High performance cable for industrial robot arm

Abstract

The application relates to a high-performance cable for an industrial robot arm, comprising a cable body, a protective air sleeve sleeved on the cable body, an input air pipe connected with one end of the protective air sleeve and used for controlling expansion or contraction of the protective air sleeve, the other end of the input air pipe being used for being connected with an external air source, and an air sleeve position adjusting assembly connected with the protective air sleeve and used for changing the position of the protective air sleeve on the cable body. The application has the effect that the matched cable is not prone to damage during working of the robot arm.

Description

TECHNICAL FIELD

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

[0002] Robots are the most widely used automated mechanical devices in the field of robotics, and can be found in the fields of industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they have different forms, they all have a common feature of being able to receive instructions and accurately positioning to a certain point in three-dimensional (or two-dimensional) space for work. In related technologies, a robot will be configured with a cable. Specifically, a hole is formed on each arm of the robot, and the cable passes through the holes in sequence to achieve the arrangement of the circuit structure on the robot.

[0003] According to the related technology described above, when the adjacent arms change their relative poses, the cable will be pressed against the edge of the hole of the hole. When the robot is working, the pose changes frequently and quickly, so the cable will be subjected to short-term high pressure in different directions, which will cause the cable to be easily damaged. SUMMARY

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

[0005] The high-performance cable for an industrial robot arm provided by the present application adopts the following technical solution:

[0006] A high-performance cable for an industrial robot arm comprises:

[0007] a cable body;

[0008] a protective sleeve, which is slidably sleeved on the cable body;

[0009] an input air pipe, one end of which is connected to the protective sleeve for controlling the expansion or contraction of the protective sleeve, and the other end of which is connected to an external air source;

[0010] a sleeve position adjusting assembly, which is connected to the protective sleeve for changing the position of the protective sleeve on the cable body.

[0011] By adopting the technical scheme, firstly, the protective sleeve can be inflated through the input air pipe, so that the cable body is returned to the center of the hole of the mechanical arm, and the cable body does not contact the edge of the hole and is not pressed, so that the cable body is not subjected to short-time large pressure in different directions; secondly, during the operation of the mechanical arm, the cable may not be at the hole of the hole at all times, and different types of mechanical arms can also make different parts of the cable at the hole of the hole, so that the gas sleeve positioning assembly is provided, and a smaller protective sleeve can be used to protect different positions of the cable body, so that the cable is more comprehensively protected by a simpler structure.

[0012] Preferably, the circumferential side of the protective sleeve is sleeved with a force relief ring, and the force relief ring has a structure capable of radial expansion and contraction.

[0013] By adopting the technical scheme, when the protective sleeve contacts the edge of the hole, if the extrusion force is not completely perpendicular to the diameter direction of the protective sleeve, the force component not perpendicular to the diameter direction of the protective sleeve can be converted into a torque around the force relief ring, so that the cable body can be better protected.

[0014] Preferably, the wall thickness of the protective sleeve in the radial direction is smaller than the wall thickness in the axial direction.

[0015] By adopting the technical scheme, because the axial deformation ability of the force relief ring is weak, when the protective sleeve is inflated through the input air pipe, the protective sleeve can mainly deform in the radial direction, so that the protective structure of the cable body can be quickly formed, and the deformation of the protective sleeve will not be adversely affected by the force relief ring.

[0016] Preferably, the outer wall of the protective sleeve is provided with a T-shaped connecting block, a plurality of T-shaped connecting blocks are circumferentially and intervaliy distributed around the center of the protective sleeve, the inner side of the force relief ring is provided with a T-shaped through slot, the T-shaped connecting block is slidably embedded in the T-shaped through slot, and the force relief ring has an elastic structure at the T-shaped through slot.

[0017] By adopting the technical scheme, the relative rotation between the protective sleeve and the force relief ring can be realized, and the detachable connection between the force relief ring and the protective sleeve can be realized, so that the installation work of the cable is more simple.

[0018] Preferably, the force relief ring comprises unit arc blocks, connecting arc blocks and an outer sheath, the unit arc blocks are made of elastic material, one of the unit arc blocks is provided with a T-shaped through slot, the two ends of the connecting arc blocks are respectively slid through adjacent two unit arc blocks, the through structure between the connecting arc blocks and the unit arc blocks is a limiting stepped structure, and the outer sheath is sleeved on the outer side of the plurality of unit arc blocks, one part of the outer sheath is fixedly connected with the unit arc blocks, and the remaining part is detachably abutted with the unit arc blocks.

[0019] By adopting the above technical scheme, compared with the ring-shaped mode that the force relief ring is made of elastic material, in the process of protecting the gas sleeve from expanding, the adjacent two unit arc blocks will gradually separate, and more parts of the outer sheath will gradually connect with the unit arc blocks, but the unit arc blocks are always in a gap connection relationship with the protective gas sleeve, so the protective gas sleeve can reduce the resistance to the rotation of the force relief ring, so that the force relief ring can more fully convert the extrusion force into torque, thereby enhancing the protection of the cable main body.

[0020] Preferably, the protective gas sleeve is provided with an axially extending connecting hole, the gas sleeve position adjusting assembly comprises a tail inflection point block, a connecting wire, an electromagnet, an adsorption piece, a head mounting shell and a driving wheel, the tail inflection point block is arranged on the front end of the cable main body, the connecting wire is in a closed circuit structure, the connecting wire is slid through the tail inflection point block and the connecting hole, the electromagnet is connected to the connecting wire and slid through the connecting hole, the adsorption piece is arranged in the connecting hole and is magnetically connected with the electromagnet, the head mounting shell is arranged on the end of the cable main body away from the tail inflection point block, and the head mounting shell is provided for the connecting wire to pass through, and the driving wheel is rotatably arranged in the inner cavity of the head mounting shell and located on the inner side of the area surrounded by the connecting wire, and the driving wheel is in rolling abutment with the connecting wire for the movement of the connecting wire.

[0021] By adopting the above technical scheme, when it is necessary to change the position of the protective gas sleeve, the electromagnet is first started to magnetically attract the adsorption piece, and then the driving wheel is rotated to move the connecting wire, so that the electromagnet can drive the protective gas sleeve to move. The structure of the gas sleeve position adjusting assembly is along the cable main body and will not be too large in a certain area, so that the compactness of the cable in the diameter direction can be maintained.

[0022] Preferably, the range of the electromagnet in one of the protective gas sleeves exceeds the length of the adsorption piece.

[0023] By adopting the above technical scheme, when one protective gas sleeve is driven to move, the spacing between the plurality of protective gas sleeves is not equal, and thus, by the proportional relationship between the electromagnet and the adsorption sheet, the plurality of protective gas sleeves can be simultaneously driven to move under the condition of different spacing, so that the positioning of the single protective gas sleeve or the plurality of protective gas sleeves can be realized.

[0024] Preferably, one of the protective gas sleeves matches one of the input air pipes, and the input air pipes of different protective gas sleeves are located at different circumferential positions.

[0025] By adopting the above technical scheme, different protective gas sleeves can be in different expansion and contraction states, so that the state of the corresponding protective gas sleeve can be more flexibly changed according to the real-time situation of the mechanical arm, so that the cable main body can be protected while the mechanical arm can run smoothly.

[0026] Preferably, a pipe embedding groove is arranged on the outer side of the cable main body, the pipe embedding groove is embedded with the input air pipe, and the spacing of the pipe embedding groove close to the groove bottom is smaller than the spacing of the pipe embedding groove close to the groove opening.

[0027] By adopting the above technical scheme, the input air pipe can be closely attached to the cable main body while the protective gas sleeve does not need to be provided with a structure for avoiding the input air pipe of the other protective gas sleeve, so that the structure of the plurality of protective gas sleeves is consistent, thereby reducing the manufacturing cost of the cable.

[0028] In summary, the present application has at least one of the following beneficial technical effects:

[0029] 1. Firstly, the protective gas sleeve can be expanded by the input air pipe, so that the cable main body can be returned to the center of the hole of the mechanical arm, so that the cable main body will not be pressed by the edge of the hole, and thus will not be subjected to short-term high pressure in different directions; secondly, during the operation of the mechanical arm, the cable may not be located at the hole at all times, and different types of mechanical arms can also cause different parts of the cable to be located at the hole, so that the protective gas sleeve positioning assembly can use a smaller protective gas sleeve to protect different positions of the cable main body, thereby achieving more comprehensive protection of the cable by a simpler structure.

[0030] 2. Compared with the annular design of the force relief ring made of elastic material, in the process of expansion of the protective gas sleeve, the two adjacent unit arc blocks will gradually separate, and more parts of the outer sleeve will gradually connect with the unit arc blocks, but the unit arc blocks are always connected with the protective gas sleeve in a gap connection relationship, so that the protective gas sleeve can reduce the resistance to rotation of the force relief ring, so that the force relief ring can more fully convert the pressing force into torque, thereby enhancing the protection of the cable main body. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a schematic diagram of the cable in the protection state in the embodiment of the present application.

[0032] Figure 2 is a schematic diagram of the specific structure of the force relief ring in the embodiment of the present application.

[0033] Figure 3 is a schematic diagram of the specific structure of the air sleeve position adjusting assembly in the embodiment of the present application.

[0034] Legend: 1, cable main body; 11, pipe through slot; 2, protection air sleeve; 21, connecting hole; 3, input air pipe; 4, air sleeve position adjusting assembly; 41, tail inflection point block; 42, connecting wire; 43, electromagnet; 44, adsorption piece; 45, head mounting shell; 46, driving wheel; 5, force relief ring; 51, unit arc block; 52, connecting arc block; 53, outer sheath; 6, T-shaped connecting block; 61, T-shaped through slot. DETAILED DESCRIPTION

[0035] The following will be described in detail in combination with the accompanying Figures 1-3 The present application will be further described in detail.

[0036] The embodiment of the present application discloses a high-performance cable for industrial robot arm.

[0037] Reference Figure 1 The high-performance cable for industrial robot arm comprises a cable main body 1, a protection air sleeve 2, an input air pipe 3 and an air sleeve position adjusting assembly 4. The protection air sleeve 2 is sleeved on the cable main body 1 in a sliding mode. The protection air sleeve 2 and the cable main body 1 are in a small-amplitude interference fit. Therefore, the protection air sleeve 2 can be maintained at a certain position of the cable main body 1 and can also move along the extension direction of the cable main body 1. One end of the input air pipe 3 is connected with the protection air sleeve 2, and the other end is connected with an external air source. The input air pipe 3 can control the expansion or contraction of the protection air sleeve 2. The air sleeve position adjusting assembly 4 is connected with the protection air sleeve 2 and is used to change the position of the protection air sleeve 2 on the cable main body 1.

[0038] Reference Figure 1The cable has the following advantages: first, the protective sleeve 2 can be inflated through the input air pipe 3 to return the cable body 1 to the center of the hole of the mechanical arm, so that the cable body 1 will not be pressed by the edge of the hole, and will not be subjected to short-term high pressure in different directions; second, during the operation of the mechanical arm, the cable may not always be at the hole of the hole, and different types of mechanical arms may also cause different parts of the cable to be at the hole of the hole, so the setting of the air sleeve positioning assembly 4 can use a smaller size protective sleeve 2 to protect different positions of the cable body 1, thereby achieving more comprehensive protection of the cable through a simpler structure.

[0039] Referring to Figure 1 When the posture of the arm changes, the cable body 1 may also move in the circumferential direction of the hole center when it contacts the edge of the hole. This movement will generate a torque on the cable body 1. In order to deal with this situation, the peripheral side of the protective sleeve 2 is provided with a force relief ring 5, which is in a structure that can be radially expanded and contracted. Therefore, when the extrusion force acts on the force relief ring 5, the component force that is not perpendicular to the diameter direction of the protective sleeve 2 can be converted into a torque that rotates around the force relief ring 5, thereby better protecting the cable body 1.

[0040] In addition, considering that the protective sleeve 2 also needs to be normally inflated and contracted, but the axial deformation ability of the force relief ring 5 is relatively weak, in order to allow the protective sleeve 2 to smoothly deform radially, the radial wall thickness of the inner cavity wall of the protective sleeve 2 is smaller than the axial wall thickness. Therefore, the protective sleeve 2 can mainly deform radially, thereby quickly protecting the cable body 1.

[0041] Referring to Figure 1 and Figure 2 Considering the convenience of installation between the force relief ring 5 and the protective sleeve 2, the following settings are provided: the outer wall of the protective sleeve 2 is integrally formed with a T-shaped connecting block 6, and a plurality of T-shaped connecting blocks 6 are circumferentially and interval ly distributed around the center of the protective sleeve 2. Meanwhile, the inner side of the force relief ring 5 is provided with a T-shaped through groove 61, the T-shaped through groove 61 is used for slidingly embedding the T-shaped connecting block 6, and the force relief ring 5 is in an elastic structure at the T-shaped through groove 61. Therefore, while achieving the relative rotation between the protective sleeve 2 and the force relief ring 5, the detachable connection between the force relief ring 5 and the protective sleeve 2 can also be achieved, thereby making the installation of the cable more simple.

[0042] Referring to Figure 1 and Figure 2, in order to make the force relief ring 5 rotate more smoothly after the protection gas sleeve 2 expands, the following settings are correspondingly provided. The force relief ring 5 comprises unit arc blocks 51, connecting arc blocks 52 and an outer sleeve 53. The unit arc blocks 51 are made of elastic material. Each 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 arranged through two adjacent unit arc blocks 51. The end of the connecting arc block 52 is in the shape of a stepped shaft. The through arrangement of the connecting arc block 52 and the unit arc block 51 is in a limiting stepped shape. The outer sleeve 53 is arranged on the outside of the plurality of unit arc blocks 51. Part of the outer sleeve 53 is fixedly connected with the unit arc blocks 51, and the remaining part is separably abutted with the unit arc blocks 51.

[0043] Referring to Figure 1 and Figure 2 , in the process of expansion of the protection gas sleeve 2, the adjacent two unit arc blocks 51 will gradually separate, and more parts of the outer sleeve 53 will gradually connect with the unit arc blocks 51. However, the unit arc blocks 51 are always connected with the protection gas sleeve 2 in a gap connection relationship. Therefore, the protection gas sleeve 2 can reduce the resistance to the rotation of the force relief ring 5, so that the force relief ring 5 can more fully convert the extrusion force into torque, thereby enhancing the protection of the cable main body 1.

[0044] Referring to Figure 2 and Figure 3 , in order to adjust the position of the protection gas sleeve 2 by using a more compact structure in the cable diameter direction, the protection gas sleeve 2 is provided with an axis-extended connecting hole 21. The gas sleeve position adjusting assembly 4 comprises a tail inflection point block 41, a connecting wire 42, an electromagnet 43, an adsorption piece 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 main body 1. The front end here refers to the part of the cable main body 1 closest to the front end of the mechanical arm. The connecting wire 42 is in a closed circuit structure. The connecting wire 42 is slidably arranged through the tail inflection point block 41 and the connecting hole 21. The electromagnet 43 is connected to the connecting wire 42 and arranged through the connecting hole 21. The adsorption piece 44 is arranged in the connecting hole 21 and magnetically connected with the electromagnet 43. The head mounting shell 45 is arranged on the end of the cable main body 1 away from the tail inflection point block 41 and is arranged 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 is located on the inner side of the area surrounded by the connecting wire 42. The driving wheel 46 is in rolling abutment with the connecting wire 42. Therefore, the movement of the connecting wire 42 can be realized by the rotation of the driving wheel 46.

[0045] Referring to Figure 2 and Figure 3, the working principle of the gas sleeve position adjusting assembly 4 is as follows: when it is needed to change the position of the protective gas sleeve 2, the electromagnet 43 is first started to magnetically attract the adsorption piece 44, then the driving wheel 46 is rotated to move the connecting wire 42, so that the electromagnet 43 drives the protective gas sleeve 2 to move. Through the working process, it can be known that the structure of the gas sleeve position adjusting assembly 4 is along the cable main 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 the position of the protective gas sleeve 2 is adjusted.

[0046] With reference to Figure 2 and Figure 3 , in order to drive one protective gas sleeve 2 to move and drive multiple protective gas sleeves 2 to move, the range of the electromagnet 43 in one protective gas sleeve 2 is longer than the length of the adsorption piece 44, so that the electromagnet 43 can magnetically attract the corresponding adsorption piece 44 and drive multiple protective gas sleeves 2 to move under the condition that the spacing between the protective gas sleeves 2 is different, so that the position of a single protective gas sleeve 2 can be adjusted and the position of multiple protective gas sleeves 2 can be adjusted.

[0047] With reference to Figure 1 , in the working process of the mechanical arm, the posture change between some adjacent arms is relatively frequent, and the posture change between some adjacent arms is not so frequent, so some protective gas sleeves 2 need to be inflated and deflated frequently, and some protective gas sleeves 2 do not need to be inflated and deflated frequently. Therefore, one protective gas sleeve 2 is matched with one input gas pipe 3, and the input gas pipes 3 of different protective gas sleeves 2 are located at different positions in the circumference. In order to simplify the complexity of the structure, a pipe mounting groove 11 is formed on the outer side of the cable main body 1, the pipe mounting groove 11 is used for embedding the input gas pipe 3, and the spacing of the pipe mounting groove 11 near the groove bottom is smaller than the spacing of the pipe mounting groove 11 near the groove opening. Therefore, the input gas pipe 3 can be closely attached to the cable main body 1, the protective gas sleeve 2 does not need to provide a structure for avoiding the input gas pipe 3 of another protective gas sleeve 2, the structures of multiple protective gas sleeves 2 are consistent, and the manufacturing cost of the cable is reduced.

[0048] The implementation principle of the high-performance cable for the industrial mechanical arm is as follows: first, the protective gas sleeve 2 can be inflated by the input gas pipe 3 to make the cable main body 1 return to the center of the hole of the mechanical arm, so that the cable main body 1 will not be pressed by the edge of the hole and will not be subjected to short-time large pressure in different directions; second, in the working process of the mechanical arm, the position of the cable may not be always at the hole opening, and different types of mechanical arms can also make different parts of the cable be at the hole opening. Therefore, the protective gas sleeve 2 with a smaller size can be used to protect different positions of the cable main body 1 by the setting of the gas sleeve position adjusting assembly 4, so that the cable can be more comprehensively protected by a simpler structure.

[0049] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: all equivalent changes made according to the structure, shape, principle of the present application should be covered in the protection scope of the present application.

Claims

1. A high performance cable for an industrial robot arm, characterized by: The utility model relates to a cable protection device, which comprises: a cable body (1); a protective sleeve (2) sleeved on the cable body (1); an input air pipe (3) connected with the protective sleeve (2) at one end and used for controlling expansion or contraction of the protective sleeve (2), and connected with an external air source at the other end; a sleeve position adjusting assembly (4) connected with the protective sleeve (2) and used for changing the position of the protective sleeve (2) on the cable body (1); the protective sleeve (2) is provided with an axially extending connecting hole (21); the sleeve position adjusting assembly (4) comprises a tail inflection point block (41), a connecting wire (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 wire (42) is in a closed circuit configuration, the connecting wire (42) is slidably arranged through the tail inflection point block (41), and the connecting wire (42) is arranged through the connecting hole (21); the electromagnet (43) is connected to the connecting wire (42), and the electromagnet (43) is arranged through 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 the end of the cable body (1) away from the tail inflection point block (41), and the head mounting shell (45) is arranged 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), the driving wheel (46) is located on the inner side of the area surrounded by the connecting wire (42), the driving wheel (46) is in rolling abutment with the connecting wire (42), and the connecting wire (42) is moved.

2. A high performance cable for industrial robotic arms according to claim 1, characterized in that: A force relieving ring (5) is rotatably sleeved on the periphery of the protective sleeve (2), and the force relieving ring (5) is in a configuration capable of expanding or contracting in the radial direction.

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

4. A high performance cable for an industrial robot arm according to claim 3, characterized in that: The outer wall of the protective sleeve (2) is provided with T-shaped connecting blocks (6), a plurality of T-shaped connecting blocks (6) are distributed at intervals in a circle around the center of the protective sleeve (2); the inner side of the force relieving ring (5) is provided with T-shaped through grooves (61), the T-shaped through grooves (61) are used for slidably embedding the T-shaped connecting blocks (6), and the force relieving ring (5) is in an elastic configuration at the T-shaped through grooves (61).

5. A high performance cable for an industrial robot arm according to claim 4, characterized in that: The force relief ring (5) comprises unit arc blocks (51), connecting arc blocks (52) and an outer sleeve (53), the unit arc blocks (51) are made of elastic material, one of the unit arc blocks (51) is provided with one T-shaped through slot (61); the two ends of the connecting arc block (52) are respectively slid through two adjacent unit arc blocks (51), the through structure between the connecting arc block (52) and the unit arc block (51) is a limiting stepped structure; the outer sleeve (53) is sleeved on the outside of a plurality of unit arc blocks (51), one part of the outer sleeve (53) is fixedly connected with the unit arc block (51), and the remaining part is detachably abutted with the unit arc block (51).

6. The high performance cable for industrial robotic arms of claim 1, wherein: The range of the electromagnet (43) in one protective sleeve (2) exceeds the length of the adsorption sheet (44).

7. The high performance cable for industrial robotic arms of claim 1, wherein: One protective sleeve (2) is matched with one input air pipe (3), and the input air pipes (3) of different protective sleeves (2) are located at different circumferential positions.

8. A high performance cable for an industrial robotic arm according to claim 7, characterized in that: The outer side of the cable main body (1) is provided with a pipe embedding through slot (11), the pipe embedding through slot (11) is embedded with the input air pipe (3), and the interval of the pipe embedding through slot (11) near the slot opening is smaller than the interval near the slot bottom.

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