Flexible intelligent control cable for robots and processing equipment thereof

Abstract

The application discloses a flexible intelligent control cable for robots and a processing equipment thereof, and particularly relates to the technical field of cables.The control cable comprises a flexible cable body, an abrasion-resistant protection structure is arranged outside the flexible cable body, an increased-resistance mounting area is arranged outside the outer sheath, and 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 slidably sleeved outside the inner protection ring.By arranging the protection ring outside the flexible cable body, the outer protection ring and the supporting convex ring are relatively slid or rotated, so that the outer object and the outer sheath are prevented from directly contacting and relatively sliding, and the surface of the outer sheath is prevented from being damaged, so that the flexible cable body is better protected from abrasion, and the use safety and service life of the flexible cable body are further improved.

Description

Technical Field

[0001] This invention relates to the field of cable technology, and more specifically, to a flexible intelligent control cable for robots and its processing equipment. Background Technology

[0002] Flexible cables are a type of special cable designed specifically for dynamic bending, torsion, cable chain motion, or frequent movement conditions. They are widely used in industrial robots, automation equipment, CNC machine tools, logistics conveying systems, medical equipment, and new energy equipment. Unlike ordinary fixed-lay cables, flexible cables must possess excellent fatigue resistance, high flexibility, abrasion resistance, and long service life while ensuring electrical performance.

[0003] Among them, the intelligent operation and control of industrial robots cannot be separated from the corresponding control cables. These cables are the "intelligent nerves" of the robot's intelligent control system, and are high-performance composite signal transmission cables designed specifically for modern high-dynamic and high-precision industrial robot systems. They integrate data communication, sensor feedback, I / O control and power management. They not only need to stably transmit high-speed digital signals in complex electromagnetic environments, but also need to withstand the continuous bending, torsion and mechanical stress of the robot's joints. They are a key component for achieving reliable operation of intelligent manufacturing. Therefore, their control cables need to have superior performance and a longer service life.

[0004] However, in the production of some large-scale products, industrial robots need to operate continuously with large amplitude and high intensity. During their operation, the various structures of the robot need to constantly rotate relative to each other. In order to avoid affecting the robot's movement, the control cable is integrated and fixed to the robot body. During the operation of the robot, especially at the rotating joints, the control cable will bend significantly. Although the cable is designed to meet the flexibility requirements, at the bend, the outer sheath material of the control cable is under tension, which makes it very easy to come into contact with and rub against other structures or other cables, causing wear. In particular, the multi-functional integrated (hybrid cable) control cables of large industrial robots have relatively large diameters. At the bend, the outer side of the bend is stretched even more, making it more likely to wear against the robot itself or other structures, thus affecting the safety of the control cable. Traditional protective structures such as sleeves and spiral sheaths will rub against the sheath layer of the control cable during the bending process, causing wear and making it difficult to provide long-term effective safety protection. Summary of the Invention

[0005] This invention provides a flexible intelligent control cable for robots and its processing equipment to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a flexible intelligent control cable for robots, comprising a flexible cable body, the flexible cable body being composed of an integrated inner core and an outer sheath disposed outside the integrated inner core, the flexible cable body having an abrasion-resistant protective structure on its exterior, the abrasion-resistant protective structure being a protective ring, the outer sheath having a resistance-increasing mounting area on its exterior, multiple sets of protective rings being installed on the resistance-increasing mounting area, the protective rings including an inner protective ring and an outer protective ring, the inner protective ring being fitted onto the resistance-increasing mounting area outside the outer sheath, and the outer protective ring being slidably fitted onto the exterior of the inner protective ring.

[0007] Preferably, the outer side of the inner sheath is provided with a supporting protrusion ring, which slides in contact with the inner wall of the outer sheath ring. The edge of the inner wall of the outer sheath ring is provided with a limiting structure for limiting the sliding of the outer sheath ring. Both the inner and outer sheath rings are elastic structures, and the inner diameter of the inner sheath ring in its natural relaxed state is smaller than the outer diameter of the outer sheath ring, so that when the inner sheath ring is fitted onto the outer sheath ring, it has an elastic clamping force that tightens inward. The resistance-increasing installation area is roughened.

[0008] Preferably, the supporting convex ring is a wear-resistant convex ring, and multiple sets of wear-resistant inserts are embedded in the inner wall of the outer protective ring. The multiple sets of wear-resistant inserts are distributed along the circumference of the inner wall of the outer protective ring. Both the wear-resistant convex ring and the wear-resistant inserts are wear-resistant structures, and grease is provided in the area between the outer protective ring and the inner protective ring.

[0009] A processing device for flexible intelligent control cables for robots includes a mounting machine. The mounting machine is equipped with a guide wheel assembly for supporting and guiding the flexible cable body. The mounting machine is also equipped with a mounting bracket, and the mounting bracket has an expansion component inside for supporting the inner sheath and for expanding and stretching the inner sheath. After the flexible cable body passes through the inner sheath, the inner sheath is loosened so that the inner sheath fits onto the flexible cable body.

[0010] The guide wheel assembly includes at least two sets of directional guide wheels, which are respectively set at both ends of the assembly machine. With the support of the directional guide wheels, the flexible cable body has a straight section that passes through the expansion assembly.

[0011] Preferably, the expansion assembly is a tension expansion assembly, which includes multiple sets of movable frames. The movable frames are distributed circumferentially within the mounting bracket. The movable frames are slidably installed in the mounting bracket along the radial direction of the flexible cable body located in the internal area of ​​the mounting machine. The movable frames are provided with a gripping and fixing structure. A movable driver is fixedly installed on the mounting machine, and the movable frames are fixedly installed at the output end of the movable driver.

[0012] Preferably, the gripping and fixing structure is a vacuum nozzle, which is fixedly installed on the mobile driver and is compatible with the outer wall of the inner protective ring. A first vacuum tube is provided on the mobile frame, which is connected to the vacuum nozzle and to a vacuum pumping device.

[0013] Preferably, the expansion assembly is a suction-type expansion assembly, which includes a suction sleeve fixedly installed inside the mounting bracket. The inner diameter of the suction sleeve is larger than the outer diameter of the supporting convex ring in the naturally relaxed state of the inner protective ring. The suction sleeve is provided with multiple sets of suction ring grooves, the shapes of which are adapted to the wear-resistant convex ring. A uniform flow channel is provided in the inner wall of the suction sleeve. A second vacuum tube is installed on the suction sleeve. The second vacuum tube is connected to a vacuum pump through a pipe and is connected to the uniform flow channel. The suction ring groove is connected to the uniform flow channel through an air hole.

[0014] Preferably, the processing equipment further includes a bar-type feeding assembly, which includes a feeding bar. The feeding bar has an outer expansion layer on its outside. The outer expansion layer is made of elastic material. Both ends of the outer expansion layer are fixedly connected to the feeding bar and are relatively sealed. A filling gap is formed between the outer expansion layer and the feeding bar. The feeding bar has an input flow channel inside, and the input flow channel is connected to a fluid input device through a pipe.

[0015] Preferably, the outer wall of the feeding bar is provided with spiral protrusions at the position corresponding to the inner region of the outer expansion layer. The spiral protrusions divide the filling gap to form a spiral flow channel. The inside of the feeding bar is also provided with an output flow channel. The output flow channel 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 is connected to one end of the spiral flow channel, and the output flow channel is connected to the other end of the spiral flow channel.

[0016] The beneficial effects of this invention are as follows: 1. This invention provides a protective ring on the outside of the flexible cable body, allowing the outer sheath to contact the external object first. This causes relative sliding or rotation between the outer sheath and the supporting protrusion, thereby preventing direct contact and relative sliding between the external object and the outer sheath, and avoiding damage to the surface of the outer sheath. This provides better wear-resistant protection for the flexible cable body, effectively ensuring the wear-resistant protection of the bending parts of the flexible cable body, and further improving the safety and service life of the flexible cable body.

[0017] 2. This invention improves the installation efficiency and accuracy of the inner sheath by pre-expanding and supporting it before installation, and reduces damage to the inner sheath or outer sheath during installation, thereby further improving the processing efficiency and quality of control cables. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the control cable of the present invention; Figure 2 This is a schematic diagram of the resistance-increasing mounting area on the flexible cable body of the present invention; Figure 3 This is a diagram showing the state of the protective ring in the corresponding area when the control cable is bent according to the present invention. Figure 4 This is a schematic diagram of the overall structure of the protective ring of the present invention; Figure 5 This is a diagram showing the state of the protective ring of the present invention when it comes into contact with other objects; Figure 6 This is a schematic diagram showing the relative motion between the outer and inner sheaths of the present invention; Figure 7 This is a schematic diagram of the improved protective ring structure of the present invention; Figure 8 This is a schematic diagram showing the fit between the wear-resistant insert and the wear-resistant convex ring of the present invention; Figure 9 This is a state diagram showing the expansion joint provided on the wear-resistant convex ring according to the present invention; Figure 10 This is a schematic diagram of the processing equipment for the control cable of the present invention; Figure 11 This is a schematic diagram of the processing state of the processing equipment of the present invention; Figure 12 This is a schematic diagram of the structure of the tension-type expansion component of the present invention; Figure 13 For the present invention Figure 12 Enlarged view of the A-section structure; Figure 14 This is a top view of the stretchable expansion assembly of the present invention; Figure 15 This is a schematic diagram of the structure of the suction-type expansion assembly of the present invention; Figure 16 For the present invention Figure 15 Enlarged view of the structure of section B; Figure 17 This is a diagram showing the state of the suction-type expansion component of the present invention when used in conjunction with the rod-type feeding component. Figure 18 This is a diagram showing the state of the outer expansion layer expanding and pushing the inner protective ring into the suction ring groove of the present invention. Figure 19 This is a schematic diagram of the improved bar-type feeding assembly of the present invention; Figure 20 For the present invention Figure 19 Enlarged view of the C-section structure.

[0019] The attached diagram is labeled as follows: 1. Flexible cable body; 11. Integrated inner core; 12. Outer sheath; 13. Resistance-increasing installation 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. Assembly machine; 31. Guide wheel assembly; 311. Directional guide wheel; 32. Assembly bracket; 4. Expansion assembly; 41. Tensile expansion assembly; 411. Moving frame; 412. Moving driver; 413. Vacuum nozzle; 414. First vacuum tube; 42. Suction expansion assembly; 421. Suction sleeve; 422. Suction ring groove; 423. Air distribution channel; 424. Second vacuum tube; 5. Feeding bar; 51. Outer expansion layer; 52. Input channel; 53. Output channel; 54. Spiral convex strip. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0021] Refer to the instruction manual appendix Figure 1 and Figure 2 A flexible intelligent control cable for robots is disclosed. This control cable is used to connect industrial robots and the robot's intelligent control system, as well as related actuators on the industrial robot (such as the robot's end effector, etc.). The installation and connection of industrial robots, their intelligent control systems, and corresponding cables are all existing technologies and will not be discussed in detail in this embodiment. The flexible cable body 1 consists of an integrated inner core 11 and an outer sheath 12 disposed outside the integrated inner core 11. The integrated inner core 11 consists of a power conductor, encoder feedback line, industrial communication bus line pair, I / O control line, filling element, and reinforcing core, etc. Its specific structure depends on the specific situation of the industrial robot. The outer sheath 12 is also a commonly used outer protective structure in industrial robot cables. Therefore, the specific composition of the integrated inner core 11 and the outer sheath 12 will not be discussed in detail in this embodiment.

[0022] To improve the wear resistance of the flexible cable body 1, a wear-resistant protective structure is provided on the outside of the flexible cable body 1. This wear-resistant protective structure is a protective ring 2. A resistance-increasing installation area 13 is provided on the outside of the outer sheath 12. 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 on the outside of the inner protective ring 21.

[0023] For details, please refer to the instruction manual appendix. Figure 3 and Figure 4 As a wear-resistant protective structure for the control cable, the outer side of the inner sheath 21 in the protective ring 2 is provided with a supporting protrusion ring 211. The supporting protrusion ring 211 slides in contact with the inner wall of the outer sheath 22. A limiting structure 221 is provided at the edge of the inner wall of the outer sheath 22 to limit the sliding of the outer sheath 22, so as to ensure that when the outer sheath 22 slides, the limiting structure 221 and the supporting protrusion ring 211 can form mutual restriction, and the outer sheath 22 and the inner sheath 21 will not be separated.

[0024] By installing protective rings 2 on the outside of the flexible cable body 1, especially in areas where the flexible cable body 1 needs to be bent frequently, or in important areas such as those surrounded by rigid structures, a corresponding number of protective rings 2 are installed. In actual use, if contact occurs, the outer protective ring 22 will be the first to contact the external object. Refer to the instruction manual. Figure 5 and Figure 6 At this time, if the flexible cable body 1 undergoes relative movement or relative torsion, the outer sheath 22 and the supporting protrusion 211 can slide or rotate relative to each other, thereby preventing external objects from directly contacting the outer sheath 12 and causing relative sliding, thus avoiding damage to the surface of the outer sheath 12, and thus providing better wear-resistant protection for the flexible cable body 1. In particular, this embodiment uses multiple sets of protective rings 2 to cover the protected area. Each protective ring 2 can be set relatively short, that is, its length along its axial direction is not long. When the flexible cable body 1 bends, each protective ring 2 can also undergo adaptive changes independently, and each protective ring... The protective ring 2 will not rub against the outer sheath 12 itself, and the flexible cable body 1 will not be affected when it bends. Compared with traditional protective structures such as sleeve-type sheaths and spiral sheaths, this embodiment does not have the problem that sleeve-type sheaths are more easily damaged when they bend along with the flexible cable body 1 because their diameter is larger than that of the flexible cable body 1, nor does it have the problem that spiral sheaths rub against the flexible cable body 1 when they bend along with the flexible cable body 1. This effectively ensures the wear resistance of the flexible cable body 1 at the bending part, and further improves the safety and service life of the flexible cable body 1.

[0025] The key to the above solution is that when the inner sheath 21 touches an external object, it remains stationary relative to the flexible cable body 1, while the outer sheath 22 slides relative to the inner sheath 21. Therefore, to avoid sliding wear between the inner sheath 21 and the flexible cable body 1, the fit between the inner sheath 21 and the outer sheath 12 must be relatively stable, while also avoiding damage to the outer sheath 12. Therefore, both the inner sheath 21 and the outer sheath 22 are preferably made of materials with a certain degree of elasticity, such as plastic or rubber, preferably rubber materials with good wear resistance (e.g., polyurethane rubber, butadiene rubber, etc.). Since there is no need to consider the bending of the protective ring 2 following the bending of the flexible cable body 1, the hardness and wear resistance of the inner sheath 21 and the outer sheath 22 are relatively stable. The inner ring 21 can be improved relative to the outer sleeve 12, thereby improving its wear resistance. In order to improve the adhesion between the inner ring 21 and the outer sleeve 12, the inner diameter of the inner ring 21 in its natural relaxed state is slightly smaller than the outer diameter of the outer sleeve 12. This ensures that the inner ring 21 has an inward tightening elastic force when it is fitted onto the outer sleeve 12, thereby increasing the bonding strength between the inner ring 21 and the outer sleeve 12. The resistance-increasing installation area 13 can be roughened (e.g., roughened by grinding) or glued. That is, adhesive is pre-applied to the resistance-increasing installation area 13. 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 protective ring 22 can be directly selected as an integral structure, that is, the limiting structure 221 and the outer protective ring 22 are integrally formed. The supporting protruding ring 211 and the inner protective ring 21 can also adopt an integral structure, with the supporting protruding ring 211 and the inner protective ring 21 being integrally formed. The inner protective ring 21 can be relatively thinner to ensure that it fits more fully with the outer protective sleeve 12. The supporting protruding ring 211 is structurally stronger than the inner protective ring 21, thereby increasing the tightening force on the outer protective sleeve 12.

[0027] Furthermore, since the above-mentioned protection process mainly involves friction between the supporting convex ring 211 and the outer protective ring 22, and although the supporting convex ring 211 and the outer protective ring 22 can be made of rubber materials with higher wear resistance, they will still experience some wear due to their small size. Therefore, this embodiment also improves the protective ring 2, as detailed in the appendix to the instruction manual. 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 and Figure 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 embodiments described above are merely examples 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 processing equipment for flexible intelligent control cables for robots, characterized in that: The flexible intelligent control cable for the robot includes a flexible cable body (1), which is composed of an integrated inner core (11) and an outer sheath (12) disposed outside the integrated inner core (11). The flexible cable body (1) has an abrasion-resistant protective structure on its exterior, which is a protective ring (2). The outer sheath (12) has a resistance-increasing mounting area (13) on its exterior, and multiple sets of protective rings (2) are installed on the resistance-increasing mounting 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 on the resistance-increasing installation area (13) outside the outer protective sleeve (12). The outer protective ring (22) is slidably fitted on the outside of the inner protective ring (21). A support protrusion ring (211) is provided on the outside of the inner protective ring (21). The support protrusion ring (211) is in sliding contact (1) with the inner wall of the outer protective ring (22). The support protrusion ring (211) is a wear-resistant protrusion ring (212). The processing equipment 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). 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 gas hole. 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.

2. The processing equipment for a flexible intelligent control cable for robots according to claim 1, 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).

3. The processing equipment for a flexible intelligent control cable for robots according to claim 2, 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.

4. The processing equipment for a flexible intelligent control cable for robots according to claim 3, characterized in that: The outer protective ring (22) has a limiting structure (221) at the edge of its inner wall 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 protective sleeve (12), so that when the inner protective ring (21) is fitted on the outer protective sleeve (12), it has an elastic tightening force that pulls inward. The resistance-increasing installation area (13) is roughened.

5. The processing equipment for a flexible intelligent control cable for robots according to claim 4, characterized in that: 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 circumference 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.

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