Internal wiring tensioning mechanism for integral joint

Abstract

The invention belongs to the technical field of integral joints of cooperative robots, and particularly relates to an internal wiring tensioning mechanism for an integral joint. The internal wiring tensioning mechanism comprises a housing, a first gear, a second gear, a screw, a nut and a pull rod, wherein the first gear, the second gear, the screw, the nut and the pull rod are placed in the housing; threading holes used for threading a guide line are formed in the two ends of the housing, the first gear is installed at the threading hole on one side through a first bearing, and the two ends of the screw are connected with the two ends of the housing through second bearings; the screw is sleeved with the second gear, and the second gear is engaged with the first gear; the nut is matched with the screw to form a thread pair; and one end of the pull rod is connected with the nut, and the other end of the pull rod is fixedly connected with the guide line. The internal wiring tensioning mechanism is installed at the tail end of the integral joint, has the characteristics of simple installation and guide line passive tensioning realization without active control, and can prevent the problem of snapping of the integral joint due to guide line twining in the rotating process of the integral joint.

Description

technical field [0001] The invention belongs to the technical field of integrated joints of collaborative robots, and in particular relates to a tensioning mechanism for wires in integrated joints. Background technique [0002] At present, most of the traditional robots use external wire routing. However, the wires exposed outside the robot need to leave enough length to match the movement of each joint of the robot, which limits the range of motion of the joints; The environment collides, causing the wire to break, resulting in a personal accident. [0003] With the development of collaborative robots in the past two years, the internal wiring method of integrated joints has been widely used. In this method, the internal parts of the joint are provided with a shaft hole passing through the joint shaft, and a threading tube is provided in the shaft hole, which can not only prevent the wires passing through the robot joint from being broken due to the operation of the robot,...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the deficiency that the existing internal routing method is not suitable for large-angle rotation of joints, the purpose of the present invention is to provide a tensioning mechanism for integrated internal routing of joints

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