Robot winding device

Abstract

The present invention relates to a winding device, and in particular to a robot winding device. The device comprises a fixed platform, a rotating shaft, an outer shell, an inner shell and a drag chain, wherein the rotating shaft is a hollow structure and is rotatably mounted on the fixed platform, the outer shell and the inner shell are coaxially arranged above the fixed platform with the rotating shaft, the inner shell is connected to the rotating shaft, the outer shell is connected to the fixed platform, an annular cavity is formed between the outer shell and the inner shell, the drag chain is arranged in the annular cavity, and the two ends of the drag chain are respectively an inlet and an outlet, the inlet is connected to the inner shell, and the outlet is connected to the outer shell; the rotating shaft is used to connect to the robot, the linear structure of the robot passes through the inner cavity of the rotating shaft, and enters the drag chain from the inlet, and then is led out from the outlet. The present invention can achieve that when the robot rotates, the cables and pipes on the robot do not rotate with the rotation of the robot, thereby avoiding winding.

Description

Technical Field

[0001] The present invention relates to a wire winding device, in particular to a wire winding device for a robot. Background Art

[0002] There are many research directions in the field of robotics, and the vast majority involve the movement capabilities of the robot's various joints, such as movement speed, load, angle, etc. Among them, the cable deployment method at the robot's wrist joint will have a significant impact on the joint's movement capabilities, especially the working angle range. Taking the most common external wiring method as an example, the cable is exposed outside the robot housing, and the electrical system of the fixed end and the moving end of the wrist joint is directly connected from the outside of the robot housing. If the cable is simply installed inside the robot housing, the space inside the wrist joint will be crowded, and the cable will be easily bent multiple times, which will affect its service life and the normal operation of the robot wrist joint, especially making the device prone to entanglement during rotational movement. Therefore, the traditional wrist joint winding method has a small working angle and cannot meet application scenarios that require covering a large range of working space. Summary of the Invention

[0003] In view of the above problems, the purpose of the present invention is to provide a robot winding device to solve the problem that the existing equipment is prone to wire entanglement during rotational motion.

[0004] In order to achieve the above objectives, the following technical solutions are adopted:

[0005] The present invention provides a robot winding device, comprising a fixed platform, a rotating shaft, an outer shell, an inner shell and a drag chain, wherein the rotating shaft is a hollow structure and is rotatably mounted on the fixed platform, the outer shell and the inner shell are coaxially arranged above the fixed platform with the rotating shaft, the inner shell is connected to the rotating shaft, the inner shell rotates with the rotating shaft, the outer shell is connected to the fixed platform, an annular cavity is formed between the outer shell and the inner shell, the drag chain is arranged in the annular cavity, the two ends of the drag chain are respectively a line inlet and a line outlet, the line inlet is connected to the inner shell, the inner shell drives the line inlet to rotate together, and the line outlet is connected to the outer shell; the rotating shaft is used to connect to the robot, the linear structure of the robot passes through the inner cavity of the rotating shaft, and enters the drag chain from the line inlet and is then led out from the line outlet.

[0006] In a possible implementation, a wire guide is provided in the annular cavity between the outer shell and the inner shell, and the wire guide is used to guide the movement of the drag chain.

[0007] In one possible implementation, the wire guide is an annular structure with an opening, the wire guide is coaxially arranged with the outer shell and the inner shell, and an annular channel capable of accommodating the drag chain is provided between the wire guide and the outer shell and the inner shell; the wire inlet and wire outlet of the drag chain are respectively placed on the inner and outer sides of the wire guide.

[0008] In a possible implementation, an annular track is provided at the bottom of the annular cavity, and a plurality of pulleys slidably connected to the annular track are provided at the bottom of the wire guide.

[0009] In one possible implementation, the inner shell and the outer shell are both cylindrical structures, an annular fixed supporting portion is provided on the inner side of the bottom of the outer shell, an annular dynamic supporting portion is provided on the outer side of the bottom of the inner shell, and the annular track is provided in the gap between the annular dynamic supporting portion and the annular fixed supporting portion.

[0010] In a possible implementation, the wire guide is a hollow structure, and both ends and side walls of the wire guide are smoothly transitioned.

[0011] In one possible implementation, the drag chain is a group, and the wire inlet is accommodated on the inner side of the wire guide, the drag chain is wrapped around the outside of the inner shell, and the wire outlet is led out from the opening of the wire guide and wrapped around the outside of the wire guide in the opposite direction; when the rotating shaft rotates in the forward or reverse direction, the drag chain gradually extends toward the outside of the wire guide, or gradually shrinks to the inside of the wire guide.

[0012] In one possible implementation, the drag chains are in two groups, and the wire inlet is accommodated on the inner side of the conductor, the two groups of drag chains are wound around the outside of the inner shell in opposite directions, and the wire outlet is wound around the outside of the conductor from both sides of the opening of the conductor; when the rotating shaft rotates, one group of drag chains gradually expands from the inside to the outside of the conductor, and the other group of drag chains gradually shrinks to the inside of the conductor.

[0013] In a possible implementation, the width of the annular channel between the wire guide and the inner shell and the outer shell is adapted to the width of the drag chain; and the opening width of the wire guide can accommodate the entry and exit of two groups of the drag chains.

[0014] In one possible implementation, a bearing seat is provided at the bottom of the fixed platform, the rotating shaft is installed in the bearing seat through a bearing, and a boss is provided at the upper end of the rotating shaft, and the boss is clamped above the fixed platform.

[0015] The advantages and beneficial effects of the present invention are as follows: the robot winding device provided by the present invention can ensure that when the robot rotates, the cables and pipes on the robot do not rotate with the rotation of the robot, thereby avoiding the occurrence of winding.

[0016] The present invention uses a wire member to separate the movement paths of two drag chains. The wire member has an open ring structure, so that the drag chain can bend out from the opening along the inner ring of the wire member and extend toward the outer ring for movement. The wire member can follow the drag chain to rotate between the inner shell and the outer shell, thus preventing the drag chains from sticking to each other and collapsing, resulting in movement interference.

[0017] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 This is an axonometric diagram of a robot winding device according to the present invention;

[0021] Figure 2 A top view of a robot winding device according to the present invention;

[0022] Figure 3 This is an axonometric diagram of a robot winding device of the present invention with the drag chain removed;

[0023] Figure 4 A top view of a robot winding device of the present invention with the drag chain removed;

[0024] Figure 5 Schematic diagram of the structure of the conductor in the present invention;

[0025] Figure 6 An axonometric view of the present invention without the drag chain and conductors;

[0026] Figure 7 This is a cross-sectional view of the present invention without the drag chain and the conductor;

[0027] In the figure: 1. Fixed platform, 2. Robot, 3. Rotating shaft, 4. Boss, 5. Bearing, 6. Bearing seat, 7. Outer shell, 8. Inner shell, 9. Annular track, 10. Drag chain, 11. Cable inlet, 12. Cable outlet, 13. Wire guide, 14. Opening, 15. Pulley. DETAILED DESCRIPTION

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0030] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0031] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0032] The embodiment of the present invention provides a robot winding device, which can prevent the cables and pipes on the robot from rotating when the robot rotates, thereby avoiding the occurrence of winding. Figure 1 、 Figure 2As shown, the robot winding device includes a fixed platform 1, a rotating shaft 3, an outer shell 7, an inner shell 8 and a drag chain 10, wherein the rotating shaft 3 is a hollow structure and is rotatably installed on the fixed platform 1, the outer shell 7 and the inner shell 8 are coaxially arranged above the fixed platform 1, the inner shell 8 is connected to the rotating shaft 3, and the inner shell 8 rotates together with the rotating shaft 3; the outer shell 7 is connected to the fixed platform 1, and an annular cavity is formed between the outer shell 7 and the inner shell 8, and the drag chain 10 is arranged in the annular cavity, and the two ends of the drag chain 10 are respectively an inlet 11 and an outlet 12, the inlet 11 is connected to the inner shell 8, and the inlet 11 rotates together with the inner shell 8; the outlet 12 is connected to the outer shell 7; the rotating shaft 3 is used to connect with the robot 2, and the linear structure of the robot 2 passes through the inner cavity of the rotating shaft 3, and enters the drag chain 10 from the inlet 11, and then is led out from the outlet 12.

[0033] See also Figure 3 、 Figure 4 As shown, in the embodiment of the present invention, a wire member 13 is provided in the annular cavity between the outer shell 7 and the inner shell 8. The wire member 13 is used to guide the movement of the drag chain 10 to prevent the drag chain 10 from being entangled.

[0034] See also Figures 3 to 5 As shown, in the embodiment of the present invention, the wire member 13 is an annular structure with an opening, the wire member 13 is coaxially arranged with the outer shell 7 and the inner shell 8, and an annular channel capable of accommodating the drag chain 10 is provided between the wire member 13 and the outer shell 7 and the inner shell 8; the wire inlet 11 and the wire outlet 12 of the drag chain 10 are respectively placed on the inner and outer sides of the wire member 13.

[0035] Furthermore, an annular track 9 is provided at the bottom of the annular cavity, and the guide member 13 is slidably connected to the annular track 9. The guide member 13 moves in an orderly manner along the annular track 9 under the push of the drag chain 10, thereby improving the stability of the guide.

[0036] See also Figure 5 As shown, in the embodiment of the present invention, a plurality of pulleys 15 are provided at the bottom of the thread guide 13 and are slidably connected to the annular track 9. Specifically, the pulleys 15 can be bull's eye pulleys, which slide on the annular track 9 between the inner shell 8 and the outer shell 7 to reduce friction between the thread guide 12 and the inner shell 8 and the outer shell 7, thereby increasing the service life of the components.

[0037] Furthermore, the wire guide 13 is a hollow structure to achieve the purpose of lightness. The ends and side walls of the wire guide 13 are smoothly transitioned to reduce friction and wear between the wire guide 13 and the drag chain 10, making the drag chain 10 move more smoothly.

[0038] See also Figure 6As shown, in the embodiment of the present invention, both the inner shell 8 and the outer shell 7 are cylindrical structures. An annular fixed support portion is provided on the inner bottom side of the outer shell 7, and an annular dynamic support portion is provided on the outer bottom side of the inner shell 8. An annular track 9 is provided in the gap between the annular dynamic support portion and the annular fixed support portion. The ends of the drag chain 10 are supported by the annular dynamic support portion and the annular fixed support portion, respectively.

[0039] Preferably, the width of the annular cavity between the wire guide 13 and the inner shell 8 and the outer shell 7 is adapted to the width of the drag chain 10 to avoid bending of the drag chain 10. Preferably, the opening width of the wire guide 13 can accommodate the entry and exit of two sets of drag chains 10.

[0040] See also Figure 7 As shown, in this embodiment of the present invention, a bearing seat 6 is provided at the bottom of the fixed platform 1. The rotating shaft 3 is mounted in the bearing seat 6 via a bearing 5. A boss 4 is provided at the upper end of the rotating shaft 3, which is engaged above the fixed platform 1. The robot 2 drives the rotating shaft 3 to rotate, which in turn drives the inner housing 8 to rotate together.

[0041] Specifically, the linear structure of the robot 2 includes cables and pipelines, etc. The cables and pipelines of the robot 2 pass through the rotating shaft 3, extend into the drag chain 10 through the cable inlet 11, and extend out of the drag chain 10 through the cable outlet 12 to be connected to the drive end or terminal.

[0042] In an embodiment of the present invention, a set of drag chains 10 can be placed in the annular cavity between the outer shell 7 and the inner shell 8 to form a single-chain winding mode; or two sets of drag chains 10 can be placed in the annular cavity between the outer shell 7 and the inner shell 8 to form a double-chain winding mode.

[0043] In the first mode, when a set of drag chains 10 is placed in the annular cavity between the outer shell 7 and the inner shell 8, the cable inlet 11 of the drag chain 10 is accommodated on the inner side of the wire guide 13, the drag chain 10 is wound around the outer side of the inner shell 8, and the cable outlet 12 is led out from the opening of the wire guide 13 and wound around the outer side of the wire guide 13 in the opposite direction, and the cable outlet 12 is fixed to the outer shell 7. After passing through the rotating shaft 3, the cables and pipes extend into the drag chain 10 from the cable inlet 11, and extend out of the drag chain 10 from the cable outlet 12, and are connected to the drive end or terminal. During operation, the rotating shaft 3 drives the inner shell 8 to rotate, and the inner shell 8 drags the drag chain 10 to rotate, causing the drag chain 10 to extend from or retract into the wire guide 13. Therefore, no matter how the drag chain 10 rotates with the inner shell 8, the wire extending from the drag chain 10 must be fixed, thus avoiding the occurrence of tangled wires.

[0044] In the second mode, two sets of drag chains 10 are placed in the annular cavity between the outer shell 7 and the inner shell 8. The wire inlets 11 of the two sets of drag chains 10 are both accommodated on the inner side of the wire guide 13. The two sets of drag chains 10 are wound in opposite directions on the outside of the inner shell 8, and the wire outlets 12 are wound in opposite directions on the outside of the wire guide 13 from both sides of the opening of the wire guide 13. The wire outlets 12 of the two drag chains 10 are both connected to the inner wall of the outer shell 7. After passing through the rotating shaft 3, the cables and pipes extend into the drag chains 10 from the wire inlet 11, and extend out of the drag chains 10 from the wire outlet 12 and are connected to the drive end or terminal. When the rotating shaft 3 drives the inner shell 7 to rotate, one set of drag chains 10 gradually expands outward from the inside of the wire guide 13, and the other set of drag chains 10 gradually shrinks into the wire guide 13. The wire guide 13 can rotate between the inner shell 8 and the outer shell 7 following the drag chains 10.

[0045] During operation, the robot 2 drives the rotating shaft 3 to rotate. Since the inner shell 8 rotates with the rotating shaft 3, but the outer shell 7 is fixed, the inner shell 8 drives the drag chain 10 to move when it rotates. The cables and pipes are arranged in the drag chain 10 so that they will not be entangled. Since the position of the wire outlet 12 is fixed, no matter how the drag chain 10 rotates with the inner shell 8, the wire extending from the drag chain 10 must be fixed, so the occurrence of wire winding is avoided. Because the wire member 13 is located between the wire inlet 11 and the wire outlet 12 of the drag chain 10, and the wire member 13 rotates with the drag chain 10 between the inner shell 8 and the outer shell 7, the drag chain 10 can rotate with the inner shell 8 in an orderly manner. When the drag chain 10 rotates with the inner shell 8, it will push the wire member 13 to move with it. When one group of drag chains 10 gradually fills the inner cavity of the wire member 13, the other drag chain 10 gradually extends from the wire member 13 and stretches along the outer surface of the wire member 13. Therefore, the two drag chains 10 stretch in opposite directions on their respective movement paths in an orderly manner, and no interference will occur, thereby avoiding entanglement and improving the service life of the cable.

[0046] In summary, the present invention provides a robot winding device that can prevent the cables and pipes on the robot 2 from rotating with the robot 2 when the robot 2 rotates, thereby preventing the robot 2 from rotating. Specifically, the robot 2 is connected to one end of a rotating shaft 3, which passes through the fixed platform 1 and extends into the interior of the outer shell 7. The rotating shaft 3 is a hollow shaft, and the cables and pipes on the robot 2 extend into the outer shell 7 through the hollow portion of the rotating shaft 3. The end of the rotating shaft 3 extending into the outer shell 7 has a boss 4 for clamping onto the fixed platform 1. The rotating shaft 3 is set at the center of the outer shell 7 and can rotate relative to the outer shell 7 and the fixed platform 1 (both the outer shell 7 and the fixed platform 1 are stationary). Because the inner shell 8 rotates with the rotating shaft 3, but the outer shell 7 is fixed, the rotation of the inner shell 8 drives the drag chain 10 to move. The cables and pipes are all located within the drag chain 10 and therefore will not be entangled. Since the position of the wire outlet 12 is fixed, no matter how the drag chain 10 rotates with the inner shell 7, the wires extending from the drag chain 10 are always fixed, thus preventing the drag chain 10 from rotating. The rotating part of the winding device can rotate with the robot 2, thus offsetting the rotational motion of the robot 2, so that the cables and pipes connected to the robot 2 are fixed and will not rotate when they extend out of the winding device, thus avoiding the occurrence of winding.

[0047] In an embodiment of the present invention, the movement paths of the two drag chains 10 are separated by a wire guide 13. The wire guide 13 is a ring-shaped structure with an opening. The wire guide 13 is arranged between the inner shell 8 and the outer shell 7. The wire guide 13 can follow the two drag chains 10 to rotate between the inner shell 8 and the outer shell 7, so that the two drag chains 10 can bend out from the opening along the inner ring of the wire guide 13 and extend to the outer ring for movement. The two drag chains 10 move in their respective tracks, so as to avoid the two drag chains 10 from collapsing and causing movement interference.

[0048] The present invention provides a robot winding device with a compact structure and high safety, which increases the service life of the cable and increases the working space of the equipment.

[0049] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A robot winding device, characterized in that: The invention comprises a fixed platform (1), a rotating shaft (3), an outer shell (7), an inner shell (8) and a drag chain (10), wherein the rotating shaft (3) is a hollow structure and is rotatably mounted on the fixed platform (1), the outer shell (7) and the inner shell (8) are coaxially arranged above the fixed platform (1) with the rotating shaft (3), the inner shell (8) is connected to the rotating shaft (3), and the inner shell (8) rotates together with the rotating shaft (3), the outer shell (7) is connected to the fixed platform (1), and an annular cavity is formed between the outer shell (7) and the inner shell (8), and the drag chain (10) is provided. The chain (10) is arranged in the annular cavity, and the two ends of the drag chain (10) are respectively an inlet (11) and an outlet (12), the inlet (11) is connected to the inner shell (8), and the inner shell (8) drives the inlet (11) to rotate together, and the outlet (12) is connected to the outer shell (7); the rotating shaft (3) is used to connect with the robot (2), and the linear structure of the robot (2) passes through the inner cavity of the rotating shaft (3), and enters the drag chain (10) from the inlet (11), and then is led out from the outlet (12); A guide wire (13) is provided in the annular cavity between the outer shell (7) and the inner shell (8), and the guide wire (13) is used to guide the movement of the drag chain (10); The wire guide (13) is an annular structure with an opening, the wire guide (13) is coaxially arranged with the outer shell (7) and the inner shell (8), and an annular channel capable of accommodating the drag chain (10) is provided between the wire guide (13) and the outer shell (7) and the inner shell (8); the wire inlet (11) and the wire outlet (12) of the drag chain (10) are respectively arranged on the inner and outer sides of the wire guide (13); The drag chains (10) are in two groups, and the wire inlet (11) is accommodated on the inner side of the conductor (13). The two groups of drag chains (10) are wound around the outer side of the inner shell (8) in opposite directions, and the wire outlet (12) is wound around the outer side of the conductor (13) from both sides of the opening of the conductor (13). When the rotating shaft (3) rotates, one group of drag chains (10) gradually expands from the inner side of the conductor (13) to the outer side, and the other group of drag chains (10) gradually shrinks to the inner side of the conductor (13).

2. The robot winding device according to claim 1, characterized in that: An annular track (9) is provided at the bottom of the annular cavity, and a plurality of pulleys (15) slidably connected to the annular track (9) are provided at the bottom of the wire guide (13).

3. The robot winding device according to claim 2, characterized in that: The inner shell (8) and the outer shell (7) are both cylindrical structures. An annular fixed supporting portion is provided on the inner side of the bottom of the outer shell (7), and an annular dynamic supporting portion is provided on the outer side of the bottom of the inner shell (8). The annular track (9) is provided in the gap between the annular dynamic supporting portion and the annular fixed supporting portion.

4. The robot winding device according to claim 1, characterized in that: The wire member (13) is a hollow structure, and both ends and side walls of the wire member (13) are smoothly transitioned.

5. The robot winding device according to claim 1, characterized in that: The width of the annular channel between the wire guide (13) and the inner shell (8) and the outer shell (7) is adapted to the width of the drag chain (10); the opening width of the wire guide (13) can accommodate the entry and exit of two groups of the drag chains (10).

6. The robot winding device according to claim 1, characterized in that: A bearing seat (6) is provided at the bottom of the fixed platform (1), and the rotating shaft (3) is installed in the bearing seat (6) through a bearing (5). A boss (4) is provided at the upper end of the rotating shaft (3), and the boss (4) is clamped above the fixed platform (1).

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