Slewing device

Abstract

The invention provides a rotating device, and relates to the technical field of industrial robots, the rotating device comprises an annular first shell, the outer peripheral side of the first shell is provided with a first opening, the interior of the first shell is hollow, and the interior of the first shell communicates with the hollow part of the first shell through the inner peripheral side of the first shell; the hollowed-out part is used for a sixth motion shaft of the robot body to penetrate, and the first shell is connected with the sixth motion shaft. The technical problems existing in the prior art are effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, and in particular to a rotary device. Background Art

[0002] Intelligent manufacturing is the most important feature of the Industrial 4.0 era. Industrial robots are an important part of intelligent manufacturing. As the core equipment of intelligent manufacturing, industrial robots have been widely favored by the manufacturing industry in recent years due to their significant advantages such as high task flexibility, strong human-machine interaction and collaboration capabilities, low space requirements, and low manufacturing and maintenance costs.

[0003] The cables of existing industrial robots are all protected by drag chains, but when the industrial robots need to rotate, they are still prone to over-stretching.

[0004] Therefore, the above technical problems need to be further resolved. Summary of the invention

[0005] The purpose of the present invention is to provide a rotary device to alleviate the technical problems existing in the above-mentioned related technologies.

[0006] The present invention provides a rotary device, comprising: An annular first shell, wherein the outer peripheral side of the first shell has a first opening, the interior of the first shell is hollow, the interior of the first shell is connected to the hollow of the first shell through the inner peripheral side of the first shell, the hollow is used for the sixth motion axis of the robot body to penetrate, and the first shell is connected to the sixth motion axis; a second shell, the second shell being sleeved on the outer circumference of the first shell, the outer circumference of the second shell being provided with a second opening, the interior of the second shell being hollow, the outer circumference of the first shell being able to be exposed inside the second shell through the inner circumference of the second shell, and the second shell being used to be connected to the fifth motion axis of the robot body; The first shell rotates relatively to the inner side of the second shell via the sixth motion axis, and the cable body connected to the sixth motion axis passes through the second opening and the first opening in sequence and is connected to the sixth motion axis.

[0007] The purpose of this application and the solution of its technical problems can also be further achieved by adopting the following technical measures.

[0008] Optionally, the aforementioned rotating device further comprises: A first baffle, the first baffle is in an arc shape, the arc center of the first baffle is the same as the ring center of the first shell, and the first baffle is arranged inside the second shell and close to the outer peripheral side of the first shell; The cable body passes through the first opening, bypasses the first blocking piece, and enters the first housing through the second opening, so that the cable body is connected to the sixth motion axis.

[0009] Optionally, the aforementioned rotating device further comprises: A second baffle, the second baffle is in an arc shape, the arc center of the second baffle is the same as the ring center, and the second baffle is arranged inside the first shell and close to the inner circumference of the second shell; The first end of the second baffle is used to abut against the inner side of the cable body located in the first shell and away from the outer circumference of the first shell, and the second end of the second baffle is used to abut against the outer side of the cable body located in the first shell and away from the inner circumference of the first shell.

[0010] Optionally, the aforementioned rotating device further comprises: At least two first connecting members, each of which is detachably connected to the first housing by a bolt, and the two first connecting members are symmetrical with respect to the center of the first housing; Wherein, the first housing is detachably connected to the sixth motion shaft via the two first connecting members and the bolt.

[0011] Optionally, the aforementioned rotating device further comprises: At least two second connecting members, each of which is detachably connected to the second housing by a bolt, and the two second connecting members are symmetrical with respect to the center of the first housing; Wherein, the second housing is detachably connected to the fifth motion shaft via the two second connecting members and the bolt.

[0012] Optionally, in the aforementioned rotating device, a plurality of connection ports are provided on the inner circumference of the first shell, the plurality of connection ports surround the first shell and are arranged in sequence and at intervals on the inner circumference of the first shell, and the connection ports are used to connect the interior of the first shell with the hollow.

[0013] Optionally, in the aforementioned rotating device, there are multiple second openings, and the multiple second openings surround the second shell and are arranged in sequence and at intervals on the outer peripheral side of the second shell.

[0014] Optionally, in the aforementioned rotating device, the second shell is ring-shaped.

[0015] Optionally, the aforementioned rotating device further comprises: A first connecting piece, wherein the first connecting piece is detachably connected to the first housing by bolts.

[0016] Optionally, the aforementioned rotating device further comprises: The second connecting piece is used to detachably connect the second blocking piece to the second housing through bolts.

[0017] By means of the above technical solution, the rotary device of the present application has at least the following advantages: The rotating device provided in the embodiment of the present application has a first shell that rotates with the rotation of the sixth moving axis when the sixth moving axis rotates, so that the cable body with the drag chain continuously enters the interior of the first shell and fills the first shell. When the interior of the first shell is completely filled with the cable body with the drag chain, the cable body with the drag chain in the second shell cannot enter the interior of the first shell through the first opening. At this time, a limit is formed to protect the cable body with the drag chain and avoid the problem of excessive stretching of the cable body with the drag chain, thereby effectively solving the technical problems existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of a first viewing angle of a rotating device provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a second housing of a rotary device provided in an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a rotating device from a second viewing angle provided by an embodiment of the present invention; Figure 4 A schematic structural diagram of a rotating device from a third perspective provided in an embodiment of the present invention.

[0020] icon: 1. First shell; 2. Second shell; 3. Second opening; 4. First baffle; 5. Second baffle; 6. First connecting member; 7. Second connecting member; 8. Connecting port; 9. First connecting piece; 10. Second connecting piece; 11. Mounting piece. DETAILED DESCRIPTION

[0021] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Example like Figure 1-Figure 4 As shown, the rotating device provided in the embodiment of the present invention includes: An annular first shell 1, wherein the outer peripheral side of the first shell 1 has a first opening, the interior of the first shell 1 is hollow, the interior of the first shell 1 is connected to the hollow of the first shell 1 through the inner peripheral side of the first shell 1, the hollow is used for the sixth motion axis of the robot body to penetrate, and the first shell 1 is connected to the sixth motion axis; a second housing 2, the second housing 2 being sleeved on the outer circumference of the first housing 1, the outer circumference of the second housing 2 being provided with a second opening 3, the interior of the second housing 2 being hollow, the outer circumference of the first housing 1 being exposed inside the second housing 2 through the inner circumference of the second housing 2, and the second housing 2 being used to be connected to the fifth motion axis of the robot body; The first housing 1 rotates relatively to the inner side of the second housing 2 via the sixth motion axis, and the cable body connected to the sixth motion axis passes through the second opening 3 and the first opening in sequence and is connected to the sixth motion axis.

[0025] Specifically, the robot body is prior art. The sixth motion axis of the robot body is called the A6 axis of the robot body, also known as the gripper drive axis. The main function of this axis is to determine the direction of the robot's terminal actuator (usually the gripper) so that it can achieve 360-degree rotation, thereby more accurately positioning and manipulating the target object. The fifth motion axis of the robot body is called the A5 axis of the robot body, also commonly known as the E axis. In the robot's motion axis definition, the main function of the E axis (also known as the 5th axis) is to allow the robot's tool tray to move up and down.

[0026] The cable body is mainly used to connect equipment and transmit electricity. A drag chain is provided on the outer side of the cable body to protect the cable. The drag chain (also called a guide chain or sheath chain) is a device used to protect and manage cables, pipelines, air pipes, etc.

[0027] The first shell 1 includes two semi-arc sub-shells, each of which has an arc of 180°. The interior of each sub-shell is hollow, and the first end and the second end of each sub-shell opposite to each other have an opening connected to the interior thereof. The two sub-shells are detachably connected via a mounting plate 11 to form a ring-shaped first shell 1. The hollowing out of the first shell 1 is used for the sixth motion axis of the robot body to penetrate therethrough. The first shell 1 is connected to the sixth motion axis, and the first shell 1 can rotate with the rotation of the sixth motion axis.

[0028] The shape of the second shell 2 can be a circle with a hollow middle part, a rectangle with a hollow middle part, or a polygon with a hollow middle part, as long as it can be mounted on the outer peripheral side of the first shell 1, the technicians can determine it according to actual needs. In the present application, the shape of the second shell 2 is preferably a circle with a hollow middle part, that is, an annular second shell 2, the second shell 2 includes two semi-arc sub-shells, each of which has an arc of 180°, the interior of each sub-shell is hollow, and the first and second ends of each sub-shell opposite to each other have an opening connected to the interior thereof, the inner side of each sub-shell is connected to the outside world, and the two sub-shells are detachably connected by a mounting plate 11 to form an annular second shell 2, the outer peripheral side of the first shell 1 can be exposed inside the second shell 2 through the inner peripheral side of the second shell 2, the second shell 2 is connected to the fifth motion axis, and the first shell 1 can rotate relative to the second shell 2.

[0029] The cable body with the drag chain first passes through the second opening 3 on the outer side of the second shell 2 to enter the interior of the second shell 2, then enters the interior of the first shell 1 through the first opening on the outer side of the first shell 1, and finally the cable body with the drag chain that enters the first shell 1 is electrically connected to the sixth movement axis of the robot body through the inner side of the first shell 1.

[0030] When the sixth movement axis rotates, the first shell 1 rotates with the rotation of the sixth movement axis, so that the cable body with the drag chain continuously enters the interior of the first shell 1 and fills the first shell 1. When the interior of the first shell 1 is completely filled with the cable body with the drag chain, the cable body with the drag chain in the second shell 2 cannot enter the first shell 1 through the first opening. At this time, a limit is formed to protect the cable body with the drag chain and avoid the problem of excessive stretching of the cable body with the drag chain, thereby effectively solving the technical problems existing in the prior art.

[0031] like Figure 2 and Figure 4 As shown, in a specific implementation, it also includes: a first baffle 4, wherein the first baffle 4 is in an arc shape, the arc center of the first baffle 4 is the same as the ring center of the first housing 1, and the first baffle 4 is arranged inside the second housing 2 and close to the outer peripheral side of the first housing 1; The cable body passes through the first opening, bypasses the first blocking piece 4, and enters the first housing 1 through the second opening 3, so that the cable body is connected to the sixth motion axis.

[0032] Specifically, in order to enable the cable body with a drag chain in the second shell 2 to better enter the first shell 1 from the inside of the second shell 2 through the first opening, the present application sets an arc-shaped first baffle 4 in the second shell 2, and the first baffle 4 is close to the outer peripheral side of the first shell 1, so that the cable body with a drag chain that enters the second shell 2 through the second opening 3 can bypass the first baffle 4 and then enter the inside of the first shell 1 through the first opening. This structural design can facilitate the cable body with a drag chain to maintain a specific travel route when moving in the second shell 2, thereby effectively avoiding the problem of excessive stretching of the cable body with the drag chain.

[0033] like Figure 2 and Figure 4 As shown, in a specific implementation, it also includes: A second baffle 5, wherein the second baffle 5 is in an arc shape, the arc center of the second baffle 5 is the same as the ring center, and the second baffle 5 is arranged inside the first housing 1 and close to the inner circumference of the second housing 2; Among them, the first end of the second baffle 5 is used to abut against the inner side of the cable body located in the first shell 1 away from the outer circumference of the first shell 1, and the second end of the second baffle 5 is used to abut against the outer side of the cable body located in the first shell 1 away from the inner circumference of the first shell 1.

[0034] Specifically, since the present device is a cable protection device for the sixth motion axis of the robot body, and the sixth motion axis of the robot body only needs to rotate ±180°, when the length of the cable body with the drag chain can only support the sixth motion axis of the robot body to rotate ±180°, the present application sets a second baffle 5 inside the first shell 1, and the second baffle 5 can limit the cable body with the drag chain entering the first shell 1. While ensuring the sixth motion axis of the robot body to rotate ±180°, it can also avoid the problem of excessive stretching of the cable body with the drag chain.

[0035] When the sixth movement axis rotates clockwise, the first shell 1 rotates with the rotation of the sixth movement axis, so that the cable body with the drag chain continuously enters the interior of the first shell 1 and fills the first shell 1. When the space inside the first shell 1 is half full of the cable body with the drag chain, the first end of the second baffle 5 abuts against the inner side of the cable body with the drag chain at the first opening away from the outer peripheral side of the first shell 1, so that the cable body with the drag chain located in the second shell 2 cannot enter the first shell 1 through the first opening, thereby achieving a limiting effect; When the sixth movement axis rotates counterclockwise, the first shell 1 rotates with the rotation of the sixth movement axis, so that the cable body with the drag chain continuously enters the interior of the first shell 1 and fills the first shell 1. When half of the space inside the first shell 1 is filled with the cable body with the drag chain, the second end of the second baffle 5 presses against the outer side of the cable body with the drag chain at the first opening away from the inner circumference of the first shell 1, so that the cable body with the drag chain located in the second shell 2 cannot enter the first shell 1 through the first opening, thereby achieving a limiting effect.

[0036] like Figure 1 and Figure 3 As shown, in a specific implementation, it also includes: At least two first connecting members 6, each of which is detachably connected to the first housing 1 by a bolt, and the two first connecting members 6 are symmetrical with respect to the center of the first housing 1; The first housing 1 is detachably connected to the sixth motion axis via the two first connecting members 6 and the bolts.

[0037] Specifically, the first housing 1 is connected to the sixth motion axis via the first connecting member 6, and the first connecting member 6 is detachably connected to the first housing 1 and the sixth motion axis via bolts. This structural design can facilitate the later maintenance of the device. The two first connecting members 6 are symmetrical relative to the center of the ring of the first housing 1. This structural design can improve the stability of the connection when the first housing 1 is connected to the sixth motion axis.

[0038] like Figure 1 and Figure 3 As shown, in a specific implementation, it also includes: at least two second connecting members 7, each of which is detachably connected to the second housing 2 by bolts, and the two second connecting members 7 are symmetrical with respect to the center of the first housing 1; The second housing 2 is detachably connected to the fifth motion shaft via the two second connecting members 7 and the bolts.

[0039] Specifically, the second housing 2 is connected to the fifth motion axis via the second connecting member 7, and the second connecting member 7 is detachably connected to the second housing 2 and the fifth motion axis via bolts. This structural design facilitates the later maintenance of the device. The two second connecting members 7 are symmetrical relative to the center of the first housing 1. This structural design can improve the stability of the connection when the second housing 2 is connected to the fifth motion axis.

[0040] like Figure 1-Figure 2 As shown, in a specific implementation, a plurality of connection ports 8 are provided on the inner circumference of the first shell 1, and the plurality of connection ports 8 surround the first shell 1 and are arranged in sequence on the inner circumference of the first shell 1 at intervals, and the connection ports 8 are used to connect the interior of the first shell 1 with the hollow.

[0041] Specifically, this structural design allows technicians to easily lead the cable body with the drag chain located in the first shell 1 out of the first shell 1 through different positions and electrically connect it to the sixth movement axis of the robot body to improve the practicality of the device.

[0042] like Figure 1-Figure 2 As shown, in a specific implementation, there are multiple second openings 3 , and the multiple second openings 3 surround the second shell 2 and are sequentially spaced and arranged on the outer peripheral side of the second shell 2 .

[0043] Specifically, this structural design can facilitate technicians to introduce the cable body with the drag chain into the interior of the second housing 2 through different positions, so as to improve the practicability of the device.

[0044] like Figure 1-Figure 2 As shown, in a specific implementation, it also includes: The first connecting piece 9 is used to detachably connect the first blocking piece 4 to the first housing 1 through bolts.

[0045] Specifically, both end faces of the first shell 1 are provided with first connecting pieces 9, which are detachably connected to the first baffle 4 by bolts, so that the first baffle 4 and the first shell maintain a fixed relative position relationship while facilitating the subsequent maintenance of the device.

[0046] like Figure 1 As shown, in a specific implementation, it also includes: The second connecting piece 10 is used to detachably connect the second blocking piece 5 to the second housing 2 through bolts.

[0047] Specifically, both end faces of the second housing 2 are provided with second connecting pieces 10, which are detachably connected to the second baffle 5 by bolts, so that the second baffle 5 and the second housing maintain a fixed relative position relationship and facilitate subsequent maintenance of the device.

[0048] Finally, it should be noted that 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rotary device, characterized in that: include: An annular first shell, wherein the outer peripheral side of the first shell has a first opening, the interior of the first shell is hollow, the interior of the first shell is connected to the hollow of the first shell through the inner peripheral side of the first shell, the hollow is used for the sixth motion axis of the robot body to penetrate, and the first shell is connected to the sixth motion axis; a second shell, the second shell being sleeved on the outer circumference of the first shell, the outer circumference of the second shell being provided with a second opening, the interior of the second shell being hollow, the outer circumference of the first shell being able to be exposed inside the second shell through the inner circumference of the second shell, and the second shell being used to be connected to the fifth motion axis of the robot body; The first shell rotates relatively to the inner side of the second shell via the sixth motion axis, and the cable body connected to the sixth motion axis passes through the second opening and the first opening in sequence and is connected to the sixth motion axis.

2. The rotary device according to claim 1, characterized in that: Also includes: A first baffle, the first baffle is in an arc shape, the arc center of the first baffle is the same as the ring center of the first shell, and the first baffle is arranged inside the second shell and close to the outer peripheral side of the first shell; The cable body passes through the first opening, bypasses the first blocking piece, and enters the first housing through the second opening, so that the cable body is connected to the sixth motion axis.

3. The rotary device according to claim 2, characterized in that: Also includes: A second baffle, the second baffle is in an arc shape, the arc center of the second baffle is the same as the ring center, and the second baffle is arranged inside the first shell and close to the inner circumference of the second shell; The first end of the second baffle is used to abut against the inner side of the cable body located in the first shell and away from the outer circumference of the first shell, and the second end of the second baffle is used to abut against the outer side of the cable body located in the first shell and away from the inner circumference of the first shell.

4. The rotary device according to claim 1, characterized in that: Also includes: At least two first connecting members, each of which is detachably connected to the first housing by a bolt, and the two first connecting members are symmetrical with respect to the center of the first housing; Wherein, the first housing is detachably connected to the sixth motion shaft via the two first connecting members and the bolt.

5. The rotary device according to claim 1, characterized in that: Also includes: At least two second connecting members, each of which is detachably connected to the second housing by a bolt, and the two second connecting members are symmetrical with respect to the center of the first housing; Wherein, the second housing is detachably connected to the fifth motion shaft via the two second connecting members and the bolt.

6. The rotary device according to claim 1, characterized in that: A plurality of connection ports are provided on the inner circumference of the first shell. The plurality of connection ports surround the first shell and are sequentially spaced apart on the inner circumference of the first shell. The connection ports are used to connect the interior of the first shell with the hollow.

7. The rotary device according to claim 1, characterized in that: There are a plurality of the second openings, and the plurality of the second openings surround the second shell and are sequentially spaced and arranged on the outer peripheral side of the second shell.

8. The rotary device according to claim 1, characterized in that: The second housing is ring-shaped.

9. The rotary device according to claim 2, characterized in that: Also includes: A first connecting piece, wherein the first connecting piece is detachably connected to the first housing by bolts.

10. The rotary device according to claim 3, characterized in that: Also includes: The second connecting piece is used to detachably connect the second blocking piece to the second housing through bolts.

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