High-performance cable for industrial mechanical arm

Abstract

The invention relates to a high-performance cable for an industrial mechanical arm. The high-performance cable comprises a cable body. The protective gas sleeve is arranged on the cable main body in a sliding and sleeving manner; one end of the input gas pipe is connected with the protective gas sleeve and used for controlling expansion or contraction of the protective gas sleeve, and the other end of the input gas pipe is connected with an external gas source; and the gas sleeve position adjusting assembly is connected with the protective gas sleeve and is used for changing the position of the protective gas sleeve on the cable main body. The mechanical arm has the effect that the matched cable is not prone to damage in the working process of the mechanical arm.

Description

Technical Field

[0001] The present application relates to the field of cables, and in particular to a high-performance cable for an industrial robot arm. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and other fields. Although they have different forms, they all have a common feature, that is, they can accept instructions and accurately locate a certain point in three-dimensional (or two-dimensional) space to perform operations. In related technologies, the robotic arm will also be equipped with cables. Specifically, each section of the robotic arm will have a channel, and the cables will pass through these channels in turn, so as to realize the layout of the circuit structure on the robotic arm.

[0003] Regarding the related technologies mentioned above, there is a problem that when the relative posture of adjacent arms changes, the cable will contact the edge of the hole of the channel and be compressed. When the robot arm is working, the posture changes frequently and rapidly, so the cable will be subjected to short-term and large pressure in different directions, which will cause the cable to be easily damaged. Summary of the invention

[0004] In order to prevent the matched cables from being damaged easily during the operation of the robot arm, the present application provides a high-performance cable for an industrial robot arm.

[0005] The present application provides a high-performance cable for an industrial robot arm using the following technical solution: A high-performance cable for industrial robotic arms, comprising: Cable body; A protective gas sleeve, a sliding sleeve is arranged on the cable body; An air input pipe, one end of which is connected to the protective gas sleeve and is used to control the expansion or contraction of the protective gas sleeve, and the other end of which is used to be connected to an external air source; The air sleeve positioning assembly is connected to the protective air sleeve and is used to change the position of the protective air sleeve on the cable body.

[0006] By adopting the above technical solution, firstly, the protective air sleeve can be expanded through the input air pipe to return the cable body to the center of the hole on the robot arm, so that the cable body will not contact the edge of the hole opening of the hole and be compressed, and thus will not be subjected to short-term large pressure in different directions; secondly, during the operation of the robot arm, a certain position of the cable may not always be at the hole opening of the hole. Moreover, different types of robot arms will also place different parts of the cable at the hole opening of the hole. Therefore, the setting of the air sleeve adjustment component can use a smaller sized protective air sleeve to protect different positions of the cable body, thereby achieving more comprehensive protection of the cable through a simpler structure.

[0007] Preferably, the peripheral rotating sleeve of the protective gas sleeve is provided with a force unloading ring, and the force unloading ring is of a structure capable of radial expansion and contraction.

[0008] By adopting the above technical solution, due to the setting of the unloading ring, when the protective gas sleeve contacts the edge of the hole mouth of the channel, if the extrusion force is not completely perpendicular to the diameter direction of the protective gas sleeve, the component force that is not perpendicular to the diameter direction of the protective gas sleeve can be converted into a torque rotating around the unloading ring, thereby better protecting the cable body.

[0009] Preferably, the wall thickness of the inner cavity wall of the protective gas sleeve in the radial direction is smaller than the wall thickness in the axial direction.

[0010] By adopting the above technical solution, since the axial deformation ability of the unloading ring is relatively weak, when the protective gas sleeve is inflated through the input air pipe, the protective gas sleeve can mainly deform radially, so it can quickly form a protective structure for the cable body, and will not have an adverse effect on the deformation of the protective gas sleeve due to the unloading ring.

[0011] Preferably, the outer wall of the protective gas sleeve is provided with a T-shaped connecting block, and a plurality of the T-shaped connecting blocks are distributed in a circular pattern around the center of the protective gas sleeve; the inner side of the stress unloading ring is provided with a T-shaped through groove, and the T-shaped through groove is used for the T-shaped connecting block to be slidably embedded, and the stress unloading ring is elastically structured at the T-shaped through groove.

[0012] By adopting the above technical solution, while realizing relative rotation between the protective gas sleeve and the unloading ring, a detachable connection between the unloading ring and the protective gas sleeve can be realized, thereby making the installation of the cable easier.

[0013] Preferably, the unloading ring includes a unit arc block, a connecting arc block and an outer sleeve, the unit arc block is made of elastic material, and one of the unit arc blocks is provided with a T-shaped through groove; the two ends of the connecting arc block are respectively slidably penetrated by two adjacent unit arc blocks, and the penetration structure between the connecting arc block and the unit arc block is in a limited step shape; the outer sleeve is arranged on the outer side of a plurality of the unit arc blocks, a part of the outer sleeve is fixedly connected to the unit arc block, and the remaining part is detachably abutted against the unit arc block.

[0014] By adopting the above technical solution, compared with the method in which the unloading ring is made of elastic material in a ring shape, in this design method, during the expansion of the protective gas sleeve, the two adjacent unit arc blocks will gradually separate, and at the same time, more parts of the outer sheath will gradually connect with the unit arc blocks, but the unit arc blocks are always connected with the protective gas sleeve with a gap, so the protective gas sleeve can reduce the resistance to the rotation of the unloading ring, so that the unloading ring can more fully convert the extrusion force into torque, thereby strengthening the protection of the cable body.

[0015] Preferably, the protective gas sleeve is provided with an axially extending connecting hole; the gas sleeve positioning assembly includes a tail inflection point block, a connecting line, an electromagnet, an adsorption sheet, a head mounting shell and a driving wheel, and the tail inflection point block is arranged on the front end of the cable body; the connecting line is in a closed circuit structure, the connecting line slides through the tail inflection point block, and the connecting line passes through the connecting hole; the electromagnet is connected to the connecting line, and the electromagnet passes through the connecting hole; the adsorption sheet is arranged in the connecting hole, and the adsorption sheet is magnetically connected to the electromagnet; the head mounting shell is arranged on one end of the cable body away from the tail inflection point block, and the head mounting shell is for the connecting line to pass through; the driving wheel is rotatably arranged in the inner cavity of the head mounting shell, the driving wheel is located on the inner side of the area surrounded by the connecting line, and the driving wheel rolls against the connecting line for the movement of the connecting line.

[0016] By adopting the above technical solution, when the position of the protective gas sleeve needs to be changed, the electromagnet is first started to make the electromagnet and the adsorption sheet magnetically attracted, and then the driving wheel is rotated to move the connecting line, so that the electromagnet can drive the protective gas sleeve to move. In this design, the structure of the gas sleeve adjustment component is along the cable body and will not be too large in a certain area, thereby keeping the cable compact in the diameter direction.

[0017] Preferably, the range of the electromagnet in one of the protective gas sleeves exceeds the length of the adsorption sheet.

[0018] By adopting the above technical solution, when a protective gas sleeve is driven to move alone, the spacing between multiple protective gas sleeves will be unequal. Therefore, through the proportional relationship between the electromagnet and the adsorption sheet, multiple protective gas sleeves can still be driven to move at the same time when the spacing is different, thereby realizing the adjustment of a single protective gas sleeve or multiple protective gas sleeves.

[0019] Preferably, one of the protective gas sleeves cooperates with one of the input air pipes, and the input air pipes of different protective gas sleeves are located at different circumferential positions.

[0020] By adopting the above technical solution, different protective gas sleeves can be placed in different expansion and contraction states, so the state of the corresponding protective gas sleeve can be changed more flexibly according to the real-time situation of the robotic arm, thereby protecting the cable body while maintaining the smooth operation of the robotic arm.

[0021] Preferably, a pipe installation groove is provided on the outer side of the cable body, the pipe installation groove is used for embedding the input air pipe, and the spacing of the pipe installation groove near the groove opening is smaller than the spacing near the groove bottom.

[0022] By adopting the above technical solution, while making the input air pipe fit closely to the cable body, the protective air sleeve does not need to set an avoidance structure for the input air pipe of other protective air sleeves, and the structural forms of multiple protective air sleeves can be consistent, thereby reducing the manufacturing cost of the cable.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: 1. First, the protective gas sleeve can be expanded through the air pipe to make the cable body return to the center of the hole on the robot arm, so the cable body will not touch the edge of the hole opening of the hole and be compressed, and thus will not be subjected to short-term large pressure in different directions; second, during the operation of the robot arm, a certain position of the cable may not always be at the hole opening of the hole, and different types of robot arms will also make different parts of the cable at the hole opening of the hole, so the setting of the gas sleeve adjustment component can use a smaller size of protective gas sleeve to protect different positions of the cable body, thereby achieving more comprehensive protection of the cable through a simpler structure; 2. Compared with the unloading ring made of elastic material, in this design, during the expansion of the protective gas sleeve, the two adjacent unit arc blocks will gradually separate, and at the same time, more parts of the outer sheath will gradually connect with the unit arc blocks, but the unit arc blocks are always connected with the protective gas sleeve with a gap, so the protective gas sleeve can reduce the resistance to the rotation of the unloading ring, so that the unloading ring can more fully convert the extrusion force into torque, thereby strengthening the protection of the cable body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the cable in a protected state in an embodiment of the present application.

[0025] Figure 2 It is a schematic diagram made to reflect the specific structure of the unloading ring in the embodiment of the present application.

[0026] Figure 3 It is a schematic diagram made to reflect the specific structure of the air sleeve adjustment component in the embodiment of the present application.

[0027] Explanation of the reference numerals: 1. Cable body; 11. Pipe mounting slot; 2. Protective air sleeve; 21. Connecting hole; 3. Air input pipe; 4. Air sleeve adjustment assembly; 41. Tail inflection point block; 42. Connecting wire; 43. Electromagnet; 44. Adsorption sheet; 45. Head mounting shell; 46. Driving wheel; 5. Unloading ring; 51. Unit arc block; 52. Connecting arc block; 53. Outer jacket; 6. T-shaped connecting block; 61. T-shaped slot. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-3 This application is described in further detail.

[0029] An embodiment of the present application discloses a high-performance cable for an industrial robot arm.

[0030] Reference Figure 1 The high-performance cable for industrial robot arms includes a cable body 1, a protective gas sleeve 2, an input air pipe 3 and an air sleeve positioning component 4. The protective gas sleeve 2 is slidingly sleeved on the cable body 1, and there is a small interference fit between the protective gas sleeve 2 and the cable body 1, so that the protective gas sleeve 2 can be maintained at a certain position of the cable body 1 and can also move along the extension direction of the cable body 1; one end of the input air pipe 3 is connected to the protective gas sleeve 2, and the other end is connected to an external air source. The input air pipe 3 can control the expansion or contraction of the protective gas sleeve 2; the air sleeve positioning component 4 is connected to the protective gas sleeve 2 to change the position of the protective gas sleeve 2 on the cable body 1.

[0031] Reference Figure 1 The cable of the present application has the following advantages. First, the protective gas sleeve 2 can be expanded by inputting the air pipe 3 to return the cable body 1 to the center of the hole on the robot arm, so the cable body 1 will not contact the edge of the hole opening of the hole and be compressed, and thus will not be subjected to short-term large pressure in different directions; second, during the operation of the robot arm, a certain position of the cable may not always be at the hole opening of the hole. Moreover, different types of robot arms will also make different parts of the cable at the hole opening of the hole. Therefore, the setting of the gas sleeve adjustment component 4 can use a smaller-sized protective gas sleeve 2 to protect different positions of the cable body 1, thereby achieving more comprehensive protection of the cable through a simpler structure.

[0032] Reference Figure 1 When the posture changes between the arms, the cable body 1 may move in a circular direction around the center of the hole when contacting the edge of the hole. This movement will generate torque on the cable body 1. In order to cope with this situation, the circumferential rotating sleeve of the protective gas sleeve 2 is provided with a force unloading ring 5. The force unloading ring 5 is a structure that can expand and contract radially. Therefore, when the extrusion force acts on the force unloading ring 5, the component force that is not perpendicular to the diameter direction of the protective gas sleeve 2 can be converted into a torque rotating around the force unloading ring 5, thereby better protecting the cable body 1.

[0033] In addition, considering that the protective gas sleeve 2 needs to expand and contract normally, but the axial deformation ability of the unloading ring 5 is relatively weak, in order to allow the protective gas sleeve 2 to smoothly deform radially, the radial wall thickness of the inner cavity wall of the protective gas sleeve 2 should be smaller than the axial wall thickness, so that the protective gas sleeve 2 can mainly deform radially, thereby allowing the protective gas sleeve 2 to quickly protect the cable body 1.

[0034] Reference Figure 1 and Figure 2 Considering the convenience of installation between the unloading ring 5 and the protective gas sleeve 2, the following settings are correspondingly arranged: a T-shaped connecting block 6 is integrally formed on the outer wall of the protective gas sleeve 2, and a plurality of T-shaped connecting blocks 6 are distributed at intervals around the center of the protective gas sleeve 2 at a circumferential angle. At the same time, a T-shaped through groove 61 is arranged on the inner side of the unloading ring 5, and the T-shaped through groove 61 is for the T-shaped connecting block 6 to be slidably embedded, and the unloading ring 5 is elastically structured at the T-shaped through groove 61, so while the protective gas sleeve 2 and the unloading ring 5 can rotate relative to each other, a detachable connection between the unloading ring 5 and the protective gas sleeve 2 can also be achieved, thereby making the cable installation work easier.

[0035] Reference Figure 1 and Figure 2 In order to allow the unloading ring 5 to rotate more smoothly after the protective gas sleeve 2 expands, the following settings are correspondingly provided: the unloading ring 5 includes a unit arc block 51, a connecting arc block 52 and an outer sheath 53; the unit arc block 51 is made of elastic material; a unit arc block 51 is provided with a T-shaped through slot 61; the two ends of the connecting arc block 52 are respectively slidably penetrated by two adjacent unit arc blocks 51; the end of the connecting arc block 52 is in the shape of a stepped shaft; and the penetration portion of the unit arc block 51 for the connecting arc block 52 is in the shape of a stepped hole; the connecting arc block 52 will not fall off the unit arc block 51 through the cooperation of the stepped shaft and the stepped hole; therefore, the penetration structure between the connecting arc block 52 and the unit arc block 51 is in a limited stepped shape; the outer sheath 53 is sleeved on the outer sides of a plurality of unit arc blocks 51; a portion of the outer sheath 53 is fixedly connected to the unit arc block 51, and the remaining portion is detachably abutted against the unit arc block 51.

[0036] Reference Figure 1 and Figure 2During the expansion of the protective gas sleeve 2, two adjacent unit arc blocks 51 will gradually separate, and at the same time, more parts of the outer sheath 53 will gradually connect with the unit arc block 51, but the unit arc block 51 is always connected with the protective gas sleeve 2 with a gap, so the protective gas sleeve 2 can reduce the resistance to the rotation of the unloading ring 5, so that the unloading ring 5 can more fully convert the extrusion force into torque, thereby strengthening the protection of the cable body 1.

[0037] Reference Figure 2 and Figure 3 In order to use a more compact structure in the cable diameter direction to adjust the position of the protective gas sleeve 2, the protective gas sleeve 2 will be provided with an axially extending connecting hole 21, and the gas sleeve positioning assembly 4 includes a tail inflection point block 41, a connecting line 42, an electromagnet 43, an adsorption sheet 44, a head mounting shell 45 and a driving wheel 46. The tail inflection point block 41 is arranged on the front end of the cable body 1, and the front end here refers to the part of the cable body 1 close to the front end of the robot arm; the connecting line 42 is in a closed circuit structure, and the connecting line 42 slides through the tail inflection point block 41, and the connecting line 42 passes through the connecting line The electromagnet 43 is connected to the connecting wire 42, and the connecting hole 21 is passed through the electromagnet 43; the adsorption sheet 44 is arranged in the connecting hole 21, and the adsorption sheet 44 is magnetically connected to the electromagnet 43; the head mounting shell 45 is arranged on the end of the cable body 1 away from the tail inflection point block 41, and the head mounting shell 45 is for the connecting wire 42 to pass through; the driving wheel 46 is rotatably arranged in the inner cavity of the head mounting shell 45, and the driving wheel 46 is located on the inner side of the area surrounded by the connecting wire 42. The driving wheel 46 rolls against the connecting wire 42, and the connecting wire 42 can be moved by rotating the driving wheel 46.

[0038] Reference Figure 2 and Figure 3 The working principle of the air sleeve positioning component 4 is as follows. When the position of the protective air sleeve 2 needs to be changed, the electromagnet 43 is first started to make the electromagnet 43 and the adsorption sheet 44 magnetically attracted, and then the driving wheel 46 is rotated to move the connecting line 42, so that the electromagnet 43 can drive the protective air sleeve 2 to move. It can be known from the working process that the structure of the air sleeve positioning component 4 is along the cable body 1 and will not be too large in a certain area, so that the cable can be kept compact in the diameter direction while realizing the adjustment of the protective air sleeve 2.

[0039] Reference Figure 2 and Figure 3In order to be able to drive only one protective gas sleeve 2 to move or drive multiple protective gas sleeves 2 to move together, in one protective gas sleeve 2, the range of the electromagnet 43 must exceed the length of the adsorption sheet 44. Then, when the spacing between the protective gas sleeves 2 is different, the electromagnet 43 can still magnetically attract the corresponding adsorption sheet 44 and drive multiple protective gas sleeves 2 to move, thereby realizing the adjustment of a single protective gas sleeve 2 or multiple protective gas sleeves 2.

[0040] Reference Figure 1 During the operation of the robot arm, the posture changes between some adjacent arms are more frequent, while the posture changes between some adjacent arms are not so frequent. Therefore, some protective gas sleeves 2 need to expand and contract frequently, while some protective gas sleeves 2 do not. Therefore, one protective gas sleeve 2 is matched with one input air pipe 3, and the input air pipes 3 of different protective gas sleeves 2 are located at different circumferential positions. At the same time, in order to simplify the complexity of the structure, a pipe installation groove 11 is opened on the outer side of the cable body 1, and the pipe installation groove 11 is used for embedding the input air pipe 3, and the spacing of the pipe installation groove 11 near the groove is smaller than the spacing near the bottom of the groove. Therefore, while making the input air pipe 3 fit closely to the cable body 1, the protective gas sleeve 2 does not need to set an avoidance structure for the input air pipes 3 of other protective gas sleeves 2, so that the structural forms of multiple protective gas sleeves 2 are consistent, thereby reducing the manufacturing cost of the cable.

[0041] The implementation principle of a high-performance cable for an industrial robot arm in an embodiment of the present application is as follows: first, the protective air sleeve 2 can be expanded through the input air pipe 3 to return the cable body 1 to the center of the hole on the robot arm, so the cable body 1 will not contact the edge of the hole opening of the hole and be compressed, and thus will not be subjected to short-term large pressure in different directions; second, during the operation of the robot arm, a certain position of the cable may not always be at the hole opening of the hole, and different types of robot arms will also make different parts of the cable at the hole opening of the hole, so the setting of the air sleeve adjustment component 4 can use a smaller-sized protective air sleeve 2 to protect different positions of the cable body 1, thereby achieving more comprehensive protection of the cable through a simpler structure.

[0042] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A high-performance cable for an industrial robot arm, characterized in that: include: Cable body (1); A protective gas sleeve (2) is slidably mounted on the cable body (1); An air input pipe (3), one end of which is connected to the protective air sleeve (2) and is used to control the expansion or contraction of the protective air sleeve (2), and the other end of which is used to be connected to an external air source; An air sleeve positioning assembly (4) is connected to the protective air sleeve (2) and is used to change the position of the protective air sleeve (2) on the cable body (1).

2. The high-performance cable for an industrial robot arm according to claim 1, characterized in that: The circumferential rotating sleeve of the protective gas sleeve (2) is provided with a force unloading ring (5), and the force unloading ring (5) is of a structure capable of radial expansion and contraction.

3. The high-performance cable for an industrial robot arm according to claim 2, characterized in that: The wall thickness of the inner cavity wall of the protective gas sleeve (2) in the radial direction is smaller than the wall thickness in the axial direction.

4. The high-performance cable for an industrial robot arm according to claim 3, characterized in that: The outer wall of the protective gas sleeve (2) is provided with a T-shaped connecting block (6), and a plurality of the T-shaped connecting blocks (6) are distributed at intervals around the center of the protective gas sleeve (2); the inner side of the unloading ring (5) is provided with a T-shaped through groove (61), and the T-shaped through groove (61) is used for the T-shaped connecting block (6) to be slidably embedded, and the unloading ring (5) is elastically structured at the T-shaped through groove (61).

5. The high-performance cable for an industrial robot arm according to claim 4, characterized in that: The unloading ring (5) comprises a unit arc block (51), a connecting arc block (52) and an outer sheath (53); the unit arc block (51) is made of elastic material, and one of the unit arc blocks (51) is provided with a T-shaped through groove (61); the two ends of the connecting arc block (52) are respectively slidably penetrated by two adjacent unit arc blocks (51), and the penetration structure between the connecting arc block (52) and the unit arc block (51) is in a limited step shape; the outer sheath (53) is sleeved on the outer sides of a plurality of the unit arc blocks (51), a part of the outer sheath (53) is fixedly connected to the unit arc block (51), and the remaining part is detachably abutted against the unit arc block (51).

6. The high-performance cable for an industrial robot arm according to claim 1, characterized in that: The protective gas sleeve (2) is provided with an axially extending connection hole (21); the gas sleeve positioning assembly (4) comprises a tail inflection point block (41), a connecting line (42), an electromagnet (43), an adsorption sheet (44), a head mounting shell (45) and a driving wheel (46); the tail inflection point block (41) is arranged on the front end of the cable body (1); the connecting line (42) is in a closed circuit structure, the connecting line (42) is slidably passed through the tail inflection point block (41), and the connecting line (42) is passed through the connection hole (21); the electromagnet (43) is connected to the connecting line (42), and the electromagnet (43) is passed through the connecting hole (21); The connecting hole (21) is provided in the connecting hole (21); the adsorption sheet (44) is arranged in the connecting hole (21), and the adsorption sheet (44) is magnetically connected to the electromagnet (43); the head mounting shell (45) is arranged on an end of the cable body (1) away from the tail inflection point block (41), and the head mounting shell (45) is used for the connecting line (42) to pass through; the driving wheel (46) is rotatably arranged in the inner cavity of the head mounting shell (45), and the driving wheel (46) is located on the inner side of the area surrounded by the connecting line (42), and the driving wheel (46) is in rolling contact with the connecting line (42) for the movement of the connecting line (42).

7. The high performance cable for an industrial robot arm according to claim 6, characterized in that: The range of the electromagnet (43) in one of the protective gas sleeves (2) exceeds the length of the adsorption sheet (44).

8. The high-performance cable for an industrial robot arm according to claim 1, characterized in that: One of the protective gas sleeves (2) cooperates with one of the input gas pipes (3), and the input gas pipes (3) of different protective gas sleeves (2) are located at different circumferential positions.

9. The high-performance cable for an industrial robot arm according to claim 8, characterized in that: A pipe-mounting slot (11) is provided on the outer side of the cable body (1), wherein the pipe-mounting slot (11) is used for embedding the air input pipe (3), and the spacing of the pipe-mounting slot (11) near the slot opening is smaller than the spacing near the slot bottom.

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