Wire harness connector pipeline structure cooperating with robot to move

Abstract

The invention belongs to the technical field of robots, and particularly relates to a wire harness connector pipeline structure cooperating with a robot to move. The wire pipe is used for accommodating a cable; the pipeline box is fixedly mounted on a large arm of the robot and is used for accommodating a pipeline; the first springback mechanism is fixedly mounted on the small arm of the robot and used for driving the line pipe to springback and to be stored in the line pipe box; the connecting assembly is fixedly mounted on the robot rotating head; the fixing assembly is fixedly mounted on a large arm of the robot; the pipeline box is of a circular box body structure, an arc-shaped containing cavity is formed in the pipeline box, and a second springback mechanism is fixedly installed in the pipeline box. The circumferential surface of the pipeline box is provided with a wire inlet and a wire outlet which are used for wire inlet of a wire pipe; the pipeline structure can be matched with telescopic and rotary motion of the arm of the robot, fatigue cracks of the cable can be effectively prevented, and the service life of the cable is prolonged.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a wire harness connector pipeline structure for collaborative robot motion. Background Technology

[0002] Existing robot cable packages typically consist of a spring, a spring seat for securing the spring, and a friction ball. The robot's cable package is housed within this spring. During the robot arm's movements, the cable package experiences significant rebound, and being exposed, it poses a potential safety hazard. Therefore, current technology incorporates a matching outer shell that is fastened to the outside of the cable package, enclosing it within the shell for protection and containment. This also improves the appearance of the work area and reduces safety risks.

[0003] In the existing technology, the outer shell of the cable package adopts a U-shaped box structure. The U-shaped box has a U-shaped storage cavity inside, and the cable package can be rebounded and stored in the storage cavity under the action of the spring mechanism. However, the U-shaped box has the following shortcomings: the bending angle of the cable package inside the U-shaped box is close to 360°, the bending angle is large and the bending radius is small, which can easily cause deformation and cracks in the cables inside the cable package; secondly, the U-shaped box cannot cooperate with the rotational movement of the robot wrist, resulting in a large amount of cable package getting tangled in the robot arm, which poses a safety hazard. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a wiring harness connector tubing structure for collaborative robot motion. The tubing is housed in a tubing box with a circular shell structure, aiming to solve the problems in the prior art.

[0005] To achieve the above-mentioned technical objectives, the specific technical solution of the present invention is as follows: The present invention proposes a wire harness connector pipeline structure for collaborative robot motion, comprising:

[0006] Conduit used to house cables;

[0007] A cable box that is fixedly installed on the robot's large arm is used to store cable conduits;

[0008] The first rebound mechanism, fixedly mounted on the robot forearm, is used to drive the conduit to rebound and be stored in the conduit box;

[0009] A connecting assembly that is fixedly installed on the rotating head of a robot;

[0010] A fixing assembly that is fixedly installed on the robot arm is used to secure the cable conduit to the robot arm;

[0011] The conduit box has a circular box structure and an arc-shaped storage cavity inside. A second spring mechanism is fixedly installed inside the conduit box to drive the conduit to spring back and be completely stored in the storage cavity. The conduit box has an inlet for the conduit to enter on its circumference and an arc-shaped groove. A pair of arc-shaped guide rails are provided on both sides of the arc-shaped groove. A first slider is slidably connected to the arc-shaped guide rails. The first slider has an outlet for the conduit to exit.

[0012] Preferably, the conduit box is composed of two housings, the inlet is fixedly equipped with a first pipe clamp for clamping and fixing the conduit, and the first slider is fixedly connected with a first pipe sleeve for guiding the conduit.

[0013] Preferably, the first rebound mechanism includes a track frame, a pair of wire sleeves fixedly installed at both ends of the track frame, and a rebound seat slidably connected to the track frame. A second pipe clamp is fixedly installed on the rebound seat for clamping and fixing the wire tube, and a return spring is connected between the second pipe clamp and one of the wire sleeves.

[0014] Preferably, the first rebound mechanism further includes a first mounting bracket, on which an arc-shaped slide rail is fixedly connected, and on the bottom surface of the track frame is a second slider that is slidably connected to the arc-shaped slide rail.

[0015] Preferably, the second rebound mechanism includes a mounting base fixedly connected to the pipeline box, a rebound frame rotatably connected to the mounting base, a rebound block slidably connected to the rebound frame, a support frame rotatably connected to the rebound block, and a third pipe clamp hinged to the end of the support frame; a first torsion spring is installed on the rotating shaft of the rebound frame, and a second torsion spring is installed on the rotating shaft of the support frame.

[0016] Preferably, the surface of the rebound frame is provided with a slide groove that is slidably connected to the rebound block, a slide rod that is slidably connected to the rebound block is fixedly connected in the slide groove, an elastic element is connected to the surface of the slide rod, and a stop block is provided at one end of the slide groove.

[0017] Preferably, the mounting base is provided with a first storage groove that cooperates with the rebound frame, and the rebound block is provided with a second storage groove that cooperates with the support frame; the surface of the support frame is provided with an arc-shaped protruding support portion.

[0018] Preferably, the fixing assembly includes a wire frame fixedly mounted on the robot arm, a pair of fourth pipe clamps fixedly mounted at both ends of the wire frame, and a second mounting bracket fixedly connected to the wire frame.

[0019] Preferably, the connecting assembly includes a clamping ring fixedly connected to the robot rotating head, a connecting seat, and a fifth pipe clamp fixedly installed on the connecting seat; a connecting rod is fixedly connected between the connecting seat and the clamping ring.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. The present invention uses a circular shell structure to store the tubing. Compared with the U-shaped box structure in the prior art, the tubing box of the present invention has a larger bending radius when storing the tubing, which reduces the bending angle of the tubing and reduces damage to the tubing. In addition, due to the increased bending radius of the tubing, the springback length of the tubing is increased, which can accommodate the robot's greater range of motion.

[0022] 2. The arc-shaped groove structure on the conduit box and the arc-shaped slide rail of the first rebound mechanism of the present invention can cooperate with the rotational movement of the robot wrist, reduce the length of the conduit wrapped around the robot arm, reduce friction, and improve the smoothness of movement. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of the pipeline box of the present invention.

[0025] Figure 3 This is a schematic diagram of the internal structure of the pipeline box of the present invention.

[0026] Figure 4 This is a schematic diagram of the structure of the second spring mechanism of the present invention.

[0027] Figure 5 This is a schematic diagram of the structure of the first springback mechanism of the present invention.

[0028] Figure 6 This is a schematic diagram of the first rebound mechanism of the present invention from another angle.

[0029] Figure 7 This is a schematic diagram of the structure of the fixing component of the present invention.

[0030] Figure 8 This is a schematic diagram of the structure of the connecting component of the present invention.

[0031] Figure 9 This is a schematic diagram of the pipeline structure of the present invention installed on a robot.

[0032] The names corresponding to the reference numerals in the figure are as follows:

[0033] 1. Conduit box; 11. Arc-shaped groove; 12. Arc-shaped guide rail; 13. First slider; 14. First sleeve; 15. Outlet; 16. Inlet; 17. First clamp; 18. Housing; 19. Storage cavity;

[0034] 2. First rebound mechanism; 21. Track frame; 22. First mounting bracket; 23. Rebound seat; 24. Second pipe clamp; 25. Return spring; 26. Wire sleeve; 27. Second slider; 28. Arc-shaped slide rail;

[0035] 3. Fixing components; 31. Wire frame; 32. Fourth pipe clamp; 33. Second mounting bracket;

[0036] 4. Connecting assembly; 41. Clamping ring; 42. Connecting seat; 43. Fifth pipe clamp; 44. Connecting rod;

[0037] 5. Second rebound mechanism; 51. Mounting base; 52. Rebound frame; 53. Support frame; 54. Third pipe clamp; 55. First storage slot; 56. First torsion spring; 57. Second torsion spring; 58. Slide groove; 59. Slide rod; 510. Elastic element; 511. Rebound block; 512. Second storage slot; 513. Support part; 514. Stop block;

[0038] 6. Conduit. Detailed Implementation

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0040] Example: This example discloses a wiring harness connector pipeline structure for collaborative robot motion, such as... Figure 1 - Figure 9 As shown, the system includes: a conduit 6 for housing the cable, the conduit 6 being a corrugated flexible conduit; a conduit box 1, which is mounted on the top of the robot arm via a bracket and is used to store the conduit 6; a first spring-loaded mechanism 2 fixedly mounted on the robot forearm, used to spring back the conduit 6 and store it into the conduit box 1; a connecting assembly 4 fixedly mounted on the robot rotating head; and a fixing assembly 3 fixedly mounted on the robot arm, used to fix the conduit 6 to the robot arm. The specific installation position of the conduit structure in this embodiment is as follows: Figure 9 As shown, after the cable 6 emerges from the bottom of the robot, it is first installed on the robot's upper arm through the fixing component 3, then passes through the cable box 1 and exits from the outlet 15, then passes through the first spring mechanism 2 and is installed on the robot's lower arm, and finally passes through the connecting component 4 and is installed on the robot's rotating head.

[0041] like Figure 2 - Figure 3As shown, the conduit box 1 has a circular box structure and is composed of two housings 18. The two housings 18 are fixedly connected by screws. The conduit box 1 has an arc-shaped storage cavity 19 inside for storing the conduit 6. A second spring mechanism 5 is fixedly installed inside the conduit box 1 to drive the conduit 6 to spring back and be completely stored in the storage cavity 19. During storage, the first spring mechanism 2 first springs the conduit 6 back into the conduit box 1, and then the second spring mechanism 5 fully springs the conduit 6 back into the storage cavity 19 to ensure maximum return of the conduit 6. The elasticity allows for greater movement of the robot. In this embodiment, the circumference of the cable box 1 is provided with an inlet 16 for the cable 6 to enter, and an arc-shaped groove 11 is also provided on the circumference. A pair of arc-shaped guide rails 12 are provided on both sides of the arc-shaped groove 11. A first slider 13 is slidably connected to the arc-shaped guide rails 12. The first slider 13 is provided with an outlet 15 for the cable 6 to exit. In this embodiment, the arc-shaped groove 11 is located at the top of the cable box 1 facing upwards, and the inlet 16 is located on the side of the cable box 1, so that the inlet 16 and the outlet of the cable box 1 are connected. The angle between points 15 and 15 is much less than 360°, resulting in a smaller bending angle and a larger bending radius for the conduit 6. A first sleeve 14 for guiding the conduit 6 is fixedly connected to the first slider 13, and a first clamp 17 for clamping and securing the conduit 6 is fixedly installed at the inlet 16. The first clamp 17 consists of two hinged arc-shaped clamping blocks, which fix the conduit 6 at the inlet 16. When the robot arm extends or rotates, it drives the conduit 6 to exit from the outlet 15, while the conduit 6 at the inlet 16 remains stationary. When the action ends, the cable 6 springs back into the cable box 1 under the elastic force of the first spring mechanism 2, and is completely stored in the arc-shaped storage cavity 19 under the elastic force of the second spring mechanism 5. The second spring mechanism 5 ensures the maximum spring extension of the cable 6 to match the robot's larger range of motion. When the robot's rotating head rotates, as the cable 6 is wound, the first slider 13 slides along the arc-shaped guide rail 12, which can reduce the length and angle of the cable 6 wound on the robot arm, thereby matching the rotational motion of the robot's rotating head.

[0042] Compared to the U-shaped cable box structure in the prior art, the cable box 1 in this embodiment adopts a circular box structure. The angle between the cable inlet 16 and the cable outlet 15 of the cable box 1 is much less than 360°. The bending angle of the cable 6 in the cable box 1 is smaller and the bending radius is larger, which can reduce the damage to the cable 6 and extend the service life of the cable 6. In addition, because the bending radius of the cable 6 in the cable box 1 is larger, the rebound shrinkage of the cable box 1 on the cable 6 is greater, so as to cooperate with the robot's larger range of motion.

[0043] like Figure 4As shown, the second rebound mechanism 5 includes a mounting base 51 fixedly connected to the conduit box 1, a rebound frame 52 rotatably connected to the mounting base 51, a rebound block 511 slidably connected to the rebound frame 52, a support frame 53 rotatably connected to the rebound block 511, and a third pipe clamp 54 hinged to the end of the support frame 53. The mounting base 51 is fixedly installed on the inner wall of the conduit box 1 by screws, and the third pipe clamp 54 clamps and fixes the conduit 6. A first torsion spring 56 is installed on the rotating shaft of the rebound frame 52 for rebounding and resetting the rebound frame 52. A second torsion spring 57 is installed on the pivot of the support frame 53 for rebounding and resetting the support frame 53; the surface of the rebound frame 52 is provided with a groove 58 that is slidably connected to the rebound block 511, and a slide rod 59 that is slidably connected to the rebound block 511 is fixedly connected in the groove 58. An elastic element 510 is connected to the surface of the slide rod 59. The elastic element 510 is a cylindrical spring, and a stop block 514 is provided at one end of the groove 58; when the robot arm moves in a stretching motion, the cable 6 exits from the outlet 15. During the cable exiting the cable 6, the support frame 53 is driven sequentially. 3 and the return frame 52 rotate toward the outlet 15, causing the first torsion spring 56 and the second torsion spring 57 to deform and store elastic potential energy. Simultaneously, this drives the return block 511 to slide toward the return seat 1 within the groove 58, compressing the elastic element 510. When the robot arm's movement ends, the support frame 53 and the return frame 52 rotate back to their original positions under the elastic force of the two torsion springs. At the same time, the return block 511 slides away from the mounting base 51 under the elastic force of the elastic element 510, thus completely retracting and storing the cable 6. Inside cavity 19, the second rebound mechanism 5, through the sliding design of the rebound block 511 and the rebound frame 52, allows the support frame 53 to be stored on the rebound frame 52 during the cable tube 6 exit process, reducing the overall length of the support frame 53 and the rebound frame 52, and preventing the support frame 53 from getting stuck in the cable box 1; similarly, when the cable tube 6 is stored in the cable box 1, the support frame 53 continuously extends during rotation, thereby storing the cable tube 6 in the storage cavity 19, ensuring the maximum extension and contraction of the cable tube 6 in the cable box 1.

[0044] Preferably, the mounting base 51 is provided with a first storage groove 55 that cooperates with the rebound frame 52, and the rebound block 511 is provided with a second storage groove 512 that cooperates with the support frame 53; the surface of the support frame 53 is provided with an arc-shaped protruding support part 513; when the conduit 6 in the conduit box 1 is fully pulled out, the rebound frame 52 rotates completely into the first storage groove 55, the support frame 53 rotates completely into the second storage groove 512, and the conduit 6 is attached to the surface of the support part 513.

[0045] like Figure 5 - Figure 6As shown, the first rebound mechanism 2 includes a track frame 21, a pair of wire sleeves 26 fixedly installed at both ends of the track frame 21, and a rebound seat 23 slidably connected to the track frame 21. A second pipe clamp 24 is fixedly installed on the rebound seat 23 for clamping and fixing the wire tube 6. A return spring 25 is connected between the second pipe clamp 24 and one of the wire sleeves 26. During installation, the return spring 25 is sleeved on the surface of the wire tube 6. The first rebound mechanism 2 also includes a first mounting bracket 22. In this embodiment, there are two first mounting brackets 22. An arc-shaped slide rail 28 is fixedly connected to the first mounting bracket 22. A second slider 27 that is slidably connected to the arc-shaped slide rail 28 is fixedly connected to the bottom surface of the track frame 21. In this embodiment, the first rebound mechanism 2, through the design of the arc-shaped slide rail 28 and the second slider 27, enables the track frame 21 to slide left and right along the arc-shaped slide rail 28, thereby cooperating with the rotational movement of the robot rotating head and reducing the length and angle of the wire tube 6 wound on the robot arm.

[0046] like Figure 7 As shown, the fixing component 3 includes a wire frame 31 fixedly installed on the robot arm, a pair of fourth pipe clamps 32 fixedly installed at both ends of the wire frame 31, and a second mounting bracket 33 fixedly connected to the wire frame 31. In this embodiment, the wire tube 6 is fixedly installed on the robot arm by the fixing component 3, which ensures the stability of the wire tube 6.

[0047] like Figure 8 As shown, the connecting assembly 4 includes a clamping ring 41 fixedly connected to the robot rotating head, a connecting seat 42, and a fifth pipe clamp 43 fixedly installed on the connecting seat 42. The clamping ring 41 includes two semi-circular clamping plates that are hinged to each other. A connecting rod 44 is fixedly connected between the connecting seat 42 and the clamping ring 41. After the cable 6 exits from the fifth pipe clamp 43, the cable inside the cable 6 is connected to the robot actuator. In this embodiment, the first pipe clamp 17, the second pipe clamp 24, the third pipe clamp 54, the fourth pipe clamp 32, and the fifth pipe clamp 43 all adopt the same structure, consisting of two clamping blocks that are hinged to each other, and the two clamping blocks are fixedly connected by bolts.

[0048] Working principle: The conduit 6 is installed on the robot at the corresponding position through the conduit box 1, the fixing component 3, the first spring mechanism 2, and the connecting component 4. When the robot arm moves in and out, the first spring mechanism 2 and the second spring mechanism 5 drive the conduit 6 in and out of the conduit box 1 to match the extension and retraction of the robot arm. Through the action of the first spring mechanism 2 and the second spring mechanism 5, the conduit 6 can be completely stored in the storage cavity 19 inside the conduit box 1. Compared with the prior art, in this embodiment, the conduit 6 has a smaller bending angle and a larger bending radius when stored in the conduit box 1, which can reduce damage to the conduit 6 and extend the service life of the conduit 6. The conduit box 1 has a larger spring-shrinkage amount for the conduit 6, which can match the robot's larger range of motion. When the robot's rotating head rotates, the conduit 6 can drive the track frame 21 to slide left and right along the arc-shaped slide rail 28, and at the same time drive the first slider 13 to slide along the arc-shaped guide rail 12, reducing the length and angle of the conduit 6 wound on the robot arm, thereby matching the rotation of the robot's rotating head.

[0049] Finally, it should be noted that in the description of this invention, the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0050] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wire harness connector tube structure that cooperates with robot motion, characterized by, Include: A cable tube (6) for accommodating cables; A pipeline box (1) fixedly installed on the robot arm for accommodating the cable tube (6); A first rebound mechanism (2) fixedly installed on the robot arm for driving the cable tube (6) to rebound and accommodate into the pipeline box (1); A connecting assembly (4) fixedly installed on the robot rotary head; A fixing assembly (3) fixedly installed on the robot arm for fixing the cable tube (6) on the robot arm; The pipeline box (1) is in a circular box structure and has an arc-shaped accommodation cavity (19) inside, and a second rebound mechanism (5) is fixedly installed inside the pipeline box (1) for driving the cable tube (6) to rebound and completely accommodate into the accommodation cavity (19); The peripheral surface of the pipeline box (1) is provided with a wire inlet (16) for the cable tube (6), and an arc-shaped slot (11) is further provided on the peripheral surface, and a pair of arc-shaped guide rails (12) are provided on both sides of the arc-shaped slot (11), and a first sliding block (13) is slidingly connected on the arc-shaped guide rail (12), and a wire outlet (15) is provided on the first sliding block (13) for the cable tube (6).

2. A wire harness connector tube structure coordinating robot motion according to claim 1, wherein, The pipeline box (1) is composed of two shell bodies (18), and the wire inlet (16) is fixedly provided with a first pipe clamp (17) for clamping and fixing the cable tube (6), and the first sliding block (13) is fixedly connected with a first pipe sleeve (14) for guiding the cable tube (6).

3. A wire harness connector tube structure that cooperates with robot motion according to claim 1, characterized by, The first rebound mechanism (2) comprises a track frame (21), a pair of wire sleeves (26) fixedly installed on both ends of the track frame (21), and a rebound seat (23) slidingly connected on the track frame (21), and a second pipe clamp (24) is fixedly installed on the rebound seat (23) for clamping and fixing the cable tube (6), and a return spring (25) is connected between the second pipe clamp (24) and one of the wire sleeves (26).

4. A wire harness connector tube structure coordinating robot motion according to claim 3, wherein, The first rebound mechanism (2) further comprises a first mounting bracket (22), and an arc-shaped sliding rail (28) is fixedly connected on the first mounting bracket (22), and a second sliding block (27) is slidingly connected with the arc-shaped sliding rail (28) on the bottom surface of the track frame (21).

5. A wire harness connector tube structure that cooperates with robot motion according to claim 1, characterized by, The second rebound mechanism (5) comprises a mounting seat (51) fixedly connected with the pipeline box (1), a rebound frame (52) rotatably connected with the mounting seat (51), a rebound block (511) slidingly connected with the rebound frame (52), a support frame (53) rotatably connected with the rebound block (511), and a third pipe clamp (54) hingedly connected at the end of the support frame (53); a first torsion spring (56) is installed on the rotating shaft of the rebound frame (52), and a second torsion spring (57) is installed on the rotating shaft of the support frame (53).

6. A wire harness connector tube structure coordinating robot motion according to claim 5, wherein, The surface of the rebound frame (52) is provided with a sliding groove (58) slidingly connected with the rebound block (511), and a sliding rod (59) slidingly connected with the rebound block (511) is fixedly connected in the sliding groove (58), and an elastic member (510) is connected on the surface of the sliding rod (59), and a stop block (514) is provided at one end of the sliding groove (58).

7. A wire harness connector tube structure that cooperates with the movement of a robot according to claim 5, wherein, The mounting seat (51) is provided with a first receiving groove (55) matched with a rebound frame (52), and the rebound block (511) is provided with a second receiving groove (512) matched with a support frame (53); the surface of the support frame (53) is provided with an arc-shaped protruding support part (513).

8. A wire harness connector tube structure that cooperates with the movement of a robot according to claim 1, characterized by, The fixing assembly (3) comprises a wire rack (31) fixedly installed on the robot arm, a pair of fourth pipe clamps (32) fixedly installed at two ends of the wire rack (31), and a second mounting bracket (33) fixedly connected with the wire rack (31).

9. A wire harness connector tube structure that cooperates with the movement of a robot according to claim 1, characterized by, The connecting assembly (4) comprises a clamping ring (41) fixedly connected with the robot rotary head, a connecting seat (42), and a fifth pipe clamp (43) fixedly installed on the connecting seat (42); the connecting seat (42) and the clamping ring (41) are fixedly connected with a connecting rod (44).

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