Rotary joint routing structure

Abstract

The invention belongs to the field of industrial robots, and particularly relates to a rotary joint routing structure. The structure comprises a rotary joint structural part A, a rotary joint structural part B, a cable and a connecting shaft, one end of the connecting shaft is fixedly connected with the rotary joint structural part A, the other end of the connecting shaft is rotatably connected with the rotary joint structural part B, a gland A is fixedly connected to the other end of the connecting shaft, the cable comprises a cable segment A, a cable segment B and a cable segment C which are continuously arranged, the cable segment A is fixed to the rotary joint structural part B, the cable segment C penetrates through the gland A and is clamped by a cable fixing head on the gland A, the cable segment B is arranged at one side, away from the connecting shaft, of the gland A in a planar spiral shape, and the structural form of a planar torsional spring is formed. According to the rotary joint routing structure, through the arranged structure of the cable in the shape of the plane torsional spring, the occupied space in the thickness direction can be greatly reduced, the number of required effective turns is small, the structure is more reliable, and the improvement of the overall reliability of equipment is facilitated.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a rotary joint wiring structure. Background technique [0002] At the rotary joints of industrial robots, the need to pass cables is often involved, especially at the wrists of industrial robots, where the structural space is insufficient, and it is difficult to realize the function of internal wiring. This results in sometimes having to make the robot wrist larger, or change the overall structure of the robot, and not pass cables at the rotating joints, which will eventually lead to unfavorable results such as increased robot material cost, increased assembly difficulty, and complex transmission structure. [0003] In order to solve the above-mentioned problems, there are two common solutions at present: [0004] 1. The cables are arranged outside the robot, not inside the robot. This solution has two disadvantages: first, it will increase the overall structural size of the ro...

AI Technical Summary

Problems solved by technology

There are three problems with this solution: First, the rotation angle of the robot joints is above 250 degrees. When the cable is made into a torsion spring, more effective turns are required, otherwise the radius of gyration of the cable will be too small, causing damage to the cable.

Second, due to the large number of effective turns of the cable required, the entire space for accommodating the movement of the cable will increase, especially in the direction of joint thickness; third, the cable process is more complicated, not only to solve the problem of the shape of the cable, It is also necessary to solve the problem of friction between cables and cables, and the problem of friction between cables and structural parts

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