Robot wire passing mechanism and method

Abstract

The application discloses a robot wire passing mechanism and a wire passing method, which are characterized in that a limiting device is arranged between a chassis circuit board and a lifting device, the limiting device is fixedly connected with a robot chassis, and the limiting device can make the wire tensioned during the lifting movement of the robot head, so that the wire path is more concise, the wire distribution is more neat, the wire does not touch or rub other structures in the robot during the lifting movement of the robot head, the wear of the wire is reduced, the service life of the wire is prolonged, and the wire does not contact other structures in the robot to cause electric leakage after aging, so that the safety hidden danger is avoided.

Description

Technical Field

[0001] This invention relates to a robot line-crossing structure and method, which is applied in the field of robotics. Background Technology

[0002] A robot is an automated machine, but unlike humans or other living beings, it possesses some intelligent abilities similar to those of humans or other living beings, such as perception, planning, movement, and coordination. It is a highly flexible automated machine.

[0003] As people's understanding of the intelligent nature of robotics deepens, robotics technology is continuously permeating all areas of human activity. Combining the application characteristics of these fields, people have developed various special-purpose robots and intelligent robots with perception, decision-making, action, and interaction capabilities. A robot is a machine device that automatically performs tasks. It can be commanded by humans, run pre-programmed procedures, or act according to principles established using artificial intelligence technology. Its task is to assist or replace human work. It is a product of advanced integrated cybernetics, mechatronics, computers, materials science, and bionics, and has important applications in industry, medicine, agriculture, services, construction, and even the military.

[0004] Currently, there are robots with head-lifting functions. However, the corresponding positions of the robot's lifting device lack a structure to limit the wires between the robot's head circuit board and chassis circuit board. The wire routing is complex and disorganized, which means that during the robot's head lifting process, the wires may come into contact with and rub against other internal structures of the robot. This not only accelerates the wear of the wires and reduces their lifespan, but also, when the aged wires come into contact with other internal structures of the robot, leakage may occur, posing a significant safety hazard. Summary of the Invention

[0005] In response to the aforementioned issues with existing robots featuring head-lifting capabilities, where a limiting structure is lacking at the corresponding location of the lifting device to restrict the wires between the robot head circuit board and the chassis circuit board, resulting in complex and disorganized wire routing paths, this invention provides a robot wire-passing mechanism and method. This mechanism incorporates a limiting device between the chassis circuit board and the lifting device, which is fixedly connected to the chassis. This limiting device ensures the wires are taut during the robot head's lifting motion, resulting in a simpler wire routing path and a neater wire distribution.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a robot wire-passing mechanism, including a robot head and a robot chassis. The robot head is provided with a head circuit board, and the robot chassis is provided with a chassis circuit board. The robot head and the robot chassis are connected by a lifting device that enables the robot head to move up and down. The head circuit board and the chassis circuit board are connected by wires. A limiting device is provided between the chassis circuit board and the lifting device. The limiting device is fixedly connected to the robot chassis. The limiting device enables the wires to be tensioned during the robot head's up and down movement.

[0007] Furthermore, the limiting device is a vertically arranged limiting plate.

[0008] Furthermore, the limiting device is an elastic element, which is a spring or a sheet.

[0009] Furthermore, the limiting device is made of a material capable of slight deformation, and the material is any one of rubber, silicone, or plastic.

[0010] Furthermore, the limiting plate is provided with a fixing unit that can fix the wire to the limiting plate. The fixing unit includes a wire passage and one or more fixing holes evenly arranged around the wire passage.

[0011] Furthermore, the limiting device is provided with a locking part, the robot chassis is provided with a locking groove corresponding to the locking part, and the limiting device is also provided with fixing plates on both sides.

[0012] Furthermore, during the robot head's lifting and lowering motion, the distance between the bottom of the lifting device and the cable passage when the device is at its lowest position is equal to the distance between the bottom of the lifting device and the cable passage when the device is at its highest position.

[0013] Furthermore, during the robot head's lifting and lowering motion, when the bottom of the lifting device is at its lowest or highest position, the wire between the bottom of the lifting device and the cable passage is taut.

[0014] Furthermore, the lifting device includes a lifting rod and a lifting sleeve. The lifting rod is installed inside the lifting sleeve and can move up and down along the lifting sleeve. The lifting rod is provided with a wire passage, and the bottom of the lifting rod near the chassis circuit board is provided with a wire passage hole that communicates with the wire passage.

[0015] A method for guiding a line according to the aforementioned robot line guiding mechanism comprises the following steps:

[0016] S1. Connect the first end of the wire to the head circuit board on the robot's head.

[0017] S2. The second end of the wire passes through the wire passage inside the lifting device and exits through the wire hole;

[0018] S3. Fix the wire to the limiting device using the fixing unit on the limiting device;

[0019] S4. Connect the second end of the wire to the chassis circuit board on the robot chassis.

[0020] The beneficial effects of this invention are as follows: This invention provides a robot wire-passing mechanism and method. By providing a limiting device between the chassis circuit board and the lifting device, and the limiting device being fixedly connected to the robot chassis, the limiting device can ensure that the wires are taut during the robot head's lifting and lowering movements. This makes the wire routing path simpler and the wire distribution neater. During the robot's head lifting and lowering process, the wires will not touch or rub against other internal structures of the robot, reducing wire wear and extending wire life. Furthermore, even after the wires age, they will not come into contact with other internal structures of the robot, preventing leakage and avoiding safety hazards. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the robot line-crossing mechanism provided by the present invention;

[0022] Figure 2 This is a schematic diagram of the limiting device provided by the present invention.

[0023] Reference numerals: 1-Robot head; 11-Head circuit board; 2-Robot chassis; 21-Chassis circuit board; 22-Snap-fit ​​groove; 3-Lifting device; 31-Lifting rod; 311-Wire passage hole; 32-Lifting sleeve; 4-Limiting device; 41-Wire passage opening; 42-Fixing plate; 43-Fixing hole; 44-Snap-fit ​​part. Detailed Implementation

[0024] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0025] Please see Figure 1-2 This invention provides a robot line-crossing structure and line-crossing method.

[0026] In this embodiment, a robot line-crossing mechanism includes a robot head 1 and a robot chassis 2. The robot head 1 is provided with a head circuit board 11, and the robot chassis 2 is provided with a chassis circuit board 21. The robot head 1 and the robot chassis 2 are connected by a lifting device 3 that enables the robot head 1 to move up and down. The head circuit board 11 and the chassis circuit board 21 are connected by wires. The head circuit board 11 of the robot head 1 can interact with the chassis circuit board 21 on the robot chassis 2 through the wires.

[0027] In this embodiment, a limiting device 4 is provided between the chassis circuit board 21 and the lifting device 3. The limiting device 4 is fixedly connected to the robot chassis 2. The limiting device 4 enables the wires to be tensioned during the lifting and lowering movement of the robot head 1, making the wire routing path simpler and the wire distribution neater.

[0028] In this embodiment, the limiting device 4 is a vertically arranged limiting plate. Of course, using other limiting devices 4 with the same function as this invention, such as wire or iron ring, is also considered an infringement of this invention. The limiting plate is provided with a snap-fit ​​part 44, and the robot chassis 2 is provided with a snap-fit ​​groove 22 corresponding to the snap-fit ​​part 44. The snap-fit ​​part 44 and the snap-fit ​​groove 22 snap-fit ​​together to fix the limiting device 4 to the robot chassis 2. Of course, other methods such as riveting or threading can also be used to fix the limiting device 4 to the robot chassis 2. The limiting device 4 is also provided with fixing plates 42 on both sides. By setting the fixing plates 42, the connection between the limiting plate and the robot chassis 2 can be made more stable, and the limiting plate will not be damaged by the pressure exerted on the limiting plate by the wires fixed on it.

[0029] In this embodiment, the limiting plate is provided with a fixing unit that can fix the wire to the limiting plate. The fixing unit includes a wire passage 41 and one or more fixing holes 43 evenly arranged around the wire passage 41. The wire is placed in the wire passage 41, and then wire or rope is passed through the fixing hole 42 and wrapped around the wire to fix the wire to the limiting plate.

[0030] In this embodiment, the lifting device includes a lifting rod 31 and a lifting sleeve 32. The lifting rod 31 is installed inside the lifting sleeve 32 and can move up and down along the lifting sleeve 32. The lifting rod 31 has a wire passage channel, and the bottom of the lifting rod 31 near the chassis circuit board 21 has a wire hole 311 communicating with the wire passage channel. The wire can pass through the wire passage channel and the wire hole 311 to connect the head circuit board 11 to the chassis circuit board. The lifting device protects the wire, preventing it from sliding arbitrarily during lifting and avoiding contact with other internal structures of the robot, thus reducing wire wear. When the robot is impacted, other internal structures of the robot will not crush the wire in the lifting device 31, causing the wire to break. Since the bottom of the lifting rod 31 near the chassis circuit board 21 has a wire hole 311 communicating with the wire passage channel, the amount of wire used is saved, reducing costs. Of course, other methods such as directly binding the wire to fix it to the lifting device 3 can also be used to limit the wire, preventing it from sliding arbitrarily during lifting and avoiding contact with other internal structures of the robot.

[0031] In this embodiment, during the lifting and lowering movement of the robot head 1, the distance between the bottom of the lifting device 3 at its lowest position and the wire passage 41 is equal to the distance between the bottom of the lifting device 3 at its highest position and the wire passage 41. Since the wire passage 311 is located at the bottom of the lifting device 3, the distance between the wire passage 311 at its lowest position and the wire passage 41 is equal to the distance between the wire passage 311 at its highest position and the wire passage 41. In this embodiment, the lowest position of the wire passage 311 is the lowest position of the robot head 1, and the highest position of the wire passage 311 is the highest position of the robot head 1.

[0032] In this embodiment, during the lifting and lowering movement of the robot head 1, when the bottom of the lifting device 3 is at its lowest or highest position, the wire between the bottom of the lifting device 3 and the wire passage 41 is tensioned. That is, when the wire passage 311 is at its lowest or highest position, the wire between the wire passage 311 and the wire passage 41 is tensioned. During the process of the robot head 1 moving from the lowest to the highest position, when the robot head 1 is at its lowest position, the wire between the wire passage 311 and the chassis circuit board 21 is tensioned. As the robot head 1 rises, the position of the wire passage hole 311 rises accordingly. The distance between the wire passage hole 311 and the wire passage opening 41 gradually decreases, and the wire gradually relaxes from being just taut, suspending between the wire passage hole 311 and the wire passage opening 41 and between the wire passage opening 41 and the chassis circuit board 21. When the wire passage hole 311 and the wire passage opening 41 are on the same horizontal plane, the distance between the wire passage hole 311 and the wire passage opening 41 is the smallest, and the wire relaxes to the greatest extent. As the robot head 1 continues to rise, the wire gradually tightens until the robot head 1 is at its highest point, and the wire is taut.

[0033] In this embodiment, as the robot head 1 descends from its highest point to its lowest point, when the robot head 1 is at its highest point, the wire between the wire hole 311 and the chassis circuit board 21 is taut. As the robot head 1 descends, the position of the wire hole 311 descends accordingly, and the distance between the wire hole 311 and the wire opening 41 gradually decreases. The wire gradually relaxes from being just taut, suspending between the wire hole 311 and the wire opening 41 and between the wire opening 41 and the chassis circuit board 21, until the wire hole 311 and the wire opening 41 are on the same horizontal plane, at which point the distance between the wire hole 311 and the wire opening 41 is the smallest, and the wire relaxes to the greatest extent. As the robot head 1 continues to descend, the wire gradually tightens until the robot head 1 is at its lowest point.

[0034] As a preferred option rather than a limitation, the wire passage 41 is an arc-shaped groove located at the top of the adhesive plate. Positioning the wire passage 41 at the top of the adhesive plate ensures that the height of the adhesive plate is approximately equal to the height of the wire passage 41. This not only saves material on the adhesive plate and reduces its manufacturing cost but also facilitates the installation of the robot shell by the operator. By setting the limiting device 4, the wires will not touch or rub against other internal structures of the robot during the robot's head lifting and lowering process, reducing wire wear and extending wire life. Furthermore, even after the wires age, they will not come into contact with other internal structures of the robot, preventing leakage and avoiding safety hazards.

[0035] In the second embodiment, the limiting device 4 is an elastic element, which can be a spring or a sheet. The elastic element can keep the wire taut during the lifting and lowering process of the robot head 1, and can also prevent the wire from touching or rubbing against other internal structures of the robot, reduce wire wear, extend wire life, and prevent leakage from contacting other internal structures of the robot after the wire ages, thus avoiding safety hazards.

[0036] In the third embodiment, the limiting device 4 is made of a material capable of slight deformation. The material can be any one of rubber, silicone, or plastic. By using a material capable of slight deformation, the limiting device 4 can not only prevent the wire from touching or rubbing against other internal structures of the robot, reducing wire wear and extending wire life, but also prevent the wire from contacting other internal structures of the robot and causing leakage after aging, thus avoiding safety hazards. It can also protect the connection between the wire and the limiting device 4, reducing wear on the connection between the wire and the limiting device 4 and extending the service life of the wire.

[0037] A method for guiding a line according to the aforementioned robot line guiding mechanism comprises the following steps:

[0038] S1. Connect the first end of the wire to the head circuit board 11 on the robot head 1.

[0039] S2. The second end of the wire passes through the wire passage inside the lifting device 3 and exits through the wire hole 311;

[0040] S3. Fix the wire to the limiting device 4 using the fixing unit on the limiting device 4;

[0041] S4. Connect the second end of the wire to the chassis circuit board 21 on the robot chassis 2.

[0042] The wire-passing method connects the head circuit board 11 and the chassis circuit board 21 by passing a wire through the lifting device 3 and fixing the wire to the limiting device 4, so that the wire can be tensioned during the lifting and lowering movement of the robot head 1. The wire-passing method is simple to operate and facilitates the installation of the wire.

[0043] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robot wire passing mechanism, comprising a robot head (1) and a robot chassis (2), a head circuit board (11) being arranged on the robot head (1), a chassis circuit board (21) being arranged on the robot chassis (2), the robot head (1) and the robot chassis (2) being connected through a lifting device (3) capable of lifting the robot head (1), the head circuit board (11) and the chassis circuit board (21) being connected through a wire, characterized in that: The chassis circuit board (21) is provided with a limiting device (4) between the lifting device (3), the limiting device (4) is fixedly connected with the robot chassis (2), and the limiting device (4) can make the wire tensioned during the lifting movement of the robot head (1); ​ The limiting device (4) is a limiting plate arranged vertically, the limiting plate is provided with a fixing unit capable of fixing the wire on the limiting plate, the fixing unit comprises a wire passing port (41) and one or more fixing holes (43) arranged uniformly around the wire passing port (41); during the lifting movement of the robot head (1), the distance between the bottom of the lifting device (3) at the lowest position and the wire passing port (41) is equal to the distance between the bottom of the lifting device (3) at the highest position and the wire passing port (41); The lifting device comprises a lifting rod (31) and a lifting sleeve (32), the lifting rod (31) is installed inside the lifting sleeve (32) and can move up and down along the lifting sleeve (32); the lifting rod (31) is provided with a wire passing channel, and the side of the bottom of the lifting rod (31) close to the chassis circuit board (21) is provided with a wire passing hole (311) in communication with the wire passing channel.

2. The robot wire passing mechanism of claim 1, wherein: The limiting device (4) is an elastic member with elasticity, and the elastic member is a spring or a spring sheet.

3. The robot wire passing mechanism of claim 1, wherein: The limiting device (4) is made of any one of rubber, silica gel and plastic.

4. The robot wire passing mechanism of claim 1, wherein: The limiting device (4) is provided with a clamping portion (44), the robot chassis (2) is provided with a clamping groove (22) corresponding to the clamping portion (44), and the limiting device (4) is further provided with a fixing plate (42) on both sides.

5. The robot wire passing mechanism of claim 1, wherein: During the lifting movement of the robot head (1), the wire between the bottom of the lifting device (3) at the lowest position or the bottom of the lifting device (3) at the highest position and the wire passing port (41) is tensioned.

6. A method of threading a wire according to the robot wire threading mechanism of any one of claims 1-5, characterized in that, The following steps are performed: S1, connect the first end of the wire with the head circuit board (11) on the robot head (1); S2, the second end of the wire passes through the wire passing channel in the lifting device (3) and passes out of the wire passing hole (311); S3, fix the wire on the limiting device (4) through the fixing unit on the limiting device (4); S4, connect the second end of the wire with the chassis circuit board (21) on the robot chassis (2).

Images