A wire harness fixing device for a robot manipulator

Abstract

The present invention relates to the technical field of manipulator harness fixing devices, specifically to a harness fixing device for a robot manipulator, including a fixing mechanism for fixing a harness, the fixing mechanism including round teeth rotatably mounted on the inner wall of a cavity, the inner wall of the round teeth being equidistantly inclined with multiple groups of first limit grooves, the interior of the first limit groove being provided with a slider, the end of the slider close to the center of the round teeth being movably connected with a clamping rod, the surfaces of multiple groups of the round teeth being meshedly connected with driven teeth, the surfaces of multiple groups of the round teeth being meshedly connected with driving gear rings, the surface of the driving gear ring being symmetrically provided with two groups of third limit grooves, the interior of the third limit groove being slidably matched with a round rod. The present invention enables the harness to be quickly fixed through the coordinated use of various components, reduces the difficulty of maintenance, and does not fall off or break when pulled, thereby ensuring the normal operation of the manipulator.

Description

Technical Field

[0001] The invention relates to the technical field of manipulator harness fixing devices, and in particular to a robot manipulator harness fixing device. Background Art

[0002] As my country's machinery manufacturing industry continues to prosper, robotic welding technology is gradually becoming the core driving force for industry change. In this process, the power supply and signal transmission of robotic equipment rely on a complex cable harness system. These cable harnesses need to extend from the back of the robot base to its upper part to ensure unimpeded energy and signal flow. However, when the cable harness reaches the upper part of the robot, it needs to be fixed.

[0003] At present, the widely used method of fixing wire harnesses is to use straps for fixing, but this traditional method has significant disadvantages; on the one hand, strap fixation easily causes cables to become entangled with each other, which not only increases the difficulty of maintenance, but also reduces the overall stability and aesthetics of the harness; on the other hand, when the robot performs complex movements, especially rapid rotation or large movements, the harness fixed with straps is easily affected by pulling force, and is prone to falling off or breaking, affecting the normal operation process of the robot, and thus adversely affecting production efficiency and quality. Summary of the invention

[0004] The object of the present invention is to provide a wiring harness fixing device for a robot manipulator, so as to solve the problem that the wiring harness in the prior art proposed in the above-mentioned background technology is prone to cause the cables to be entangled with each other, which increases the difficulty of maintenance, and is also prone to being pulled when the manipulator is in motion, causing the wiring harness to fall off or break, thereby affecting the normal operation process of the manipulator.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a harness fixing device for a robot manipulator, comprising a mounting body, a manipulator body movably mounted on the end of the mounting body, and further comprising: a positioning ring fixedly mounted on the surface of the mounting body, the inner wall of the positioning ring symmetrically opening two groups of guide grooves, the inner wall of the positioning ring movably connected with a circular ring, the inner wall of the circular ring movably mounting a circular disk, the surface of the circular disk is penetrated with multiple groups of threading holes, the interior of the circular disk is opened with a cavity, and the threading holes are connected through a cylinder;

[0006] It also includes a fixing mechanism for fixing the wiring harness, the fixing mechanism includes a spherical tooth rotatably mounted on the inner wall of the cavity, the inner wall of the spherical tooth is equidistantly and obliquely provided with a plurality of first limit grooves, a slider is provided inside the first limit groove, the end of the slider close to the center of the spherical tooth is movably connected with a clamping rod, the surfaces of the plurality of groups of the spherical teeth are meshedly connected with driven teeth, the surfaces of the plurality of groups of the spherical teeth are meshedly connected with driving gear rings, the surface of the driving gear ring is symmetrically provided with two groups of third limit grooves, and the inside of the third limit groove is slidably fitted with a round rod.

[0007] Furthermore, a return spring is fixedly installed on the inner wall of the guide groove, and two groups of symmetrically arranged inclined grooves are opened on the inner wall of the guide groove. A clamping groove is opened between the two groups of inclined grooves, and the clamping groove is smoothly connected to the inclined groove near the rear side.

[0008] Furthermore, two groups of limit blocks are symmetrically installed on the surface of the circular ring, and the limit blocks are arranged inside the guide groove and slidably cooperate with the guide groove.

[0009] Furthermore, the cylinder is fixedly mounted on the inner wall of the cavity, and a plurality of through holes are equidistantly arranged on the surface of the cylinder.

[0010] Furthermore, in the initial state, the slider is arranged at one end of the first limiting groove away from the center of the spherical tooth, the end of the slider in contact with the inner wall of the first limiting groove is arc-shaped, and the slider is slidably matched with the first limiting groove.

[0011] Furthermore, the end of the clamping rod is a spherical structure, and the clamping rod is elastically retracted inside the slider, and the end of the clamping rod is arranged inside the through hole.

[0012] Furthermore, the driven tooth is arranged at the center of the cavity, the driven tooth and the round tooth are both sleeved on the surface of the cylinder, the inner wall of the driven tooth is equidistantly provided with a plurality of second limiting grooves, and the opening direction of the second limiting grooves is opposite to that of the first limiting grooves.

[0013] Furthermore, one end of the driving gear ring is rotatably connected to the inner wall of the cavity, and the other end of the driving gear ring is elastically connected to the inner wall of the cavity via a torsion spring.

[0014] Furthermore, the round rod penetrates through the inside of the circular ring and the limit block and extends to the inside of the inclined groove. One end of the round rod is a spherical structure and is initially arranged inside the front inclined groove. The round rod is elastically connected to the limit block through a connecting spring.

[0015] Compared with the known prior art, the technical solution provided by the present invention has the following beneficial effects:

[0016] 1. The present invention can separate the cable harness and limit the position of the cable harness by providing a positioning ring, a cavity and a threading hole. After the cable harness passes through the threading hole, the circular ring and the circular disk are pushed to move toward the rear along the guide groove. At the same time, under the action of the front inclined groove, the round rod moves toward the center position of the circular ring and is squeezed with the third limiting groove, and drives the driving gear ring to rotate, so that the meshing circular teeth and the driven teeth rotate synchronously and squeeze the slider, thereby driving the clamping rod to extend to clamp the cable harness, ensuring that the cable harness will not be entangled during work, which not only reduces the difficulty of maintenance, but also increases the overall stability and aesthetics of the harness.

[0017] 2. The present invention provides components such as round teeth, clamping rods and round rods that cooperate with each other. After the cable harness is installed and fixed, as the manipulator moves, the cable harness is subjected to the pulling force generated by the action of the manipulator, which will first drive the disc and the ring to move laterally along the guide groove. At the same time, the round rod located inside the clamping groove will enter the inclined groove on the rear side, and under the reaction force generated by the deformation of the torsion spring, the driving gear ring will rotate in the opposite direction and reset, so that the round teeth and the driven teeth will reset synchronously, releasing the clamping of the cable harness, so that the cable harness is stretched and moved under the action of the pulling force, avoiding the cable harness from breaking while preventing the cable harness from falling off, thereby ensuring the normal operation of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the overall structure of the positioning ring of the present invention;

[0021] Figure 3 It is a schematic diagram of the planar structure of the chute of the present invention;

[0022] Figure 4 It is a schematic diagram of the internal structure of the positioning ring of the present invention;

[0023] Figure 5 It is a schematic diagram of the cross-sectional structure of the fixing mechanism of the present invention;

[0024] Figure 6 It is a schematic diagram of the cooperation between the round teeth and the slider structure of the present invention;

[0025] Figure 7 for Figure 5 A schematic diagram of the enlarged structure in the middle.

[0026] In the figure: 1. installation body; 2. manipulator body; 3. positioning ring; 301. guide groove; 302. inclined groove; 303. clamping groove; 4. circular ring; 401. limit block; 5. circular disk; 501. cavity; 502. cylinder; 503. through hole; 6. fixing mechanism; 601. round tooth; 602. first limit groove; 603. slider; 604. clamping rod; 605. driven tooth; 606. second limit groove; 607. driving gear ring; 608. third limit groove; 609. round rod; 610. connecting spring. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] The present invention will be further described below in conjunction with the embodiments.

[0029] Embodiment: A wire harness fixing device for a robot manipulator, such as Figure 1-Figure 7 As shown, it includes a mounting body 1, a manipulator body 2 is movably mounted on the end of the mounting body 1, and also includes a positioning ring 3 fixedly mounted on the surface of the mounting body 1, and the positioning ring 3 is provided to limit the position of the cable harness; it is worth noting that the positioning ring 3 can be provided in multiple groups, the specific number can be set according to needs, and each two groups can be connected by a protective sleeve to protect the cable harness;

[0030] Among them, the inner wall of the positioning ring 3 is symmetrically provided with two groups of guide grooves 301, which can play a guiding and limiting role; the inner wall of the guide groove 301 is fixedly installed with a reset spring, and by setting the reset spring, the reaction force generated by its deformation can drive the parts to reset; it is worth mentioning that the reset spring fits the inner wall of the guide groove 301 and will not bend when it is compressed and deformed; and the reset spring can also be replaced with a part that can automatically reset after deformation, such as an elastic telescopic rod; the inner wall of the guide groove 301 is provided with two groups of symmetrically arranged oblique grooves 302, By setting the inclined groove 302, it can play a driving role; a clamping groove 303 is opened between the two groups of inclined grooves 302, and the clamping groove 303 is smoothly connected to the inclined groove 302 near the rear side. By setting the clamping groove 303, a positioning effect can be formed. At the same time, by smoothly connecting the clamping groove 303 with the inclined groove 302 near the rear side, the parts can smoothly transition from the clamping groove 303 to the inside of the inclined groove 302 at the rear side, and subsequently can also transition from the inclined groove 302 at the rear side to the clamping groove 303; it is worth noting that the definition of the rear side is combined with the attached Figure 3 The upper side is set as the front side and the lower side is set as the rear side.

[0031] Among them, the inner wall of the positioning ring 3 is movably connected with a circular ring 4, and the circular ring 4 can play a role of connection and guidance; two groups of limit blocks 401 are symmetrically installed on the surface of the circular ring 4, and the limit blocks 401 are arranged inside the guide groove 301 and slidably cooperate with it. By setting the limit blocks 401, the circular ring 4 can be limited when it moves, so as to ensure that the circular ring 4 can slide along the guide groove 301; it is worth mentioning that when the middle position of the limit block 401 moves to align with the card slot 303, one side of the limit block 401 will contact the reset spring; the inner wall of the circular ring 4 is movably installed with a disc 5, and the surface of the disc 5 is penetrated with a plurality of groups of threading holes, and the threading holes are set to facilitate the cable harness to pass through the inside thereof;

[0032] Among them, a cavity 501 is opened inside the disc 5, and the threading holes are connected through the cylinder 502. By setting the cylinder 502, it can be ensured that the cable bundle can quickly pass through the disc 5 to avoid contact with the inner wall of the cavity 501; the cylinder 502 is fixedly installed on the inner wall of the cavity 501, and a plurality of groups of through holes 503 are equidistantly opened around the surface of the cylinder 502.

[0033] Combined with Figure 1 -Attached Figure 7By setting a fixing mechanism 6 for fixing the wiring harness, the cable harnesses can be separated from each other, which not only reduces the difficulty of maintenance, but also increases the overall stability and aesthetics of the wiring harness; at the same time, when the manipulator performs an action and rotates rapidly or moves greatly, it can reduce the pulling force on the cable harness, ensure the stability of the cable harness, and ensure that the manipulator can work normally; the fixing mechanism 6 includes a spherical tooth 601 rotatably mounted on the inner wall of the cavity 501, and by setting the spherical tooth 601, the purpose of transmitting kinetic energy can be achieved; the inner wall of the spherical tooth 601 is equidistantly inclined to open a plurality of groups of first limiting grooves 602, and the first limiting grooves 602 are inclinedly opened on the inner wall of the spherical tooth 601, so that when the spherical tooth 601 rotates, it can squeeze the parts;

[0034] Among them, a slider 603 is provided inside the first limiting groove 602. In the initial state, the slider 603 is arranged at one end of the first limiting groove 602 away from the center of the round tooth 601. The end of the slider 603 that contacts the inner wall of the first limiting groove 602 is arc-shaped, and the slider 603 slides with the first limiting groove 602. By setting the slider 603, when the round tooth 601 rotates, the slider 603 can be squeezed through the first limiting groove 602, so that the slider 603 can move; the end of the slider 603 close to the center of the round tooth 601 is movably connected with a clamping rod 604, and the end of the clamping rod 604 is a spherical structure. By setting the clamping rod 604 with a spherical structure at the end, the cable harness can be clamped when it contacts the cable harness, thereby reducing the friction of the cable harness; the clamping rod 604 is elastically retracted inside the slider 603. By elastically retracting the clamping rod 604 inside the slider 603, cable harnesses of different specifications can be clamped, thereby increasing the practicality of the device.

[0035] Among them, the end of the clamping rod 604 is arranged inside the through hole 503, so as to cooperate with the first limiting groove 602 to limit the slider 603 and the clamping rod 604, and avoid deviation during the action; the surfaces of the multiple groups of round teeth 601 are meshed and connected with driven teeth 605, and the driven teeth 605 are arranged at the center of the cavity 501. By setting the driven teeth 605, it can follow the synchronous action of the round teeth 601; the driven teeth 605 and the round teeth 601 are both sleeved on the surface of the cylinder 502, so that the driven teeth 605 and the round teeth 601 can be limited to ensure normal rotation; it is worth noting that the driven teeth 605 are rotatably connected to the inner wall of the cavity 501;

[0036] Among them, the inner wall of the driven tooth 605 is equidistantly provided with a plurality of groups of second limiting grooves 606, and the opening direction of the second limiting grooves 606 is opposite to that of the first limiting grooves 602. It is worth noting that the shape of the second limiting grooves 606 is the same as that of the first limiting grooves 602, but the opening direction is opposite, and the second limiting grooves 606 have the same function as the first limiting grooves 602; the surfaces of the plurality of groups of round teeth 601 are meshingly connected with a driving gear ring 607, and by setting the driving gear ring 607, the driving gear ring 607 can be driven to rotate by the action of the driving gear ring 607; one end of the driving gear ring 607 is rotatably connected to the inner wall of the cavity 501, and the other end of the driving gear ring 607 is elastically connected to the inner wall of the cavity 501 through a torsion spring, and by setting the torsion spring, the driving gear ring 607 can be driven to deform and generate a reaction force when rotating, which must be followed by driving the driving gear ring 607 to rotate in the opposite direction to restore to its original position; it is worth noting that the torsion spring is not shown in the figure due to the perspective of the schematic diagram.

[0037] Among them, two groups of third limiting grooves 608 are symmetrically opened on the surface of the driving gear ring 607, and the third limiting grooves 608 are slidably matched with round rods 609 inside. By setting the third limiting grooves 608 and the round rods 609, the round rods 609 can be driven to move horizontally through the rotation of the driving gear ring 607; it is worth mentioning that when the third limiting grooves 608 squeeze the round rods 609, the round rods 609 will move away from the center of the driving gear ring 607; and by setting the round rods 609, the driving gear ring 607 and the disc 5 can also be positioned to avoid rotation when the cable harness is fixed;

[0038] Among them, the round rod 609 penetrates the interior of the circular ring 4 and the limit block 401 and extends to the interior of the inclined groove 302. One end of the round rod 609 is a spherical structure and is initially arranged inside the front inclined groove 302. By setting one end of the round rod 609 to a spherical structure, it is easier to slide and fit with the inclined groove 302; the round rod 609 is elastically connected to the limit block 401 through a connecting spring 610. By setting the connecting spring 610, when the round rod 609 moves laterally, it will be compressed and a reaction force will be generated, so that when one end of the round rod 609 enters the interior of the slot 303, the driving gear ring 607 can be more stable, thereby avoiding the reaction force generated by the torsion spring to drive the driving gear ring 607 to reset, thereby achieving the fixation of the cable harness.

[0039] Specifically, when installing the cable harness, the harnesses are passed through the threading holes respectively, and after the harnesses have passed through the threading holes, the disc 5 is pushed from the front side to the rear side, so that the disc 5 and the ring 4 move synchronously to the rear side. During the movement, the round rod 609 will be squeezed with the inclined groove 302 on the front side, so that the round rod 609 moves toward the center position of the disc 5, and at the same time compresses the connecting spring 610, and begins to be squeezed with the inner wall of the third limiting groove 608, so that the driving gear ring 607 starts to rotate and drives the torsion spring to deform, and at the same time drives the spherical teeth 601 meshed with it, and the driven teeth 605 meshed with the spherical teeth 601 to rotate synchronously, so that the first limiting groove 602 and the second limiting groove 606 both squeeze the slider 603 inside them, so that the slider 603 drives the clamping rod 604 to start to extend, and the harness inside the threading hole is clamped and fixed;

[0040] After the cable harness is clamped and fixed, the harness will be pulled as the manipulator makes large movements, such as rotation. When the harness is pulled, the ring 4 and the disk 5 will be driven to move synchronously to the rear side first, and during the movement, the round rod 609 located inside the slot 303 will begin to enter the rear side of the inclined slot 302, and the compressed connecting spring 610 will also begin to reset, driving the round rod 609 to restore the initial position, and the deformed torsion spring will also drive the driving gear ring 607 to reset, and then drive the round teeth 601 and the driven teeth 605 to reset synchronously, and the harness will no longer be clamped and fixed, so that the harness can be stretched when subjected to tension, avoiding breakage, and ensuring the normal operation of the manipulator;

[0041] When the round rod 609 begins to enter the rear inclined groove 302, the limit block 401 begins to squeeze the return spring, and when the manipulator is reset, the squeezed return spring pushes the limit block 401 to drive the round rod 609 back to the inside of the slot 303 again to fix the wire harness again.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A harness fixing device for a robot manipulator, comprising a mounting body (1), a manipulator body (2) being movably mounted at the end of the mounting body (1), characterized in that: Also includes: A positioning ring (3) is fixedly mounted on the surface of the mounting body (1), the inner wall of the positioning ring (3) being symmetrically provided with two groups of guide grooves (301), the inner wall of the guide groove (301) being provided with two groups of symmetrically arranged inclined grooves (302), the inner wall of the positioning ring (3) being movably connected with a circular ring (4), the surface of the circular ring (4) being symmetrically provided with two groups of limit blocks (401), the limit blocks (401) being arranged inside the guide groove (301) and slidably cooperating therewith, the inner wall of the circular ring (4) being movably provided with a circular disk (5), the surface of the circular disk (5) being provided with a plurality of groups of threading holes, the threading holes being connected through a cylinder (502), the interior of the circular disk (5) being provided with a cavity (501); The invention also comprises a fixing mechanism (6) for fixing the wiring harness, the fixing mechanism (6) comprising a spherical tooth (601) rotatably mounted on the inner wall of the cavity (501), the inner wall of the spherical tooth (601) being provided with a plurality of groups of first limiting grooves (602) being equidistantly inclined, a slider (603) being provided inside the first limiting groove (602), one end of the slider (603) being close to the center of the spherical tooth (601) being movably connected to a clamping rod (604), the surfaces of the plurality of groups of spherical teeth (601) being meshedly connected to driven teeth (605), the surfaces of the plurality of groups of spherical teeth (601) being meshedly connected to drive gear rings (607), one end of the drive gear ring (607) being meshedly connected to the cavity (501). The inner wall of the cavity (501) is rotatably connected, and the other end of the driving gear ring (607) is elastically connected to the inner wall of the cavity (501) through a torsion spring. Two groups of third limiting grooves (608) are symmetrically opened on the surface of the driving gear ring (607). The inside of the third limiting groove (608) is slidably matched with a round rod (609). The round rod (609) penetrates through the inside of the circular ring (4) and the limiting block (401) and extends to the inside of the inclined groove (302). One end of the round rod (609) is a spherical structure and is initially arranged inside the front side inclined groove (302). The round rod (609) is elastically connected to the limiting block (401) through a connecting spring (610).

2. The wire harness fixing device for a robot manipulator according to claim 1, characterized in that: A return spring is fixedly mounted on the inner wall of the guide groove (301), and a clamping groove (303) is provided between the two groups of inclined grooves (302), wherein the clamping groove (303) is smoothly connected to the inclined groove (302) at a position close to the rear side.

3. The harness fixing device for a robot manipulator according to claim 1, characterized in that: The cylinder (502) is fixedly mounted on the inner wall of the cavity (501), and a plurality of groups of through holes (503) are equidistantly arranged around the surface of the cylinder (502).

4. The wire harness fixing device for a robot manipulator according to claim 1, characterized in that: In the initial state, the slider (603) is arranged at an end of the first limiting groove (602) away from the center of the round tooth (601), the end of the slider (603) in contact with the inner wall of the first limiting groove (602) is arc-shaped, and the slider (603) and the first limiting groove (602) are slidably matched.

5. The harness fixing device for a robot manipulator according to claim 3, characterized in that: The end of the clamping rod (604) is a spherical structure, and the clamping rod (604) is elastically telescopic inside the slider (603), and the end of the clamping rod (604) is arranged inside the through hole (503).

6. The harness fixing device for a robot manipulator according to claim 5, characterized in that: The driven tooth (605) is arranged at the center of the cavity (501), the driven tooth (605) and the round tooth (601) are both sleeved on the surface of the cylinder (502), and the inner wall of the driven tooth (605) is provided with a plurality of groups of second limiting grooves (606) at equal intervals, and the opening direction of the second limiting grooves (606) is opposite to that of the first limiting grooves (602).

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