A high-flexibility cable for industrial robots

Abstract

This invention relates to the field of cable technology, and more particularly to a highly flexible cable for industrial robots. The cable includes a body, which comprises a support core and a cable core wound around the support core. A sheath layer is disposed on the outside of the cable core. Between the sheath layer and the cable core, from the inside out, a braided tensile layer, a first flexible support layer, and a second flexible support layer are sequentially disposed. The body includes several free sections and several spiral adjustment sections, which are connected by a plug-in mechanism. A spiral elastic retainer is disposed within each spiral adjustment section. Using the above-mentioned highly flexible cable for industrial robots, with a first flexible support layer and a second flexible support layer, two layers with flexible cavities are provided. The free sections and spiral adjustment sections are connected by a plug-in mechanism, and the spiral elastic retainer is disposed within each spiral adjustment section. During the operation of the industrial robot, the adjustment range is provided through the spiral adjustment sections, thus meeting the cable adjustment needs of the complex motion of the industrial robot.

Description

Technical Field

[0001] This invention relates to the field of cable technology, and in particular to a highly flexible cable for industrial robots. Background Technology

[0002] With the development of the manufacturing industry, industrial robots are being used more and more widely. In order to control the complex operation of industrial robots, high-flexibility cables are generally used. Existing high-flexibility cables improve the flexibility of the cable by modifying the material, such as using elastic conductors (high-elasticity copper core conductors), which have good flexibility and tensile strength to adapt to the extension and bending of the robot during movement. High-flexibility insulation materials are used, such as polyurethane or nitrile rubber, to ensure that the insulation layer will not break or lose its insulation performance during the operation of the robot. To further increase the tensile strength, a braided sheath is added.

[0003] A search revealed that patent CN110148485B discloses a highly flexible, anti-torsion robot cable comprising an outer protective layer and a cable core. The cable core includes at least one pair of data transmission units, at least four sets of power transmission units, and a first filling cotton thread. By placing the first filling cotton thread at the center of the cable core, and spirally winding the data transmission units and power transmission units in the same direction around the outer periphery of the first filling cotton thread, the data transmission units and power transmission units are dispersed and symmetrically distributed. This solves the problem of cable core loosening or breakage caused by prolonged bending and large-angle torsional movements in existing robot cables, enhancing the cable's flexibility and anti-torsion bending performance. However, its flexibility and adjustability still need to be improved to meet the motion requirements of industrial robots. Summary of the Invention

[0004] The purpose of this invention is to provide a highly flexible cable for industrial robots, thereby solving the aforementioned technical problems.

[0005] To achieve the above objectives, the present invention provides a highly flexible cable for industrial robots, comprising a body, the body including a support core and a cable core wound on the support core, a sheath layer provided on the outside of the cable core, and a braided tensile layer, a first flexible support layer and a second flexible support layer arranged sequentially from the inside to the outside between the sheath layer and the cable core.

[0006] The main body includes several free sections and several spiral adjustment sections. The free sections and spiral adjustment sections are connected by a plug-in mechanism. A spiral elastic retainer is provided in the spiral adjustment section.

[0007] Preferably, the support core is a hollow structure, and the circumferential side of the hollow structure is provided with a spiral positioning groove for positioning the cable core.

[0008] Preferably, the cable core includes a power transmission core and a data transmission core, both of which are provided with an insulation layer and a shielding layer.

[0009] Preferably, the first flexible support layer is a hollow support strip wrapped around the outside of the woven tensile layer, and the cross-section of the hollow support strip is triangular, rectangular or circular.

[0010] Preferably, the first flexible support layer consists of a lower support strip and an upper support strip wrapped around the outside of the woven tensile layer. The upper end face of the lower support strip and the lower end face of the upper support strip are both provided with grooves, and the upper support strip is inserted into the lower support strip.

[0011] Preferably, the second flexible support layer includes a support ring, and a plurality of support bodies are provided on the circumferential side of the support ring, the support bodies being arc-shaped or triangular.

[0012] Preferably, the second flexible support layer of the spiral adjustment section is provided with a limiting element, and the spiral elastic retainer is disposed within the limiting element. The spiral elastic retainer is made of shape memory alloy. At the processing temperature, the spiral elastic retainer is linear, and at the operating temperature, the spiral elastic retainer is spiral.

[0013] Preferably, the insertion mechanism includes a male socket unit and a female socket unit that are inserted into each other. Both the male socket unit and the female socket unit are threadedly connected to the body. The male socket unit and the female socket unit are provided with elastic retaining elements. The retaining end of the elastic retaining element is located in the retaining groove of the body, and the operating end of the elastic retaining element is located in the receiving groove on the male socket unit and the female socket unit.

[0014] Preferably, the male seat unit is provided with an insulating partition, the male seat unit is connected to a connecting sleeve by an external thread, and a connecting groove is opened on the inner side of the male seat unit.

[0015] Preferably, the female base unit has a U-shaped guide groove, the insulating partition is disposed in the U-shaped guide groove, the outer side of the female base unit is provided with a connecting elastic strip, the top of the connecting elastic strip is provided with a connecting protrusion, the connecting protrusion is disposed in the connecting groove, and the female base unit is threadedly connected to the connecting sleeve.

[0016] Therefore, the present invention employs the above-mentioned highly flexible cable for industrial robots, which has the following beneficial effects:

[0017] (1) A first flexible support layer and a second flexible support layer are provided, and two layers with flexible cavities are provided to improve the flexibility of the cable from a structural point of view, so as to meet the cable flexibility requirements of industrial robots.

[0018] (2) The free section and the spiral adjustment section are connected by a plug-in mechanism. The spiral adjustment section is equipped with a spiral elastic retainer. During the operation of the industrial robot, the adjustment amount is provided through the spiral adjustment section to meet the adjustment needs of the complex motion cable of the industrial robot.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a cross-sectional view of a highly flexible cable for industrial robots according to the present invention;

[0021] Figure 2 This is a schematic diagram of a three-dimensional structure of a highly flexible cable for industrial robots according to the present invention.

[0022] Figure 3 This is a schematic diagram of the connection between the free section and the spiral adjustment section of a highly flexible cable for industrial robots according to the present invention;

[0023] Figure 4 This is a schematic diagram of the insertion mechanism of the present invention;

[0024] Figure 5 This is a schematic diagram of the unit structure of the present invention;

[0025] Figure 6 This is a schematic diagram of the female connector unit structure of the present invention;

[0026] Figure 7 This is a schematic diagram of the hollow support strip structure in this invention.

[0027] Figure Labels

[0028] 1. Support core; 11. Spiral positioning groove; 2. Cable core; 21. Power transmission core; 22. Data transmission core; 3. Sheath layer; 4. Braided tensile layer; 5. First flexible support layer; 51. Hollow support bar; 52. Lower support bar; 53. Upper support bar; 6. Second flexible support layer; 61. Support ring; 62. Support body; 63. Limiting component; 7. Insertion mechanism; 71. Male connector unit; 711. Insulating partition; 712. Connecting sleeve; 713. Connecting groove; 72. Female connector unit; 721. U-shaped guide groove; 722. Connecting elastic bar; 723. Connecting protrusion; 73. Elastic clip; 74. Receiving groove; 8. Spiral elastic retaining component. Detailed Implementation

[0029] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0031] Example 1

[0032] like Figures 1-2 As shown, a highly flexible cable for industrial robots includes a body, which comprises a support core 1 and a cable core 2 wound around the support core 1. A sheath layer 3 is provided on the outer side of the cable core 2. Between the sheath layer 3 and the cable core 2, from the inside out, a braided tensile layer 4, a first flexible support layer 5, and a second flexible support layer 6 are sequentially arranged. The support core 1 has a hollow structure, which facilitates space during bending and improves flexibility. Furthermore, a spiral positioning groove 11 is provided on the circumference of the hollow structure for positioning the cable core 2, ensuring reliable positioning of the cable core 2. The cable core 2 includes a power transmission core 21 and a data transmission core 22. Both the power transmission core 21 and the data transmission core 22 are provided with an insulation layer and a shielding layer for providing electrical energy and transmitting data.

[0033] The braided tensile layer 4 improves the tensile strength of the cable body. In this embodiment, the first flexible support layer 5 consists of a lower support strip 52 and an upper support strip 53 wrapped around the outside of the braided tensile layer 4. The upper end face of the lower support strip 52 and the lower end face of the upper support strip 53 are both provided with grooves. The upper support strip 53 is inserted into the lower support strip 52. When providing support, it is set on the outside of the braided tensile layer 4 by wrapping, which is easy to process and has little impact when bending. At the same time, the upper support strip 53 inserted into the lower support strip 52 provides a flexible cavity, which improves the flexibility of the cable.

[0034] The second flexible support layer 6 includes a support ring 61, and a plurality of support bodies 62 are provided on the circumferential side of the support ring 61. The support bodies 62 are arc-shaped or triangular. In this embodiment, the support bodies 62 are arc-shaped, forming a flexible cavity.

[0035] like Figure 3As shown, the main body includes several free sections and several spiral adjustment sections, which are connected by a plug-in mechanism 7. A spiral elastic retainer 8 is installed within each spiral adjustment section. The second flexible support layer 6 of the spiral adjustment section is equipped with a limiting element 63, and the spiral elastic retainer 8 is housed within the limiting element 63. The spiral elastic retainer 8 is made of shape memory alloy (copper-based shape memory alloy), employing a two-way shape memory effect. By controlling temperature changes, it can achieve repeated shape changes at high and low temperatures. At processing temperatures (150-350 degrees Celsius during extruder operation), the spiral elastic retainer 8 is linear; at operating temperatures (below 60 degrees Celsius), it is spiral. Within a specific temperature range, it undergoes elastic deformation under external load and quickly recovers its original shape after the external force is removed, exhibiting high resilience and a high strain recovery rate. It is easy to process, and the spiral cable provides a certain amount of adjustment during use, meeting the needs of complex motion cable adjustment in industrial robots.

[0036] To facilitate the connection of bodies of different shapes, such as Figure 4 As shown, a plug-in mechanism 7 is provided, which includes a male socket unit 71 and a female socket unit 72 that are plugged into each other, as shown. Figures 5-6 As shown, both the male connector unit 71 and the female connector unit 72 are threadedly connected to the main body. Both the male connector unit 71 and the female connector unit 72 are provided with elastic retaining elements 73. The retaining end of the elastic retaining element 73 is located in the retaining groove of the main body, and the operating end of the elastic retaining element 73 is located in the receiving groove 74 on the male connector unit 71 and the female connector unit 72. When rotated to the retaining groove of the main body, the protruding part of the elastic retaining element 73 enters the retaining groove, realizing the dual fixation of screw thread and retaining, and improving the reliability of the connection.

[0037] The male unit 71 has an insulating partition 711 inside, and a connecting sleeve 712 is threaded onto its external side. A connecting groove 713 is formed on the inner side of the male unit 71. The female unit 72 has a U-shaped guide groove 721, within which the insulating partition 711 is located. A connecting elastic strip 722 is provided on the outer side of the female unit 72, with a connecting protrusion 723 at its top. The connecting protrusion 723 is located within the connecting groove 713, and the female unit 72 is threadedly connected to the connecting sleeve 712. Similarly, when the female unit 72 is inserted into the male unit 71, the connecting protrusion 723 of the connecting elastic strip 722 of the female unit 72 engages within the connecting groove 713. Rotating the connecting sleeve 712 connects the female unit 72 and the male unit 71, achieving a detachable connection between the free section and the spiral adjustment section, facilitating adjustments according to the specific dimensions and movement of the industrial robot.

[0038] Example 2

[0039] The difference between this embodiment and Embodiment 1 is that the first flexible support layer 5 is a hollow support strip 51 wrapped around the outside of the woven tensile layer 4, such as... Figure 7 As shown, the cross-section of the hollow support bar 51 is triangular, but it can also be rectangular or circular.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A highly flexible cable for industrial robots, comprising a body, the body including a support core and a cable core wound on the support core, the support core being a hollow structure, and the cable core having a sheath layer on its outer side, characterized in that: From the inside out, a braided tensile layer, a first flexible support layer, and a second flexible support layer are sequentially arranged between the sheath layer and the cable core. The first flexible support layer is wrapped around the outside of the woven tensile layer and has a hollow structure; The second flexible support layer includes a support ring, and several support bodies are provided on the circumferential side of the support ring to form a cavity structure; the body includes several free sections and several spiral adjustment sections, the free sections and spiral adjustment sections are connected by a plug-in mechanism, a spiral elastic retainer is provided in the spiral adjustment section, the second flexible support layer of the spiral adjustment section is provided with a limiter, the spiral elastic retainer is located in the limiter, and the spiral elastic retainer is made of shape memory alloy.

2. The highly flexible cable for industrial robots according to claim 1, characterized in that: The hollow structure has a spiral positioning groove on its circumferential side for positioning the cable core.

3. The highly flexible cable for industrial robots according to claim 2, characterized in that: The cable core includes a power transmission core and a data transmission core, both of which are equipped with an insulation layer and a shielding layer.

4. The highly flexible cable for industrial robots according to claim 3, characterized in that: The first flexible support layer is a hollow support strip wrapped around the outside of the woven tensile layer. The cross-section of the hollow support strip is triangular, rectangular or circular.

5. A highly flexible cable for industrial robots according to claim 3, characterized in that: The first flexible support layer consists of a lower support strip and an upper support strip wrapped around the outside of the woven tensile layer. The upper end face of the lower support strip and the lower end face of the upper support strip are both provided with grooves, and the upper support strip is inserted into the lower support strip.

6. A highly flexible cable for industrial robots according to claim 4 or 5, characterized in that: The support is arc-shaped or triangular.

7. A highly flexible cable for industrial robots according to claim 6, characterized in that: At the processing temperature, the spiral elastic retainer is straight; at the operating temperature, the spiral elastic retainer is spiral.

8. A highly flexible cable for industrial robots according to claim 7, characterized in that: The insertion mechanism includes a male socket unit and a female socket unit that are inserted into each other. Both the male socket unit and the female socket unit are threadedly connected to the body. The male socket unit and the female socket unit are provided with elastic retaining elements. The retaining end of the elastic retaining element is located in the retaining groove of the body, and the operating end of the elastic retaining element is located in the receiving groove on the male socket unit and the female socket unit.

9. A highly flexible cable for industrial robots according to claim 8, characterized in that: An insulating partition is installed inside the male seat unit, a connecting sleeve is connected to the external thread of the male seat unit, and a connecting groove is opened on the inner side of the male seat unit.

10. A highly flexible cable for industrial robots according to claim 9, characterized in that: The female base unit has a U-shaped guide groove, and the insulating partition is set in the U-shaped guide groove. A connecting elastic strip is set on the outside of the female base unit, and a connecting protrusion is set on the top of the connecting elastic strip. The connecting protrusion is set in the connecting groove, and the female base unit is threadedly connected to the connecting sleeve.

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