A protective device for cables of multi-degree-of-freedom manipulators

Abstract

This invention relates to a cable protection device for a multi-degree-of-freedom robotic arm, comprising a chassis, a robotic arm mounted on the chassis, and an end effector cooperating with the robotic arm. It also includes: a universal joint for connecting the cable sheath and ensuring synchronized movement between the cable sheath and the robotic arm; a translational sliding device mounted on and cooperating with the robotic arm to create relative displacement between the cable sheath attached to the robotic arm and the robotic arm; and a sensing device located on the side of the translational sliding device to prevent it from exceeding its limit distance during movement. This invention, through the universal joint fixed to the front end of the robotic arm and the translational sliding device, creates relative displacement between the main cable attached to the robotic arm and the robotic arm, thereby preventing the main cable from undergoing various extreme bending, stretching, or compression along with the robotic arm. This effectively protects the cable sheath and insulation rubber, extends the cable's lifespan, and saves on equipment maintenance costs.

Description

Technical Field

[0001] This invention relates to the field of six-degree-of-freedom spot welding robots, specifically a cable protection device for multi-degree-of-freedom robots. Background Technology

[0002] Robotic welding, replacing manual welding, has already been applied in existing factory lines. With existing six-degree-of-freedom spot welding robots, the main cable attached to the robot is subjected to twisting, stretching, or compression in various directions under complex welding angles. This makes the cable's protective sheath and insulating rubber highly susceptible to cracking. Once cracked, safety accidents such as electrical leakage can occur, requiring immediate replacement of the entire main cable. However, cable replacement necessitates equipment shutdown, impacting factory production efficiency. The repair time is also relatively long, and the replaced main cable must be scrapped, resulting in significant losses.

[0003] Therefore, there is a lack of a device that can protect cables and extend their lifespan. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a protective device for cables of multi-degree-of-freedom robotic arms.

[0005] A cable protection device for a multi-degree-of-freedom robotic arm includes a chassis, a robotic arm mounted on the chassis, an end effector cooperating with the robotic arm, and further includes:

[0006] The universal bracket, fixed to the front end of the robot, is used to connect the cable sheath and keep the cable sheath moving synchronously with the robot.

[0007] A translational sliding device is installed on and cooperates with the robotic arm, so that the cable sheath attached to the robotic arm and the robotic arm are relatively displaced. The cable sheath allows the main cable to pass through, and one end of the cable sheath is connected to the universal bracket.

[0008] A sensing device is installed on the side of the translation sliding device to prevent the translation sliding device from moving beyond its limit distance and causing errors.

[0009] As a further improvement of the present invention, the universal bracket includes a first support fixed to the front end of the robot arm, a first axis arranged perpendicular to the first support and rotatable relative to the first support, and a fixing frame having a second axis, the second axis being arranged perpendicular to the first axis and rotatable relative to the first axis.

[0010] As a further improvement of the present invention, the first support has a first rotating seat, which is connected to the first shaft via a bearing.

[0011] As a further improvement of the present invention, the first shaft has a second rotating seat, the second shaft is inserted into the second rotating seat, and the two shafts are connected by bearings.

[0012] As a further improvement of the present invention, the translational sliding device includes a base plate disposed on the upper end of the robotic arm, two sets of tracks disposed on the base plate, an air compressor cylinder disposed between the two sets of tracks for realizing left and right sliding, and a shrinking box disposed at the output end of the air compressor cylinder. The cable sheath is connected to the shrinking box. The shrinking box includes a receiving groove, the cable sheath passes through the receiving groove, and a spring is fitted on the outer side of the portion of the cable sheath located in the receiving groove.

[0013] As a further improvement of the present invention, the signal of the solenoid valve that drives and controls the air compressor cylinder is connected to the control program of the robot.

[0014] As a further improvement of the present invention, the tube shrinking box is a three-dimensional square.

[0015] As a further improvement of the present invention, the shrink tube box is made of aerospace aluminum.

[0016] Specifically, the cable sheath has a corrugated tubular structure that can be bent and deformed, thus enabling it to follow the corresponding actions of the robotic arm.

[0017] As a further improvement of the present invention, the cable sheath is provided with a pressing boss on the outer side of the receiving groove, one end of the spring abuts against the pressing boss, and the other end of the spring abuts against the inner wall of the receiving groove.

[0018] As a further improvement of the present invention, the sensing device includes proximity switches respectively disposed at both ends of the base plate, wherein the proximity switches are inductive proximity switches.

[0019] The beneficial effects of this invention are: by using a universal bracket and translation sliding device fixed to the front end of the robot, the main cable attached to the robot is displaced relative to the robot, thereby preventing the main cable from undergoing various extreme bending, stretching or compression with the robot, effectively protecting the rubber and insulating rubber of the main cable, extending the life of the main cable, and saving equipment maintenance costs. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0023] Figure 3 This is a partial three-dimensional structural diagram of the present invention;

[0024] Figure 4 This is a three-dimensional structural diagram of the translational sliding device of the present invention;

[0025] Figure 5 This is a three-dimensional structural diagram of the universal bracket of the present invention;

[0026] Figure 6 This is a three-dimensional structural diagram of the tube shrinking box of the present invention.

[0027] In the diagram, 1. chassis; 2. robotic arm; 3. translational sliding device; 4. second axis; 5. cable sheath; 5a. extrusion boss; 6. end effector; 7. tube shrinking box; 7a. receiving groove; 8. main cable; 9. universal bracket; 10. two sets of tracks; 11. base plate; 12. air compressor cylinder; 13. proximity switch; 14. first support; 15. first rotating seat; 16. first axis; 17. second rotating seat; 18. spring; 19. fixed frame. Detailed Implementation

[0028] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below.

[0029] like Figures 1 to 6 As shown, a cable protection device for a multi-degree-of-freedom robotic arm includes a chassis 1, a robotic arm 2 mounted on the chassis 1, and an end effector 6 cooperating with the robotic arm 2. It also includes:

[0030] The universal bracket 9 is fixed to the front end of the robot arm 2 and is used to connect the cable sheath 5 and keep the cable sheath 5 and the robot arm 2 moving synchronously.

[0031] The translation and sliding device 3 is mounted on the robot arm 2 and cooperates with the robot arm 2, so that the cable sheath 5 attached to the robot arm 2 and the robot arm 2 are relatively displaced. The cable sheath 5 allows the main cable 8 to pass through, and one end of the cable sheath 5 is connected to the universal bracket 9.

[0032] A sensing device is installed on the side of the translation sliding device to prevent the translation sliding device from moving beyond its limit distance and causing errors.

[0033] The present invention houses the main cable 8 within the cable sheath 5, which provides good protection.

[0034] Specifically, such as Figure 5As shown, the universal bracket 9 of the present invention is a passive component. The universal bracket 9 includes a first support 14 fixed to the front end of the robot arm 2, a first shaft 16 arranged perpendicular to the first support 14 and rotatable relative to the first support 14, and a fixing frame 19 having a second shaft 4. The second shaft 4 is arranged perpendicular to the first shaft 16 and rotatable relative to the first shaft 16.

[0035] The first support 14 has a first rotating seat 15, which is connected to the first shaft 16 via a bearing.

[0036] The first shaft 16 has a second rotating seat 17, the second shaft 4 is inserted into the second rotating seat 17, and is connected to the second rotating seat 17 by a bearing.

[0037] Since the robotic arm 2 rotates and changes position continuously during operation, when the robotic arm 2 moves, the main cable 8 will also be pulled accordingly. At this time, the rotation of the second axis 4 relative to the first axis 16 and the rotation of the first axis 16 relative to the first support 14 can be used to ensure that the orientation and angle of the main cable 8 correspond to the position and posture of the robotic arm 2 in a timely manner, thus ensuring flexibility.

[0038] This invention uses a universal bracket and a translational sliding device to cause relative displacement between the main cable 8 attached to the robot arm 2 and the robot arm 2, thereby preventing the main cable 8 from undergoing various extreme bending, stretching or compression along with the robot arm 2, effectively protecting the rubber and insulating rubber of the main cable 8, extending the life of the main cable 8, and saving the cost of robot cable maintenance.

[0039] The translational sliding device 3 includes a base plate 11 mounted on the upper end of the robot arm 2, two sets of tracks 10 mounted on the base plate 11, an air compressor cylinder 12 mounted between the two sets of tracks 10 for left and right sliding, and a shrink tube box 7 mounted at the output end of the air compressor cylinder 12. The cable sheath 5 is connected to the shrink tube box 7.

[0040] Specifically, such as Figure 6 As shown, the shrink tube box 7 includes a receiving groove 7a, the cable sheath 5 passes through the receiving groove 7a, and a spring 18 is fitted on the outer side of the portion of the cable sheath 5 located in the receiving groove 7a.

[0041] In practical applications, the signal from the solenoid valve controlling the pneumatic cylinder 12 can be connected to the control program of the robotic arm 2 to facilitate subsequent operation.

[0042] The tube shrinking box 7 is a three-dimensional square.

[0043] The aforementioned tube shrinking box 7 is made of aviation aluminum, which is not easily damaged and has strong resistance to pressure and impact.

[0044] Specifically, the cable sheath 5 has a corrugated tubular structure that can be bent and deformed, thus enabling it to follow the robotic arm 2 in performing corresponding actions.

[0045] like Figure 6 As shown, the cable sheath 5 has a compression protrusion 5a on the outer side of the portion located in the receiving groove 7a. One end of the spring 18 abuts against the compression protrusion 5a, and the other end of the spring 18 abuts against the inner wall of the receiving groove 7a. The main cable 8 is retracted inside the shrink tube box 7. When the main cable 8 is bent, stretched, or compressed, it can automatically spring back and retract, reducing the external damage to the main cable 8.

[0046] The state of spring 18 when it is not subjected to compressive force is as follows Figure 6 As demonstrated, when the robotic arm 2 begins to perform the corresponding action, it may drag the main cable 8. This causes the compression boss 5a to move towards the other side of the receiving groove 7a and compress the spring 18. The movement of the compression boss 5a also drives the movement of the main cable 8, thus satisfying the supply of the main cable 8 within the robotic arm 2's working space. When the robotic arm 2's working position does not require an excessively long main cable 8, the compression boss 5a begins to reset under the elastic restoring force of the spring 18, dragging the excess main cable 8 from the outside of the shrink tube box 7 into the receiving groove 7a, effectively avoiding the impact on the robot's movement caused by an excessive amount of external main cable 8.

[0047] The sensing device includes proximity switches 13 respectively disposed at both ends of the base plate 11. The proximity switches are inductive proximity switches. By arranging the proximity switches 13 at both ends of the base plate 11, the present invention can detect the two extreme positions of the shrink tube box 7 moving with the output end of the air compressor cylinder 12. When the proximity switch 13 senses the shrink tube box 7, it can provide feedback information to the external control part.

[0048] Specifically, in order to achieve control integration, it can be combined with the control program of the robot arm. When the signal of the solenoid valve of the pneumatic cylinder 12 is connected to the control program of the robot arm 2, the solenoid valve will approach the proximity switch 13 after being energized.

[0049] In actual use, during the debugging of the welding trajectory of the robotic arm 2, the welding engineer can call the translation and sliding device at any time in the debugging program according to the bending, stretching or compression of the main cable 8 under the working conditions of the robotic arm 2, so as to reduce the bending, stretching or compression of the main cable 8 and thus effectively protect the main cable 8.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely prisms of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A cable protection device for a multi-degree-of-freedom robotic arm, comprising a chassis (1), a robotic arm (2) mounted on the chassis (1), and an end effector (6) cooperating with the robotic arm (2), characterized in that: Also includes: Universal bracket (9) is fixed to the front end of the robot (2) and is used to connect the cable sheath (5) and keep the cable sheath (5) and the robot (2) moving synchronously. The translational sliding device (3) is set on the robot (2) and cooperates with the robot (2) so that the cable sheath (5) attached to the robot (2) and the robot (2) generate relative displacement. The cable sheath (5) allows the main cable (8) to pass through. One end of the cable sheath (5) is connected to the universal bracket (9). A sensing device is installed on the side of the translation sliding device to prevent the translation sliding device from moving beyond its limit distance and causing errors. The translational sliding device (3) includes a base plate (11) set on the upper end of the manipulator (2), two sets of tracks (10) set on the base plate (11), an air compressor cylinder (12) set between the two sets of tracks (10) for left and right sliding, and a shrinking box (7) set at the output end of the air compressor cylinder (12). The cable sheath (5) is connected to the shrinking box (7). The shrinking box (7) includes a receiving groove (7a). The cable sheath (5) passes through the receiving groove (7a). A spring (18) is fitted on the outer side of the portion of the cable sheath (5) located in the receiving groove (7a). A pressing boss (5a) is provided on the outer side of the portion of the cable sheath (5) located in the receiving groove (7a). One end of the spring (18) abuts against the pressing boss (5a), and the other end of the spring (18) abuts against the inner wall of the receiving groove (7a). The universal bracket (9) includes a first support (14) fixed to the front end of the robot (2) and a first shaft (16) arranged perpendicular to the first support (14) and rotatable relative to the first support (14). The universal bracket (9) also includes a fixing frame (19) having a second shaft (4) arranged perpendicular to the first shaft (16) and rotatable relative to the first shaft (16).

2. The protection device for a multi-degree-of-freedom robot cable according to claim 1, characterized in that: The first support (14) has a first rotating seat (15), which is connected to the first shaft (16) via a bearing.

3. The protection device for a multi-degree-of-freedom robot cable according to claim 1, characterized in that: The first shaft (16) has a second rotating seat (17), the second shaft (4) is inserted into the second rotating seat (17), and is connected to the second rotating seat (17) by a bearing.

4. The protection device for a multi-degree-of-freedom robot cable according to claim 1, characterized in that: The tube shrinking box (7) is a three-dimensional square.

5. A protection device for a multi-degree-of-freedom robot cable according to claim 1, characterized in that: The tube shrink box (7) is made of aviation aluminum.

6. The protection device for a multi-degree-of-freedom robot cable according to claim 1, characterized in that: The sensing device includes proximity switches (13) respectively disposed at both ends of the base plate (11).

7. A protective device for a multi-degree-of-freedom robot cable according to any one of claims 5 to 6, characterized in that: The cable sheath (5) has a corrugated tubular structure.

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