Storage method and device for robot joint wire

Abstract

The invention discloses a robot joint wire storage method, which is characterized in that two ends of a joint wire are respectively connected to a first actuator and a second actuator, so that the joint wire is stored between the first actuator and the second actuator, and one end, connected to the second actuator, of the joint wire is called a second end; the first actuator controls the second actuator to rotate, and when the second actuator rotates relative to the first actuator in the process direction, the joint wire is pulled so that the second end of the joint wire can run to the stroke end point; when the second actuator rotates relative to the first actuator in the return stroke direction, the pulled part of the joint wire is retracted so that the second end of the joint wire can return to the stroke starting point. According to the storage method, when the second actuator rotates relative to the first actuator, the joint wire is pulled and contracted in a fixed space. The problem of abrasion of the joint wire in movement is solved, and the working stability and reliability of the robot are improved.

Description

technical field [0001] The invention relates to the technical field of wire harness storage, in particular to a method and device for storing lead wires of robot joints. Background technique [0002] With the development of science and technology, robots have gradually penetrated into all walks of life, which not only improves the efficiency of work, but also effectively reduces the intensity of manual labor and makes the work process safer, replacing a large number of dangerous or potential safety hazards. For a robot with a lot of wires inside, damage to the inner wires will directly affect the operation of the robot and become the main reason for the failure of the robot's operation. Therefore, reducing the damage of built-in wires plays an important role in the research and development of robots. [0003] The built-in wires of the robot mainly include two types of wires. The first type is some fixed wires, which are mainly fixed on various parts of the robot arm by mean...

AI Technical Summary

Problems solved by technology

[0003] The built-in wires of the robot mainly include two types of wires. The first type is some fixed wires, which are mainly fixed on various parts of the robot arm by means of straps; the second type mainly involves There must be a certain reserved length of connecting wire that requires a certain degree of freedom. This type of wire is generally exposed to the connection without any constraints, such as the wire used to transmit electrical signals between joint actuators. Actions such as turning, bending, twisting, or moving up and down cause the wire to wear between the other housings in motion, making the second type of wire more susceptible to damage than the first type of wire

In addition, because the second type of wire requires a certain degree of freedom, its configuration space is relatively large, which also indirectly affects the appearance or overall structure of the robot.

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