Flexible intelligent control cable for robot and processing equipment thereof

Abstract

The invention discloses a flexible intelligent control cable for a robot and processing equipment of the flexible intelligent control cable, and particularly relates to the technical field of cables, the control cable comprises a flexible cable body, a wear-resistant protection structure is arranged outside the flexible cable body, a resistance-increasing mounting area is arranged outside an outer sheath, and multiple groups of protection rings are mounted on the resistance-increasing mounting area. The protection ring comprises an inner protection ring and an outer protection ring, the inner protection ring is arranged on the resistance increasing installation area outside the outer sheath in a sleeving mode, and the outer protection ring is arranged outside the inner protection ring in a sliding and sleeving mode. The protective ring is arranged outside the flexible cable body, so that relative sliding or relative rotation is generated between the outer protective ring and the supporting convex ring, direct contact and relative sliding between an external object and the outer sheath are avoided, damage to the surface of the outer sheath is avoided, better wear-resistant protection is formed for the flexible cable body, and the service life of the flexible cable body is prolonged. And the use safety and the service life of the flexible cable body are further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cables, and more particularly to a flexible intelligent control cable for robots and a processing equipment thereof. BACKGROUND

[0002] Flexible cables are a kind of special cables designed for dynamic bending, twisting, drag chain movement or frequent movement conditions, and are widely used in the fields of industrial robots, automation equipment, numerical control machine tools, logistics conveying systems, medical equipment and new energy equipment, etc. Unlike ordinary fixed laying cables, flexible cables must have excellent fatigue resistance, high flexibility, wear resistance and long service life while ensuring electrical performance.

[0003] Among them, for the intelligent operation control of industrial robots, the corresponding control cable is indispensable. The cable is the "intelligent nerve" of the robot intelligent control system for controlling the robot, is a high-performance composite signal transmission cable specially designed for modern high-dynamic and high-precision industrial robot systems, integrates data communication, sensor feedback, I / O control and power management, and not only needs to stably transmit high-speed digital signals in a complex electromagnetic environment, but also needs to withstand the continuous bending, twisting and mechanical stress of the robot joints. It is a key component for reliable operation of intelligent manufacturing, so the control cable needs to have more excellent performance and higher service life.

[0004] However, for some large product production processes, industrial robots need to be operated continuously with large amplitude and high strength. During the operation of the robot, the structures of the robot need to continuously rotate relative to each other. In order to avoid affecting the movement of the robot, the control cable is integrated and fixed on the robot body. During the operation of the robot, especially at the position of the rotating pair, the control cable will be bent greatly. Although the cable can meet the flexibility requirement in the structure design, the sheath material at the outer region of the control cable is in a stretched state at the bending part, which is easy to contact and rub with other structures or other cables and cause wear and tear. Especially for the multifunctional integrated (hybrid cable) control cable of large industrial robots, the cable diameter is relatively thick, and the outer side of the bending region is stretched more, which is more likely to cause wear and tear with the robot itself or other structures, thereby affecting the safety of the control cable. The traditional sleeve and spiral sheath protection structure will rub with the sheath layer of the control cable during the bending of the cable, thereby causing wear and tear, and it is difficult to provide long-term and effective safety protection. SUMMARY

[0005] The present application provides a flexible intelligent control cable for robots and a processing equipment thereof to solve the above technical problems.

[0006] In order to achieve the above object, the present application provides the following technical scheme: A flexible intelligent control cable for robots, comprising a flexible cable body, the flexible cable body is composed of an integrated inner core and an outer sheath arranged outside the integrated inner core, a wear-resistant protection structure is arranged outside the flexible cable body, the wear-resistant protection structure is a protection ring, an increased resistance mounting area is arranged outside the outer sheath, a plurality of protection rings are mounted on the increased resistance mounting area, the protection ring comprises an inner protection ring and an outer protection ring, the inner protection ring is sleeved on the increased resistance mounting area outside the outer sheath, and the outer protection ring is sleeved outside the inner protection ring.

[0007] Preferably, a support protruding ring is arranged outside the inner protection ring, the support protruding ring is in sliding contact with the inner wall of the outer protection ring, an edge of the inner wall of the outer protection ring is provided with a limiting structure for limiting the sliding of the outer protection ring, the inner protection ring and the outer protection ring are both elastic structures, and the inner diameter of the inner protection ring in a natural relaxed state is smaller than the outer diameter of the outer sheath, so that when the inner protection ring is sleeved on the outer sheath, the inner protection ring has an elastic tightening force of being tightened inward, and the increased resistance mounting area is roughened.

[0008] Preferably, the support protruding ring is a wear-resistant protruding ring, a plurality of wear-resistant inlaid strips are embedded and mounted in the inner wall of the outer protection ring, the plurality of wear-resistant inlaid strips are distributed along the circumference of the inner wall of the outer protection ring, and the wear-resistant protruding ring and the wear-resistant inlaid strips are both wear-resistant structures, and the area between the outer protection ring and the inner protection ring is provided with lubricating grease.

[0009] A processing equipment for a flexible intelligent control cable for robots, comprising a sleeving machine, a guide wheel assembly is arranged on the sleeving machine, the guide wheel assembly is used for supporting and guiding the flexible cable body, a sleeving support is further arranged on the sleeving machine, an expansion assembly is arranged inside the sleeving support, the expansion assembly is used for supporting the inner protection ring, and the expansion assembly is further used for expanding and stretching the inner protection ring, and after the flexible cable body passes through the inner protection ring, the inner protection ring is relaxed, so that the inner protection ring is sleeved on the flexible cable body.

[0010] The guide wheel assembly at least comprises two groups of directional guide wheels, the two groups of directional guide wheels are arranged at two ends of the sleeving machine, and under the support of the directional guide wheels, the flexible cable body has a straight section passing through the area of the expansion assembly.

[0011] Preferably, the expansion assembly is a stretching type expansion assembly, the stretching type expansion assembly comprises a plurality of moving frames, the moving frames are distributed in a circumferential state inside the sleeving support, the moving frames are slidably installed in the sleeving support along the radial direction of the flexible cable body in the internal area of the sleeving machine, a grabbing and fixing structure is arranged on the moving frame, a moving driver is fixedly installed on the sleeving machine, and the moving frame is fixedly installed on the output end of the moving driver.

[0012] Preferably, the grabbing fixing structure is a vacuum nozzle fixedly installed on the moving driver and matched with the outer wall of the inner race, and the moving frame is provided with a first vacuum pipe in communication with the vacuum nozzle, and the first vacuum pipe is connected with a vacuum device.

[0013] Preferably, the expansion assembly is a suction type expansion assembly, which comprises a suction sleeve fixedly installed in the inside of the sleeve support, the inner wall diameter of the suction sleeve is greater than the outer diameter of the support protruding ring in the natural relaxed state of the inner race, a plurality of air suction ring grooves are arranged in the suction sleeve and matched with the shape of the wear-resistant protruding ring, an air flow channel is arranged in the inner wall of the suction sleeve, a second vacuum pipe is installed on the suction sleeve and connected with the air flow channel through a pipeline connected with a vacuum device, and the air suction ring grooves are in communication with the air flow channel through air holes.

[0014] Preferably, the processing device further comprises a rod type feeding assembly, which comprises a feeding rod, the outer part of the feeding rod is provided with an outer expansion layer made of elastic material, the two ends of the outer expansion layer are fixedly connected with the feeding rod and are relatively sealed, a filling gap is formed between the outer expansion layer and the feeding rod, and the inside of the feeding rod is provided with an input flow channel connected with a fluid input device through a pipeline.

[0015] Preferably, the outer wall of the feeding rod is provided with a spiral protruding strip at the position corresponding to the inner region of the outer expansion layer, the spiral protruding strip divides the filling gap to form a spiral flow channel, the inside of the feeding rod is further provided with an output flow channel connected with a fluid output device through a pipeline, a control valve is arranged on the pipeline, the fluid of the fluid input device and the fluid output device is selected to be a high-temperature liquid, the fluid input device is selected to be an input pump, the fluid output device is selected to be an output pump, one end of the input flow channel is in communication with the spiral flow channel, and the other end of the output flow channel is in communication with the spiral flow channel.

[0016] The beneficial effects of the present application are: 1、The present application sets the protection ring outside the flexible cable body, so that the outer protection ring contacts the external object first, and relative sliding or relative rotation is generated between the outer protection ring and the support protruding ring, thereby avoiding direct contact and relative sliding between the external object and the outer sheath, avoiding damage to the surface of the outer sheath, thereby forming better wear protection for the flexible cable body, effectively protecting the wear resistance of the bending part of the flexible cable body, and further improving the use safety and service life of the flexible cable body.

[0017] 2、The present application installs the inner race by pre-expanding the inner race, which can effectively improve the installation efficiency of the inner race, improve the installation precision, and reduce the damage to the inner race or the outer sheath during the installation process, thereby further improving the processing efficiency and processing quality of the control cable. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The overall structure schematic diagram of the control cable of the present application; Figure 2 The structure schematic diagram of the increased resistance installation area on the flexible cable body of the present application; Figure 3 The state diagram of the protection ring corresponding to the area of the control cable bending of the present application; Figure 4 The overall structure schematic diagram of the protection ring of the present application; Figure 5 The state diagram of the protection ring touching other objects of the present application; Figure 6 The relative motion schematic diagram between the outer protection ring and the inner protection ring of the present application; Figure 7 The structure schematic diagram of the improved protection ring of the present application; Figure 8 The cooperation schematic diagram between the wear-resistant fillet and the wear-resistant convex ring of the present application; Figure 9 The state diagram of the expansion joint provided on the wear-resistant convex ring of the present application; Figure 10 The processing equipment schematic diagram of the control cable of the present application; Figure 11 The processing state schematic diagram of the processing equipment of the present application; Figure 12 The structure schematic diagram of the stretching type expansion assembly of the present application; Figure 13 The A part structure enlarged view of the present application Figure 12 ; Figure 14 The plan view of the stretching type expansion assembly of the present application; Figure 15 The structure schematic diagram of the suction type expansion assembly of the present application; Figure 16 The B part structure enlarged view of the present application Figure 15 ; Figure 17 The state diagram of the suction type expansion assembly of the present application used with the rod type feeding assembly; Figure 18 The state diagram of the outer expansion layer expansion expanding the inner protection ring into the air suction ring groove of the present application; Figure 19 The structure schematic diagram of the improved rod type feeding assembly of the present application; Figure 20 The C part structure enlarged view of the present application Figure 19 ;

[0019] The reference signs are: 1, flexible cable body; 11, integrated inner core; 12, outer sheath; 13, resistance increasing mounting area; 2, protective ring; 21, inner protective ring; 211, supporting convex ring; 212, wear-resistant convex ring; 22, outer protective ring; 221, limiting structure; 222, wear-resistant insert; 3, sleeving machine; 31, guide wheel assembly; 311, directional guide wheel; 32, sleeving support; 4, expansion assembly; 41, tensile expansion assembly; 411, moving frame; 412, moving driver; 413, vacuum suction nozzle; 414, first vacuum pipe; 42, suction expansion assembly; 421, suction sleeve; 422, air suction ring groove; 423, air flow uniformizing channel; 424, second vacuum pipe; 5, feeding rod; 51, outer expansion layer; 52, input flow channel; 53, output flow channel; 54, helical convex strip. DETAILED DESCRIPTION

[0020] The following detailed description of the application is made in conjunction with the accompanying drawings, it is necessary to point out here that the following detailed description is only used to further illustrate the application, and cannot be understood as limiting the scope of protection of the application, and those skilled in the art can make some non-essential improvements and adjustments to the application according to the above application content.

[0021] Referring to the drawings accompanying the specification Figure 1 and Figure 2 A flexible intelligent control cable for robots, the control cable is used to connect an industrial robot and an intelligent control system of the robot and relevant execution components (such as an end effector of the robot, etc.) on the industrial robot, and as for the industrial robot and its intelligent control system and the corresponding cable installation connection, they are all prior art, and this embodiment will not be explained in detail, the flexible intelligent control cable for robots comprises a flexible cable body 1, the flexible cable body 1 is composed of an integrated inner core 11 and an outer sheath 12 arranged outside the integrated inner core 11, wherein the integrated inner core 11 is composed of a power conductor, an encoder feedback line, an industrial communication bus line pair, an I / O control line, a filling element and a reinforcing core, etc., the specific structure thereof is determined according to the specific situation of the industrial robot, and the outer sheath 12 is also a common outer protective structure in the industrial robot cable, therefore, the specific composition of the integrated inner core 11 and the outer sheath 12 will not be explained in detail in this embodiment.

[0022] In order to improve the wear resistance and protection of the flexible cable body 1, a wear-resistant protective structure is arranged outside the flexible cable body 1, the wear-resistant protective structure is a protective ring 2, an resistance increasing mounting area 13 is arranged outside the outer sheath 12, and a plurality of protective rings 2 are mounted on the resistance increasing mounting area 13, the protective ring 2 comprises an inner protective ring 21 and an outer protective ring 22, the inner protective ring 21 is sleeved at the resistance increasing mounting area 13 outside the outer sheath 12, and the outer protective ring 22 is sleeved outside the inner protective ring 21.

[0023] Specifically, referring to the drawings accompanying the specification Figure 3 andFigure 4 As the wear-resistant protection structure of the control cable, in the protection ring 2, the outer part of the inner protection ring 21 is further provided with a supporting convex ring 211 in sliding contact with the inner wall of the outer protection ring 22, and the edge of the inner wall of the outer protection ring 22 is provided with a limiting structure 221 for limiting the sliding of the outer protection ring 22, so that the limiting structure 221 and the supporting convex ring 211 can form mutual limitation when the outer protection ring 22 slides, and the outer protection ring 22 and the inner protection ring 21 will not be separated.

[0024] By arranging the protection ring 2 outside the flexible cable body 1, especially at important areas such as the place where the flexible cable body 1 needs to be frequently bent or the surrounding hard structure, a corresponding number of protection rings 2 are installed. In actual use, if contact occurs, the outer protection ring 22 will first contact the external object, and the flexible cable body 1 will not be directly contacted and damaged by the external object. Figure 5 And Figure 6 At this time, if the flexible cable body 1 produces relative motion or relative torsion, the outer protection ring 22 and the supporting convex ring 211 can produce relative sliding or relative rotation, thereby avoiding direct contact and relative sliding of the external object with the outer sheath 12, avoiding damage to the surface of the outer sheath 12, and thus forming better wear protection for the flexible cable body 1. In particular, the multiple protection rings 2 are used together to cover the protection area, and the single protection ring 2 can be relatively short, i.e. the length in the axial direction is not long. When the flexible cable body 1 is bent, each protection ring 2 can also independently produce adaptive changes, and each protection ring 2 will not produce friction with the outer sheath 12 itself. When the flexible cable body 1 is bent, it will not affect the protection ring 2. Compared with the traditional sleeve sheath and spiral sheath protection structure, the sleeve sheath is larger in diameter than the flexible cable body 1, and is more prone to damage when following the bending of the flexible cable body 1. The spiral sheath will produce friction with the flexible cable body 1 when following the bending of the flexible cable body 1. The wear-resistant protection ability of the bending part of the flexible cable body 1 is effectively guaranteed, and the use safety and service life of the flexible cable body 1 are further improved.

[0025] The key of the above scheme is that when the external object is touched, the inner ring 21 is stationary relative to the flexible cable body 1, and the outer ring 22 slides relative to the inner ring 21, so as to avoid the sliding wear between the inner ring 21 and the flexible cable body 1, the fit between the inner ring 21 and the outer sheath 12 is relatively stable, and the outer sheath 12 is not damaged, therefore, the inner ring 21 and the outer ring 22 are preferably made of a material with a certain elasticity, such as plastic or rubber, preferably a rubber material with good wear resistance (such as polyurethane rubber, butadiene rubber, etc., since the protective ring 2 does not need to bend with the bending of the flexible cable body 1, the hardness and wear resistance of the inner ring 21 and the outer ring 22 can be improved relative to the outer sheath 12, thereby improving the wear resistance), and in order to improve the adhesion effect of the inner ring 21 and the outer sheath 12, the inner diameter of the inner ring 21 in the natural relaxed state is slightly smaller than the outer diameter of the outer sheath 12, so as to ensure that when the inner ring 21 is sleeved on the outer sheath 12, it has an elastic tightening force inward, thereby increasing the combination firmness of the inner ring 21 and the outer sheath 12, and the increased resistance installation area 13 can be roughened (such as grinding roughness), or can be glued, that is, the adhesive is pre-applied in the increased resistance installation area 13 area, after the inner ring 21 is installed, the adhesive is fully bonded by the tightening force of the inner ring 21, thereby improving the stability of the inner ring 21.

[0026] In the above scheme, the outer ring 22 can be directly selected as an integral structure, that is, the limiting structure 221 is integrally formed with the outer ring 22, and the support convex ring 211 can also be integrally formed with the inner ring 21, and the inner ring 21 can be relatively thinner to ensure that it is more fully attached to the outer sheath 12, and the support convex ring 211 strengthens the structure of the inner ring 21 and improves the tightening force on the outer sheath 12.

[0027] Further, since the above protection process is mainly the friction between the support convex ring 211 and the outer ring 22, and the support convex ring 211 and the outer ring 22 can be made of a rubber material with higher wear resistance, but due to its small structure, it will also be worn to a certain extent, therefore, the protective ring 2 is improved in this embodiment, referring to the drawings Figure 7 and Figure 8The supporting convex ring 211 is a wear-resistant convex ring 212. Multiple sets of wear-resistant inserts 222 are embedded in the inner wall of the outer protective ring 22, distributed circumferentially along the inner wall of the outer protective ring 22. The wear-resistant convex ring 212 and the wear-resistant inserts 222 can be made of non-rubber materials with better wear resistance, such as plastic or metal. If necessary, grease can be placed in the area between the outer protective ring 22 and the inner protective ring 21 to further reduce friction. When the wear-resistant inserts 222 and the wear-resistant convex ring 212 are made of... In the case of a metal structure, although the inner retaining ring 21 can provide a tightening force to the outer sheath 12, and the installation diameter can be adapted by forcibly squeezing the inner retaining ring 21 during installation, the wear-resistant convex ring 212 of the metal ring has a relatively small deformation range. Therefore, it is not easy to significantly expand the inner retaining ring 21 during actual installation, which presents a certain installation difficulty. Thus, when using metal to make the wear-resistant convex ring 212, an expansion joint can be provided on the wear-resistant convex ring 212, as shown in the instruction manual. Figure 9 As shown, this avoids the wear-resistant convex ring 212 from forming a one-piece metal ring, thus ensuring that it has a certain range of diameter variation, making it relatively easier to install.

[0028] It should be noted that in the above scheme, the protective ring 2 is installed in the corresponding position during the production and processing of the flexible cable body 1. (Unlike conventional cables, for the same model of industrial robot, the cable specifications and lengths are the same. Therefore, it is necessary to cut the cable to the appropriate length according to the actual length before structurally connecting the two ends of the cable, such as installing plug-in ports or directly connecting to certain equipment. Therefore, the installation of the protective ring 2 can be carried out after the cable is cut to form the flexible cable body 1.) Since the inner diameter of the inner sheath 21 is smaller than the outer diameter of the outer sheath 12 in its naturally relaxed state, the resistance of the inner sheath 21 is relatively large during actual installation. For shorter flexible cable bodies 1, they can be manually installed one by one, and then the inner sheath 21 can be slid to the corresponding position. However, for longer flexible cable bodies 1, especially in the middle area, the sliding path of the inner sheath 21 is too large, making installation inconvenient. Therefore, please refer to the attached instruction manual. Figure 10 and Figure 11This embodiment also provides a processing device for more conveniently fitting the inner sheath 21 onto the flexible cable body 1. Specifically, the processing device includes a fitting machine 3, which is equipped with a guide wheel assembly 31 for supporting and guiding the flexible cable body 1. The fitting machine 3 is also equipped with a fitting bracket 32, which has an expansion assembly 4 inside. The expansion assembly 4 is used to support the inner sheath 21 and also to expand and stretch the inner sheath 21. After the flexible cable body 1 passes through the inner sheath 21, the inner sheath 21 is loosened so that it fits onto the flexible cable body 1.

[0029] The guide wheel assembly 31 includes at least two sets of directional guide wheels 311, which are respectively set at both ends of the mounting machine 3 to ensure that the flexible cable body 1 has a straight section passing through the expansion assembly 4 under the support of the directional guide wheels 311. Each directional guide wheel 311 can be provided with two sets of guide wheels, which are located on both sides of the flexible cable body 1. The movement of the flexible cable body 1 can be controlled by controlling the rotation of the guide wheels, and the guide wheels can also be fixed to position the flexible cable body 1, so as to ensure that the flexible cable body 1 is relatively fixed during installation. As for other guide wheels, they can be determined according to the actual situation to transport or support the flexible cable body 1, but this embodiment will not explain them in detail.

[0030] It should be noted that by pre-expanding the inner sheath 21 before installation, the installation efficiency and accuracy of the inner sheath 21 can be effectively improved, and damage to the inner sheath 21 or the outer sheath 12 during the installation process can be reduced, thereby further improving the processing efficiency and quality of the control cable.

[0031] For details, please refer to the instruction manual appendix. Figure 11 and Figure 12This embodiment provides a solution for an expansion component 4, which is a tension expansion component 41. The tension expansion component 41 includes multiple sets of movable frames 411. The movable frames 411 are distributed circumferentially within the mounting bracket 32. The movable frames 411 are slidably installed in the mounting bracket 32 ​​along the radial direction of the flexible cable body 1 located in the internal area of ​​the mounting machine 3. The movable frames 411 are provided with a gripping and fixing structure. A movable driver 412 (such as a linear drive device such as a cylinder or hydraulic cylinder) is fixedly installed on the mounting machine 3. The movable frames 411 are fixedly installed at the output end of the movable driver 412, thereby controlling the lateral movement of the movable frames 411 by means of the movable driver 412. The gripping and fixing structure is selected as a vacuum nozzle 413. The vacuum nozzle 413 is fixedly installed on the movable driver 412 and is adapted to the outer wall of the inner protective ring 21. A first vacuum tube 414 is provided on the movable frame 411. The first vacuum tube 414 is connected to the vacuum nozzle 413 and is connected to a vacuuming device (such as a vacuum pump). It should be noted that the number and relative position of the vacuum nozzles 413 are determined according to the number and relative position of the protective rings 2 installed on the flexible cable body 1. The inner protective ring 21 is pre-installed at the corresponding vacuum nozzle 413. The vacuum nozzles 413 are used to create a vacuum adsorption on the outer wall of the inner protective ring 21 by the vacuum pumping equipment. Then, the moving driver 412 is controlled to drive the moving frame 411 to move. Refer to the attached instruction manual. Figure 14 This allows the inner sheath 21 to expand elastically, and then the flexible cable body 1 can be controlled to pass through the inner sheath 21 and move to the area of ​​the resistance-increasing installation area 13 aligned with each outer sheath 12 under the drive of the guide wheel assembly 31. Then, the moving frame 411 is controlled to move closer to the flexible cable body 1, and finally the negative pressure adsorption on the inner sheath 21 is canceled, so that the inner sheath 21 can be fixed on the outer sheath 12. This solution has a simple structure and is easy to operate.

[0032] In addition, an annular hose can be installed inside the bracket 32 ​​to connect the first vacuum tube 414 on each movable frame 411 to the annular hose, and then the annular hose can be connected to the vacuum equipment through other pipes, so as not to affect the movement of the movable frame 411.

[0033] In the above scheme, the inner sheath 21 is mainly stretched at various points, and the inner sheath 21 is in a straight line between each point. Therefore, for a smaller inner sheath 21, if the flexible cable body 1 is required to pass smoothly through the stretched and expanded inner sheath 21, the moving frame 411 needs to move a larger distance, and the uneven stretching of the inner sheath 21 is also relatively large. Moreover, the adsorption area between the vacuum nozzle 413 and the inner sheath 21 is relatively limited, affecting the installation effect. Therefore, this embodiment also provides another set of expansion components 4, that is, expansion component 4 is a suction-type expansion component 42, as shown in the attached specification. Figure 15 andFigure 16 The suction-type expansion assembly 42 includes a suction sleeve 421, which is fixedly installed inside the mounting bracket 32. The inner diameter of the suction sleeve 421 is larger than the outer diameter of the flexible cable body 1. Multiple sets of suction ring grooves 422 are provided in the suction sleeve 421, and the shapes of the suction ring grooves 422 and the wear-resistant convex rings 212 are adapted to each other. An air distribution channel 423 is provided in the inner wall of the suction sleeve 421. A second vacuum tube 424 is installed on the suction sleeve 421, and the second vacuum tube 424 is connected to a vacuum pump via a pipe. The second vacuum tube 424 communicates with the air distribution channel 423. The suction ring grooves 422... The inner sheath 21 is connected to the air distribution channel 423 through the air hole. Before installation, each inner sheath 21 is placed in each air extraction ring groove 422. Then, a vacuum device is used to create a negative pressure in the air extraction ring groove 422. The inner sheath 21 is relatively sealed in the support convex ring 211. Therefore, under the action of the outer negative pressure, the inner sheath 21 can produce elastic deformation to expand into the air extraction ring groove 422, thereby forming a uniform expansion of the inner sheath 21. After that, the flexible cable body 1 can be passed through each inner sheath 21. After the flexible cable body 1 is fixed, the negative pressure of the air extraction ring groove 422 is removed, and the inner sheath 21 can automatically shrink and be installed on the flexible cable body 1.

[0034] When there are a large number of protective rings 2, the length of the suction sleeve 421 is also relatively long. For the deep suction ring groove 422, manually inserting the inner protective ring 21 directly is quite cumbersome. Therefore, this embodiment also provides a set of rod-type feeding components for one-time centralized feeding of the inner protective rings 21. For details, please refer to the attached instruction manual. Figure 17 and Figure 18 The rod-type feeding assembly includes a feeding rod 5, which can be slidably installed in the mounting machine 3 and aligned with the suction sleeve 421. A moving drive device can be installed at the bottom of the feeding rod 5 to control the feeding rod 5 to extend into or out of the suction sleeve 421. In addition, an outer expansion layer 51 is provided on the outside of the feeding rod 5. The outer expansion layer 51 is made of an elastic material (such as thick-walled rubber). The two ends of the outer expansion layer 51 are fixedly connected to the feeding rod 5 and are relatively sealed. A filling gap is formed between the outer expansion layer 51 and the feeding rod 5. The feed bar 5 has an input channel 52 inside, which is connected to a fluid input device (such as a gas pump or liquid pump) through a pipe to fill the gap between the outer expansion layer 51 and the feed bar 5 with fluid and to cause the outer expansion layer 51 to expand. In addition, the inner diameter of the suction sleeve 421 is larger than the outer diameter of the supporting protrusion ring 211 in the natural relaxed state of the inner sheath ring 21, so as to avoid the input of the feed bar 5 carrying the inner sheath ring 21 and the output of the inner sheath ring 21 after it is fitted on the flexible cable body 1 being interfered with by the suction sleeve 421.

[0035] For the outer expansion layer 51, its outer diameter in its naturally relaxed state can be set to be less than or equal to the inner diameter of the inner retaining ring 21 in its naturally relaxed state. This facilitates the installation of the inner retaining ring 21 on the outside of the outer expansion layer 51 in the corresponding positions. Markings or small protrusions can be set on the outer expansion layer 51 to limit the inner retaining ring 21, ensuring that the installation position of the inner retaining ring 21 corresponds to each suction ring groove 422 when the feeding rod 5 is inserted into the suction sleeve 421 later. In use, each inner retaining ring 21 is pre-installed on the outside of the outer expansion layer 51. At this time, a small amount of fluid can be introduced into the filling gap between the outer expansion layer 51 and the feeding rod 5 to slightly expand the outer expansion layer 51, thereby improving its stability with the inner retaining ring 21. Then, the feeding rod 5 is controlled to extend into the suction sleeve 421. Refer to the attached instruction manual. Figure 18 Then, fluid is filled into the outer expansion layer 51 again, causing the outer expansion layer 51 to expand further, further expanding the inner sheath 21. The inner sheath 21, which was not originally in contact with the vacuum ring groove 422, expands and expands into the vacuum ring groove 422. Then, by controlling the vacuum equipment to evacuate the vacuum ring groove 422, the inner sheath 21 can be further expanded and located in the vacuum ring groove 422. Then, the feed bar 5 can be pulled out and the flexible cable body 1 can be installed.

[0036] It should be noted that by using the feeding rod 5 to feed the inner protective ring 21, the actual processing efficiency is higher, and it is simpler to fit the inner protective ring 21 on the outside of the feeding rod 5. Moreover, the above-mentioned rod feeding assembly can also be adapted to the use of the tension expansion assembly 41. The specific solution can be selected according to the actual situation.

[0037] Furthermore, all the above solutions are based on an integrated inner protective ring 21. However, for solutions using a wear-resistant convex ring 212 as a supporting convex ring 211, if the surface of the wear-resistant convex ring 212 has an expansion joint, the wear-resistant convex ring 212 can undergo significant elastic expansion, which does not affect the above processing solutions. However, the presence of the expansion joint can easily cause concentrated tension in the material of the inner protective ring 21 at the expansion joint during expansion. This embodiment also improves the rod-type feeding assembly; for details, please refer to the appendix of the instruction manual. Figure 19 and Figure 20A spiral protrusion 54 is provided on the outer wall of the feeding rod 5 at a position corresponding to the internal region of the outer expansion layer 51. The spiral protrusion 54 divides the filling gap between the outer expansion layer 51 and the feeding rod 5 to form a spiral flow channel. An output flow channel 53 is also provided inside the feeding rod 5. The output flow channel 53 is connected to a fluid output device through a pipe, and a control valve is provided on the pipe. The fluid used in the fluid input device and the fluid output device is a high-temperature liquid. The fluid input device is an input pump, and the fluid output device is an output pump. The input flow channel 52 is connected to one end of the spiral flow channel, and the output flow channel 53 is connected to the other end of the spiral flow channel. Therefore, in actual use, the control valve can be used to control the output flow channel. The valve controls the input and output of fluid in the filling gap, thereby controlling the amount of fluid in the filling gap and thus controlling the expansion of the outer expansion layer 51. Since the input is a high-temperature liquid (the liquid has been preheated), it can also create a certain heating effect on the inner sheath 21, thereby causing the integrated wear-resistant convex ring 212 to undergo corresponding thermal expansion, so as to avoid too much impact on the expansion of the inner sheath 21. The suction sleeve 421 can also be equipped with corresponding heating equipment to further heat the wear-resistant convex ring 212 until the flexible cable body 1 passes through the inner sheath 21, and then allows it to cool down and shrink naturally, and further provides a tightening force to the inner sheath 21 to the outer sheath 12.

[0038] Meanwhile, although the outer expansion layer 51 will detach from the contact with the spiral protrusion 54 after expansion, the spiral protrusion 54 can still guide the input high-temperature fluid in a certain spiral shape, thereby making the high-temperature fluid evenly distributed, improving the expansion effect of the outer expansion layer 51, and also ensuring the uniformity of the heating of the inner protective ring 21 by the high-temperature fluid.

[0039] It should be noted that in the above scheme, since the outer protective ring 22 needs to be fitted over the inner protective ring 21, and the inner diameter of the outer protective ring 22 is larger than the outer diameter of the outer protective sleeve 12, the outer protective ring 22 moves on the outer protective sleeve 12 without resistance and can be installed manually. Alternatively, a set of expansion components 4 adapted to the outer protective ring 22 can be set for installation. Since the limiting structure 221 and the outer protective ring 22 are an integral structure, the outer protective ring 22 and the limiting structure 221 have a certain degree of elasticity. When the outer protective ring 22 is installed on the inner protective ring 21, it can undergo adaptive deformation, so the installation difficulty is not high. Moreover, the above wear-resistant protection, apart from the outer protective ring 22 and the inner protective ring 21 being relatively... In addition to sliding to avoid wear on the outer sheath 12, the outer sheath 22 itself can also slide relative to external objects. Therefore, even if an elastic limiting structure 221 is used, it is not easy for the inner sheath 21 to fall off. In addition, when the protective rings 2 are actually set, multiple sets of protective rings 2 can be relatively dense. While maintaining a certain amount of room for movement between each protective ring 2, they can also mutually restrict the excessive sliding of the outer sheath 22 to prevent it from falling off. For larger flexible cable bodies 1 and more dangerous operating environments, after the outer sheath 22 and inner sheath 21 are installed, a rigid limiting structure 221 (such as installing a plastic block by adhesive or snap-fit ​​structure) can be fixedly installed on the edge of the outer sheath 22.

[0040] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A flexible intelligent control cable for robots, comprising a flexible cable body (1), wherein the flexible cable body (1) is composed of an integrated inner core (11) and an outer sheath (12) disposed outside the integrated inner core (11), characterized in that: The flexible cable body (1) is provided with an abrasion-resistant protective structure, which is a protective ring (2). The outer sheath (12) is provided with a resistance-increasing installation area (13). Multiple sets of protective rings (2) are installed on the resistance-increasing installation area (13). The protective ring (2) includes an inner protective ring (21) and an outer protective ring (22). The inner protective ring (21) is fitted in the resistance-increasing installation area (13) outside the outer sheath (12), and the outer protective ring (22) is slidably fitted outside the inner protective ring (21).

2. The flexible intelligent control cable for robots according to claim 1, characterized in that: The inner protective ring (21) is provided with a support protrusion (211) on its outside. The support protrusion (211) slides in contact with the inner wall of the outer protective ring (22). The edge of the inner wall of the outer protective ring (22) is provided with a limiting structure (221) for limiting the sliding of the outer protective ring (22). Both the inner protective ring (21) and the outer protective ring (22) are elastic structures. The inner diameter of the inner protective ring (21) in its natural relaxed state is smaller than the outer diameter of the outer sleeve (12), so that when the inner protective ring (21) is fitted on the outer sleeve (12), it has an elastic tightening force that tightens inward. The resistance-increasing installation area (13) is roughened.

3. The flexible intelligent control cable for robots according to claim 2, characterized in that: The supporting convex ring (211) is a wear-resistant convex ring (212). Multiple sets of wear-resistant inserts (222) are embedded in the inner wall of the outer protective ring (22). The multiple sets of wear-resistant inserts (222) are distributed around the inner wall of the outer protective ring (22). Both the wear-resistant convex ring (212) and the wear-resistant inserts (222) are wear-resistant structures. The area between the outer protective ring (22) and the inner protective ring (21) is provided with grease.

4. A processing device for processing the flexible intelligent control cable for robots as described in claim 1, characterized in that: The assembly includes a mounting machine (3), on which a guide wheel assembly (31) is provided. The guide wheel assembly (31) is used to support and guide the flexible cable body (1). The mounting machine (3) is also provided with a mounting bracket (32). Inside the mounting bracket (32) is an expansion assembly (4). The expansion assembly (4) is used to support the inner sheath (21). The expansion assembly (4) is also used to expand and stretch the inner sheath (21). After the flexible cable body (1) passes through the inner sheath (21), the inner sheath (21) is loosened so that the inner sheath (21) is fitted onto the flexible cable body (1).

5. The processing equipment for a flexible intelligent control cable for robots according to claim 4, characterized in that: The guide wheel assembly (31) includes at least two sets of directional guide wheels (311), which are respectively set at both ends of the assembly machine (3). With the support of the directional guide wheels (311), the flexible cable body (1) has a straight area that passes through the expansion assembly (4).

6. The processing equipment for a flexible intelligent control cable for robots according to claim 5, characterized in that: The expansion component (4) is a tension expansion component (41). The tension expansion component (41) includes multiple sets of movable frames (411). The movable frames (411) are distributed in a circumferential state within the mounting bracket (32). The movable frames (411) are slidably installed in the mounting bracket (32) along the radial direction of the flexible cable body (1) located in the internal area of ​​the mounting machine (3). The movable frames (411) are provided with a gripping and fixing structure. The mounting machine (3) is fixedly installed with a mobile driver (412). The movable frames (411) are fixedly installed at the output end of the mobile driver (412).

7. The processing equipment for a flexible intelligent control cable for robots according to claim 6, characterized in that: The gripping and fixing structure is a vacuum nozzle (413), which is fixedly installed on the mobile driver (412) and is adapted to the outer wall of the inner protective ring (21). The mobile frame (411) is provided with a first vacuum tube (414), which is connected to the vacuum nozzle (413) and is connected to a vacuum pumping device.

8. The processing equipment for a flexible intelligent control cable for robots according to claim 5, characterized in that: The expansion assembly (4) is a suction-type expansion assembly (42). The suction-type expansion assembly (42) includes a suction sleeve (421). The suction sleeve (421) is fixedly installed inside the mounting bracket (32). The inner diameter of the suction sleeve (421) is larger than the outer diameter of the supporting protrusion (211) in the naturally relaxed state of the inner protective ring (211). The suction sleeve (421) is provided with multiple sets of suction ring grooves (422). 22) The shape of the wear-resistant convex ring (212) is adapted to each other. A uniform flow channel (423) is provided in the inner wall of the suction sleeve (421). A second vacuum tube (424) is installed on the suction sleeve (421). The second vacuum tube (424) is connected to the vacuum equipment through a pipe. The second vacuum tube (424) is connected to the uniform flow channel (423). The suction ring groove (422) is connected to the uniform flow channel (423) through a vent.

9. A processing equipment for a flexible intelligent control cable for robots according to claim 7 or 8, characterized in that: The processing equipment also includes a bar-type feeding assembly, which includes a feeding bar (5). The feeding bar (5) has an outer expansion layer (51) on its outside. The outer expansion layer (51) is made of elastic material. The two ends of the outer expansion layer (51) are fixedly connected to the feeding bar (5) and are relatively sealed. A filling gap is formed between the outer expansion layer (51) and the feeding bar (5). An input flow channel (52) is provided inside the feeding bar (5). The input flow channel (52) is connected to a fluid input device through a pipe.

10. The processing equipment for a flexible intelligent control cable for robots according to claim 9, characterized in that: The outer wall of the feeding rod (5) is provided with a spiral protrusion (54) at the position corresponding to the inner area of ​​the outer expansion layer (51). The spiral protrusion (54) divides the filling gap to form a spiral flow channel. The inside of the feeding rod (5) is also provided with an output flow channel (53). The output flow channel (53) is connected to a fluid output device through a pipe, and a control valve is provided on the pipe. The fluid used in the fluid input device and the fluid output device is a high-temperature liquid. The fluid input device is an input pump, and the fluid output device is an output pump. The input flow channel (52) is connected to one end of the spiral flow channel, and the output flow channel (53) is connected to the other end of the spiral flow channel.

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