 with respect to the circulation curve 3 and the cone 10 caused by the weight of 1 and the axial deviation of the cable group 2 from the swivel axis 1 are set within the allowable values.

[0004]

Since the conventional cable winding device is constructed as described above, it has the following problems. In the conventional cable winding device, since the storage frame 6 is connected by the chain mechanism 7 to support the weight of the storage frame 6 and the cable group 2, it is a so-called self-supporting type. However, if the cable group 2 becomes heavier, the amount of deformation of the chain mechanism 7 exceeds the allowable value, so that a lot of torque is required for winding the cable, which deteriorates the cable winding operation. Was there. Further, when the posture of the device body is deformed and the posture of the cable winding device itself is in the horizontal direction, the vertical direction, or the diagonal direction, the deformation amount of the chain mechanism 7 exceeds the allowable value, and therefore the rotation is smooth. And the cable could not be wound up. Further, in the conventional cable winding device, when the turning axis of the cable winding section (the turning axis of the device) is deviated from the turning axis of the device body, the torque required for winding the cable and its change The amount was so large that the rotation was not smooth and the cable could not be wound.

The present invention has been made in view of the above problems, and when the weight of the storage frame and the cable becomes heavy, the attitude of the winding device changes, or the turning axis of the cable winding portion shifts. However, it is an object of the present invention to provide a cable winding device that can smoothly wind a cable.

[0006]

According to a first aspect of the present invention, there is provided a cable winding device in which guide rollers having grooves are provided on both side surfaces of a housing frame for housing a cable group, and the guide rollers are provided. A guide rail having a plurality of protrusions that are arranged so as to be sandwiched and that engages with the groove is provided, and a storage frame group including a plurality of storage frames connected in the longitudinal direction of the cable group is supported by the guide rail. It is the one.

According to a second aspect of the present invention, there is provided a cable winding device in which a protrusion is provided on an outer peripheral portion of a guide rail that supports a storage frame group composed of a plurality of storage frames connected in the longitudinal direction of the cable group. A guide roller having a groove that meshes with the protruding portion is provided at least at three locations on the outer peripheral side of the guide rail, and the guide rail is rotatably supported.

According to a third aspect of the present invention, in a cable winding device, a linear motion guide mechanism is provided between a fixed end of a cable rotation side for connecting one end of a cable group to a rotation side of the apparatus and the storage frame group. Is provided so as to absorb the positional deviation between the turning axis of the device body and the turning axis of the cable winding device.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. Embodiment 1. 1 is a diagram showing a configuration of a main part of a cable winding device according to a first embodiment of the present invention, and FIG. 2 is a sectional view taken along line AA of FIG. In FIGS. 1 and 2, 1a is a swivel axis of a device body, 1b is a swivel axis of a cable winding device, 2 is a cable group composed of a plurality of cables, and 5 is one end of the cable group 2 on the rotation side of the device. A cable rotation side fixed end for connection, 6 is a rectangular tubular storage frame through which the plurality of cable groups 2 provided in the longitudinal direction of the cable group 2 are inserted and fixed, and 7 connects the storage frames 6 to each other. A chain mechanism, 11 is a virtual conical generatrix formed by connecting a part of the circulation curve and one point on the turning axis at each moment of winding the cable, and 12 is provided on the left and right side surfaces of the storage frame 6. The first guide roller, 13 is a guide rail that supports the storage frame 6 via the first guide roller, 14 is a second guide roller provided on the outer peripheral side of the guide rail 13, and 15 is the above. Supports the second guide roller A stationary frame of the device that. The plurality of storage frames 6 connected by the chain mechanism 7 are hereinafter referred to as a storage frame group 6G.

As shown in FIG. 2, the first guide roller 12 has a V-shaped groove and is rotatable in a plane parallel to the side surface of the storage frame 6. On the other hand, the guide rails 13 are provided on the left and right ends of the two guide rails 12 so as to be opposed to each other so as to sandwich the guide roller 12 therebetween.
The projections 13a and 13b having a V-shaped cross section and the projection 13c having a V-shaped cross section provided on the outer peripheral side are provided. Therefore, the storage frame 6 is supported by the guide rail 13 in the upward and downward directions via the first guide roller 12.
The trajectory of the guide rail 13 is configured such that the storage frame group 6G can move on the circulation curve 3 by the rotation of the guide rail 13 itself around the turning axis 1. The protruding portion 13b projects from the outside of the protruding portion 13a, and the storage frame 6
It is attached to the guide rail 13 via an L-shaped member 13p that bends to the side. In addition, the second guide roller 14 is provided with a protrusion 13 having a V-shaped cross section of the guide rail 13.
It has a V-shaped groove that meshes with c, is rotatable in a plane perpendicular to the swivel shaft 1, and is installed at least at three or more locations on the outer peripheral side of the guide rail 13. Therefore, the guide rail 13 is sandwiched between the second guide rollers 14 and is supported so that the guide rail 13 itself can also turn. In addition, the guide rail 13 is the turning shaft 1.
It is set parallel to a plane perpendicular to, and has a strength enough to support the weight of the storage frame 6 and the cable group 2.

[0011] Now, when the main body of the device rotates about the swivel axis 1, the rotational torque is transmitted to the storage frame group 6G through the rotation side fixed end 5, and the storage frame group 6G moves along the circulation curve 3. At this time, the guide rail 13 supports the storage frame 6 in the upward and downward directions via the first guide roller 12, and is supported by the second guide roller 14 so that the guide rail 13 itself can turn. Therefore, the guide rails 13 restrain the displacement of the storage frame group 6G in a direction other than the direction along the circulation curve 3, and the storage frame group 6
It supports the weight of G and the cable group 2. As a result, even if the cable group 2 becomes heavy, the deformation of the chain mechanism 7 does not exceed the allowable value, and the cables can be wound smoothly. In addition, the guide rail 13
However, since the first guide roller 12 is disposed so as to sandwich it and the guide rail 13 itself is also supported so as to be sandwiched by the second guide roller 14, the attitude of the winding device can be horizontal, vertical, or diagonal. Even if it changes
Since the displacement of the storage frame group 6G can be restrained, the cable can be smoothly wound.

Embodiment 2. FIG. 3 is a view showing the vicinity of the rotation-side fixed end 5 of the cable winding device according to the second embodiment of the present invention. 5 is a rotation-side fixed end 5a is a rotation-side fixed end 5
Is a linear motion guide mechanism provided in the. Revolving axis 1 of the device body
If it is difficult to set the amount of deviation between a and the turning shaft 1b of the winding device so that the influence on the torque required to wind the cable is sufficiently small, the rotation-side fixed end 5
By installing the linear motion guide mechanism 5a on the rotation side and allowing the rotation-side fixed end 5 to move in the radial direction along the linear motion guide mechanism 5a, it is necessary to absorb the axial deviation and wind the cable. Torque and torque fluctuation can be reduced.

[0013]

As described above, according to the first aspect of the present invention, guide rollers having grooves are provided on both side surfaces of the storage frame, and the guide rails are arranged so as to sandwich the guide rollers. Since the storage frame is supported, the cable can be smoothly wound even if the weight of the cable group becomes heavy.

According to the second aspect of the present invention, the protrusion is provided on the outer peripheral portion of the guide rail, and at least three guide rollers having grooves engaging with the protrusion are provided on the outer peripheral side of the guide rail. Since the guide rail is rotatably supported, the cable can be wound smoothly even if the posture of the winding device changes horizontally, vertically or diagonally.

According to the third aspect of the invention, since the linear motion guide mechanism is installed at the rotation fixed end to absorb the deviation of the turning axis between the device body and the winding device, the cable is It is possible to reduce the torque required for winding and the torque fluctuation.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a main part of a cable winding device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a rotation side fixed end of a cable winding device according to a second embodiment of the present invention.

FIG. 3 is a conceptual diagram of a conventional circular type cable winding device.

FIG. 4 is a conceptual diagram of a conventional circular type cable winding device.

FIG. 5 is a diagram showing a chain mechanism of a conventional cable winding device.

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B25J 19/00 B65H 54/00 B65H 59/00

Claims (3)

(57) [Claims] 1. A cable group composed of a plurality of cables, one end of which is fixed to a rotation side of a device that rotates around a swivel axis of the device and the other end of which is fixed to a fixed side of the device, and a longitudinal direction of the cable group. And a guide frame having grooves on both side surfaces of the storage frame, and a guide frame having a plurality of storage frames for storing the cable group. A cable winding device, comprising: a guide rail having a plurality of protrusions that are arranged so as to sandwich the guide rail, the guide rail having a plurality of protrusions that engage with the groove, and the storage frame group is supported by the guide rail. 2. A cable group consisting of a plurality of cables, one end of which is fixed to a rotation side of a device that rotates around a turning axis of the device and the other end of which is fixed to a fixed side of the device, and a longitudinal direction of the cable group. In a cable winding device having a storage frame group connected to a plurality of storage frames for storing the cable group, and having a guide rail for supporting the storage frame group, a protrusion is provided on an outer peripheral portion of the guide rail. And a guide roller having a groove that meshes with the protrusion is provided at least at three locations on the outer peripheral side of the guide rail, and the guide rail is rotatably supported by the guide roller. Cable winding device. 3. A linear motion guide mechanism is provided between the cable rotation side fixed end for connecting one end of the cable group to the rotation side of the apparatus and the storage frame group, and the turning shaft of the device body and the cable winding device. The cable winding device according to claim 1 or 2, wherein a positional deviation of the cable winding device from the turning shaft is absorbed.