Telescopic device for robot pipeline package

Abstract

The invention relates to the technical field of manipulators, in particular to a telescopic device for a robot pipeline package, which comprises a support, an outer cylinder, a first inner cylinder, a second inner cylinder and an elastic piece, the pipeline package penetrates through the outer cylinder, the outer cylinder is arranged on the support, the first inner cylinder is coaxially inserted into the outer cylinder in a sliding manner and sleeves the pipeline package, and the second inner cylinder is arranged on the support. And is configured to be coaxially movable with the pipeline package. The multiple second inner barrels are arranged, the second inner barrels and the first inner barrel are connected into a whole in series through the multiple elastic pieces, and in the pipeline bag stretching process, due to the fact that the sum of the compression lengths of the elastic pieces is equal to the moving distance of the first inner barrel, under the condition that the pipeline bag stretches by the same length, the pipeline bag can be stretched more stably. The length variation of the elastic piece is smaller than the length variation of the elastic piece in the prior art, so that the problem that the elastic piece is permanently bent laterally and cannot keep axial linear expansion and contraction due to the fact that the length variation of the elastic piece is too large can be effectively prevented, and the stable take-up and pay-off rhythm of the pipeline package is ensured.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a telescopic device for robotic tubing packages. Background Technology

[0002] Robot pipeline packages are specialized modular components that integrate various pipelines required for the operation of robotic arms, serving as the "lifeline" for ensuring the power and signal transmission of robotic arms.

[0003] During operation, robotic arms typically perform complex movements such as extension, swing, rotation, and pitch. If the tubing bundle is directly fixed to the robotic arm, the tubing inside can easily be stretched or taut, or the tubing bundle can frequently rub against and collide with surrounding equipment, leading to tubing damage. Therefore, a telescopic device needs to be installed on the robotic arm so that the tubing is stretched synchronously when the robotic arm extends and contracts synchronously when the robotic arm retracts, thus ensuring that the tubing is always in a relaxed and controllable state.

[0004] Taking an existing telescopic device with a built-in spring as an example, it includes an inner cylinder, an outer cylinder, and a spring. The inner cylinder is slidably inserted into the outer cylinder, and the spring is located inside the outer cylinder and connected between the outer and inner cylinders. The pipeline passes through the center of the inner cylinder and is fixedly connected to it. A guide rail is provided between the outer and inner cylinders to assist the inner cylinder in sliding relative to the outer cylinder along its axis. When the robot extends, the pipeline is stretched, and at this time, the pipeline and the inner cylinder move along the guide rail. At this time, the spring deforms. When the robot retracts, the spring pushes the inner cylinder to move in the opposite direction, and the inner cylinder drives the pipeline to move in the opposite direction synchronously until the spring returns to its original length.

[0005] However, existing pipeline expansion joints have the following problems: when the inner cylinder moves relative to the outer cylinder along the guide rail, the length of the spring changes significantly. Long-term use can easily cause the spring to bend permanently, making it unable to maintain axial linear expansion and contraction. This disrupts the smooth opening and closing rhythm of the pipeline bundle, causing mechanical damage to the internal pipeline, transmission failure, and other chain negative effects. Summary of the Invention

[0006] Therefore, it is necessary to provide a robotic telescopic device for pipeline packages to address the problems existing in current pipeline package telescopic devices. This device would solve the problem that the spring length varies greatly, and prolonged use can easily cause the spring to bend permanently, making it unable to maintain axial linear extension and retraction. This, in turn, disrupts the smooth opening and closing rhythm of the pipeline package, causing mechanical damage to the internal pipeline, transmission failure, and other chain-reaction negative effects.

[0007] The above objectives are achieved through the following technical solutions: A telescopic device for a robotic tubing package includes: support; The outer cylinder is mounted on a support. The first inner cylinder is coaxially slidably inserted into the inside of the outer cylinder and sleeved on the outside of the pipeline package, and is configured to be able to move coaxially with the pipeline package; The second inner cylinder has multiple parts, which are coaxially spaced and slidably inserted into the interior of the outer cylinder, and are located on one side of the first inner cylinder; There are multiple elastic elements, which are respectively connected between the first inner cylinder and the second inner cylinder, between two adjacent second inner cylinders, and between the second inner cylinder and the outer cylinder; Furthermore, when the length of the pipeline package is extended, the elastic force of the elastic element increases.

[0008] Preferably, when the length of the pipeline package changes, the outer cylinder rotates circumferentially relative to the first inner cylinder.

[0009] Preferably, the support is provided with a drive assembly for driving the outer cylinder to rotate circumferentially.

[0010] Preferably, the plurality of second inner cylinders are threadedly connected to the inner circumferential wall of the outer cylinder, and are configured such that when the outer cylinder rotates circumferentially, the moving speed of the plurality of second inner cylinders is less than the moving speed of the first inner cylinder, and the compression amount of the elastic element connected to the end of the plurality of second inner cylinders away from the first inner cylinder is the same.

[0011] Preferably, the second inner cylinder includes an outer ring and an inner ring. The outer ring is threaded to the inner circumferential wall of the outer cylinder and is configured to move only along its axis. The inner ring is rotatably connected to the outer ring. A plurality of spiral protrusions are provided at equal intervals on the inner circumferential surface of the inner ring, and the spiral protrusions are pressed against the outside of the pipeline package. A transmission assembly is provided between the inner ring and the outer cylinder, and is configured such that when the outer cylinder rotates circumferentially, the inner ring rotates circumferentially at the same time.

[0012] Preferably, the transmission assembly includes a first gear ring, a planetary gear, and a second gear ring. The first gear ring is coaxially disposed on the inner circumferential wall of the outer cylinder, the planetary gear is rotatably disposed on the outer ring, and the second gear ring is coaxially disposed on the outer circumferential surface of the inner ring. The planetary gear meshes with the first gear ring and the second gear ring.

[0013] Preferably, the pipeline package is equipped with a tension sensor to detect the tension force acting on the pipeline package; The tension sensor is connected to the drive component. When the tension exceeds the preset value, the drive component drives the outer cylinder to accelerate circumferential rotation.

[0014] Preferably, when the frictional force between the pipeline package and the first inner cylinder is greater than a preset value, the pipeline package moves axially relative to the first inner cylinder.

[0015] Preferably, the bracket is provided with a rotating support frame, which is rotatably sleeved on the outside of the outer cylinder.

[0016] Preferably, the bracket is provided with a dust cover.

[0017] The beneficial effects of this invention are: This invention features multiple second inner cylinders connected in series with the first inner cylinder via multiple elastic elements. When the pipeline bundle extends, the sum of the compression lengths of each elastic element equals the movement distance of the first inner cylinder. Therefore, when the pipeline bundle extends by the same length, the length change of the elastic elements in this invention is less than that in the prior art. This effectively prevents the problems of permanent lateral bending of the elastic elements and inability to maintain axial linear expansion and contraction caused by excessive length changes. This ensures a smooth extension and retraction rhythm of the pipeline bundle and avoids a chain reaction of negative effects such as mechanical damage and transmission failure to the pipeline inside the pipeline bundle. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of a telescopic device for a robot pipeline package according to the present invention; Figure 2 This is a schematic diagram of the connection of the outer cylinder in a telescopic device for a robot pipeline package according to the present invention; Figure 3 for Figure 2 The left view; Figure 4 for Figure 3 Sectional view of AA; Figure 5 for Figure 4 A magnified schematic diagram of the structure at point B in the middle; Figure 6 for Figure 2 Front view; Figure 7 for Figure 6 CC section view; Figure 8 for Figure 7 A magnified schematic diagram of the structure at point D; Figure 9 for Figure 2 Exploded view; Figure 10 This is a schematic diagram showing the connection between the first inner cylinder and the second inner cylinder in a telescopic device for a robot pipeline package according to the present invention.

[0019] in: 100. Bracket; 200, outer cylinder; 210, threaded groove; 310. First inner cylinder; 320. Second inner cylinder; 321. Outer ring; 322. Inner ring; 323. Spiral protrusion; 324. Spiral pin; 330. Elastic element; 400. Drive assembly; 410. Motor; 420. First gear; 430. Second gear; 500. Transmission assembly; 510. First gear ring; 520. Planetary gear; 530. Second gear ring; 600. Rotate the support frame; 700. Dust cover; 800, Pipeline Package. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0021] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They 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, and therefore should not be construed as limiting the invention.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] like Figures 1 to 10As shown, a telescopic device for a robot cable bundle includes a support 100, an outer cylinder 200, a first inner cylinder 310, a second inner cylinder 320, and elastic elements 330. The cable bundle 800 passes through the outer cylinder 200, which is mounted on the support 100. The first inner cylinder 310 is coaxially slidably inserted into the interior of the outer cylinder 200 and sleeved on the exterior of the cable bundle 800, and is configured to move coaxially with the cable bundle 800. There are multiple second inner cylinders 320, which are coaxially spaced and slidably inserted into the interior of the outer cylinder 200, and are located on one side of the first inner cylinder 310. There are multiple elastic elements 330, which are respectively connected between the first inner cylinder 310 and the second inner cylinder 320, between two adjacent second inner cylinders 320, and between the second inner cylinder 320 and the outer cylinder 200, and are configured such that the elastic force of the elastic element 330 increases when the length of the cable bundle 800 is extended.

[0024] When the robot's robotic arm extends, the length of the tubing bundle 800 is stretched. Since the first inner cylinder 310 is fitted over the tubing bundle 800 and configured to move coaxially with it, as... Figure 4 As shown, at this time, the first inner cylinder 310 moves axially from right to left within the outer cylinder 200 along with the pipeline bundle 800. Since the first inner cylinder 310 and the second inner cylinder 320, adjacent second inner cylinders 320, and the second inner cylinder 320 and the outer cylinder 200 are all connected by elastic elements 330, when the elastic force of the elastic element 330 on the right side of each second inner cylinder 320 is greater than the frictional force between the corresponding second inner cylinder 320 and the outer cylinder 200 wall, each second inner cylinder 320 moves from right to left. Then, as the pipeline bundle 800 continues to elongate, each elastic element 330 continues to be compressed. Since the sum of the compression lengths of each elastic element 330 is equal to the moving distance of the first inner cylinder 310, when the pipeline bundle 800 extends by the same length, the length change of the elastic element 330 in this invention is less than that of the elastic element 330 in the prior art. Therefore, it can effectively prevent the problem of permanent lateral bending of the elastic element 330 and inability to maintain axial linear expansion and contraction caused by excessive length change of the elastic element 330. This ensures that the opening and closing rhythm of the pipeline bundle 800 is stable and avoids chain negative effects such as mechanical damage and transmission failure to the pipeline inside the pipeline bundle 800.

[0025] When the robot's robotic arm retracts, under the elastic force of the elastic element 330, the first inner cylinder 310 and the second inner cylinder 320 move in opposite directions from left to right within the outer cylinder 200 until the elastic element 330 returns to its original length. At this time, the first inner cylinder 310 and the second inner cylinder 320 also return to their initial positions.

[0026] It should also be noted that the inner circumferential surface of the outer cylinder 200 should be coated with lubricating oil to prevent excessive friction between the outer cylinder 200 and the first inner cylinder 310 and the second inner cylinder 320, thereby reducing the wear of the first inner cylinder 310, the second inner cylinder 320 and the outer cylinder 200.

[0027] In the prior art, during the movement of the inner cylinder relative to the outer cylinder 200, the sliding contact time between different regions of the outer cylinder 200 and the inner cylinder varies significantly. The surface of the region with a shorter sliding contact time is prone to accumulating impurities such as dust and aged lubricating oil. When these impurities are squeezed between the inner and outer cylinders 200 as the inner cylinder moves, they can easily cause the inner cylinder to jam along the movement of the outer cylinder 200. However, this invention, by setting multiple second inner cylinders 320 and connecting them in series with the first inner cylinder 310 via multiple elastic elements 330, ensures that most of the area of ​​the inner circumferential wall of the outer cylinder 200 is used even when the first inner cylinder 310 moves a short distance relative to the outer cylinder 200. This avoids the problem of jamming when the pipeline 800 extends or shortens.

[0028] In a further embodiment, such as Figure 2 As shown, when the length of the pipeline package 800 changes, the outer cylinder 200 rotates circumferentially relative to the first inner cylinder 310.

[0029] When the robotic arm extends or retracts, the length of the tubing 800 changes (lengthens or shortens). At this time, the outer cylinder 200 rotates circumferentially relative to the first inner cylinder 310. Through the relative rotation of the two, the lubricating oil is evenly applied between the outer cylinder 200 and the first inner cylinder 310, preventing dry friction when the first inner cylinder 310 moves along the axis of the outer cylinder 200.

[0030] In a further embodiment, such as Figure 2 and Figure 6 As shown, a drive assembly 400 is provided on the bracket 100 for driving the outer cylinder 200 to rotate circumferentially. Specifically, the drive assembly 400 includes a motor 410, a first gear 420 and a second gear 430. The motor 410 is mounted on the bracket 100. The first gear 420 is fixedly connected to the output shaft of the motor 410. The second gear 430 is annular and coaxially mounted outside the outer cylinder 200, and the second gear 430 meshes with the first gear 420.

[0031] As the length of the pipeline 800 extends or shortens, the motor 410 is started. The output shaft of the motor 410 drives the first gear 420 to rotate, the first gear 420 drives the second gear 430 to rotate, and the second gear 430 drives the outer cylinder 200 to rotate. At this time, the outer cylinder 200 rotates circumferentially relative to the first inner cylinder 310 and the second inner cylinder 320, thereby evenly spreading the lubricating oil between the outer cylinder 200 and the first inner cylinder 310 and between the outer cylinder 200 and the second inner cylinder 320, avoiding dry friction when the outer cylinder 200, the first inner cylinder 310 and the second inner cylinder 320 move relative to each other.

[0032] Specifically, the elastic element 330 is a compression spring. Due to the characteristic that the compression spring can only be compressed and cannot be circumferentially torn, it can be ensured that when the pipeline package 800 is extended or shortened, the first inner cylinder 310 and the second inner cylinder 320 can only move along their axial direction and cannot rotate synchronously with the first inner cylinder 310 and the second inner cylinder 320.

[0033] In a further embodiment, such as Figure 3 and Figure 4 As shown, multiple second inner cylinders 320 are threadedly connected to the inner circumferential wall of the outer cylinder 200, and are configured such that when the outer cylinder 200 rotates circumferentially, the moving speed of the multiple second inner cylinders 320 is less than the moving speed of the first inner cylinder 310, and the compression amount of the elastic element 330 connected to the end of the multiple second inner cylinders 320 away from the first inner cylinder 310 is the same.

[0034] Under the constraint of the elastic element 330, the second inner cylinder 320 cannot rotate circumferentially, but can only move axially. When the robotic arm extends, the tubing 800 elongates, and the outer cylinder 200 rotates circumferentially. Since multiple second inner cylinders 320 are threadedly connected to the inner circumferential wall of the outer cylinder 200, the second inner cylinder 320 and the first inner cylinder 310 move axially at the same time. Since there is no need to drive the corresponding second inner cylinder 320 to move through the compression and storage of the elastic element 330, and since the compression amount of the elastic element 330 connected to the end of the multiple second inner cylinders 320 away from the first inner cylinder 310 is the same when the outer cylinder 200 rotates circumferentially, it is beneficial to ensure the compression synchronization of multiple elastic elements 330, so as to improve the service life of the whole composed of multiple elastic elements 330.

[0035] When the robotic arm retracts, under the action of the elastic element 330, the first inner cylinder 310 drives the pipeline bundle 800 to move in the opposite direction. At the same time, under the rotation of the outer cylinder 200, multiple second inner cylinders 320 move from left to right. Since the moving speed of the second inner cylinders 320 is less than that of the first inner cylinder 310, the elastic element 330 connected to the first inner cylinder 310 first returns to its original length. At this time, the right end of the first inner cylinder 310 is a certain distance from its initial position. Therefore, the first inner cylinder 310 will not rigidly impact the end face of the outer cylinder 200 during the reset process. Then, as the outer cylinder 200 continues to rotate, each second inner cylinder 320 moves from left to right along its axis to its initial position. At this time, the elastic element 330 connected to each second inner cylinder 320 gradually returns to its original length, thereby pushing the first inner cylinder 310 to move to its initial position.

[0036] To ensure that all second inner cylinders 320 are threadedly connected to the inner circumferential wall of the outer cylinder 200, and to ensure that the compression of the elastic elements 330 connected to the ends of the multiple second inner cylinders 320 that are furthest from the first inner cylinder 310 is the same, specifically, as follows: Figure 5 and Figure 10 As shown, each of the second inner cylinders 320 has a spiral pin 324 on its outer circumferential surface, and the inner circumferential wall of the outer cylinder 200 has a plurality of threaded grooves 210. The pitch of the plurality of threaded grooves 210 increases in integer multiples from the leftmost end. Specifically, the pitch of the leftmost threaded groove 210 is denoted as X, the pitch of the second threaded groove 210 from left to right is 2X, the pitch of the third threaded groove 210 from left to right is 3X, and so on, the pitch of the Nth threaded groove 210 from left to right is NX. Thus, when the outer cylinder 200 rotates one revolution... The distance the leftmost second inner cylinder 320 moves from right to left is X. The compression of the elastic element 330 connected to the left side of the leftmost second inner cylinder 320 is X. The distance the second inner cylinder 320 moves from right to left from left to right is 2X. Since the leftmost second inner cylinder 320 moves to the left by a distance of X, the compression of the elastic element 330 connected to the left side of the second inner cylinder 320 from left to right is also X. And so on. It can be concluded that when the outer cylinder 200 rotates one revolution, the compression of each elastic element 330 is X.

[0037] It should also be noted that the depth of each threaded groove 210 should be configured to vary in a gradient, so as to prevent different threaded grooves 210 from overlapping each other and to ensure the stability of the transmission fit between each threaded groove 210 and the corresponding spiral pin 324.

[0038] In a further embodiment, such as Figure 7 , Figure 8 and Figure 10As shown, the second inner cylinder 320 includes an outer ring 321 and an inner ring 322. The outer ring 321 is threadedly connected to the inner circumferential wall of the outer cylinder 200 and is configured to move only along its axis. The inner ring 322 is rotatably connected to the outer ring 321. A plurality of spiral protrusions 323 are evenly spaced on the inner circumferential surface of the inner ring 322 and the spiral protrusions 323 are pressed against the outside of the pipeline package 800. A transmission assembly 500 is provided between the inner ring 322 and the outer cylinder 200 and is configured such that when the outer cylinder 200 rotates circumferentially, the inner ring 322 rotates circumferentially at the same time, thereby driving the pipeline package 800 to move axially through the spiral protrusions 323 on its inner circumferential wall.

[0039] When the tubing bundle 800 pulls the first inner cylinder 310 to move, the motor 410 starts simultaneously. Through the cooperation of the first gear 420 and the second gear 430, the outer cylinder 200 rotates at a preset speed. At this time, the outer cylinder 200 drives the inner ring 322 to rotate circumferentially through the transmission component 500. The inner ring 322 pushes the tubing bundle 800 from right to left through the spiral protrusion 323. At this time, the rotation speed of the inner ring 322 makes the distance that the spiral protrusion 323 pushes the tubing bundle 800 to move per unit time the same as the length that the tubing bundle 800 is pulled out by the robotic arm per unit time, thereby assisting the tubing bundle 800 to extend and preventing the tubing bundle 800 from being overly taut during the extension process.

[0040] In a further embodiment, such as Figure 7 and Figure 8 As shown, the transmission assembly 500 includes a first gear ring 510, a planetary gear 520, and a second gear ring 530. The first gear ring 510 is coaxially disposed on the inner peripheral wall of the outer cylinder 200. The planetary gear 520 is rotatably disposed on the outer ring 321. The second gear ring 530 is coaxially disposed on the outer peripheral surface of the inner ring 322. The planetary gear 520 meshes with the first gear ring 510 and the second gear ring 530.

[0041] When the outer cylinder 200 rotates, the first gear ring 510 rotates synchronously with the outer cylinder 200. Since the planetary gear 520 is rotatably mounted on the outer ring 321 and the outer ring 321 is configured to not rotate circumferentially, and the planetary gear 520 meshes with the first gear ring 510 and the second gear ring 530 respectively, the planetary gear 520 drives the second gear ring 530 to rotate under force. Since the second gear ring 530 is coaxially mounted on the outer circumferential surface of the inner ring 322, the inner ring 322 rotates under force. The spiral protrusion 323 is located on the inner circumferential wall of the inner ring 322, so the spiral protrusion 323 rotates synchronously with the inner ring 322, thereby pushing the pipeline package 800 to move from right to left through the spiral protrusion 323.

[0042] During the extension of the robot's robotic arm, a sudden change in the shape or trajectory of the robotic arm may cause a significant increase in the elongation of the tubing bundle 800. This can cause the tubing bundle 800 to become momentarily taut, potentially leading to loosening or detachment of the tubing connectors inside the tubing bundle 800. To address this issue, in a further embodiment, the tubing bundle 800 is equipped with a tension sensor to detect the tension force acting on it. The tension sensor is connected to the drive assembly 400. When the tension force exceeds a preset value, the drive assembly 400 drives the outer cylinder 200 to accelerate its circumferential rotation.

[0043] During the extension of the robot's robotic arm, the length of the tubing bundle 800 increases. When the tubing bundle 800 is stretched significantly, it becomes taut. At this point, the tension sensor on the tubing bundle 800 detects a tension value greater than a preset value. The motor 410 then accelerates its rotation, causing the outer cylinder 200 to rotate faster. The outer cylinder 200, through the planetary gear 520, causes the second gear ring 530 to rotate faster. The second gear ring 530 then drives the inner ring 322 to rotate faster, increasing the distance the inner ring 322 pushes the tubing bundle 800 to move from right to left per unit time via the spiral protrusion 323. This increases the distance the tubing bundle 800 moves per unit time to accommodate the sudden lengthening of the tubing bundle 800 and prevent it from becoming overly taut.

[0044] In a further embodiment, when the frictional force between the pipeline bundle 800 and the first inner cylinder 310 is greater than a preset value, the pipeline bundle 800 moves axially relative to the first inner cylinder 310.

[0045] This design allows the pipeline bundle 800 to disengage from the first inner cylinder 310 when the pull-out distance of the pipeline bundle 800 approaches its limit, preventing the pipeline bundle 800 from being pulled apart due to the first inner cylinder 310 moving to the left limit position inside the outer cylinder 200.

[0046] In a further embodiment, such as Figure 2 As shown, a rotating support frame 600 is provided on the bracket 100, and the rotating support frame 600 is rotatably sleeved on the outside of the outer cylinder 200.

[0047] A rotating support frame 600 is provided to provide rotating support and axial limit for the outer cylinder 200.

[0048] In a further embodiment, such as Figure 1 As shown, a dust cover 700 is provided on the outside of the bracket 100.

[0049] A dust cover 700 is provided to protect the outer cylinder 200 and prevent external impurities from falling into the drive assembly 400 and the rotation gap between the rotating support frame 600 and the outer cylinder 200.

[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the 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. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A telescopic device for robot cable packages, characterized in that, include: support; The outer cylinder is mounted on a support. The first inner cylinder is coaxially slidably inserted into the inside of the outer cylinder and sleeved on the outside of the pipeline package, and is configured to be able to move coaxially with the pipeline package; The second inner cylinder has multiple parts, which are coaxially spaced and slidably inserted into the interior of the outer cylinder, and are located on one side of the first inner cylinder; There are multiple elastic elements, which are respectively connected between the first inner cylinder and the second inner cylinder, between two adjacent second inner cylinders, and between the second inner cylinder and the outer cylinder; Furthermore, when the length of the pipeline package is extended, the elastic force of the elastic element increases.

2. The telescopic device for a robot cable package according to claim 1, characterized in that, When the length of the pipeline package changes, the outer cylinder rotates circumferentially relative to the first inner cylinder.

3. The telescopic device for a robot cable package according to claim 2, characterized in that, The support frame is equipped with a drive assembly for driving the outer cylinder to rotate circumferentially.

4. The telescopic device for a robot cable package according to claim 2, characterized in that, Multiple second inner cylinders are threadedly connected to the inner circumferential wall of the outer cylinder, and are configured such that when the outer cylinder rotates circumferentially, the moving speed of the multiple second inner cylinders is less than the moving speed of the first inner cylinder, and the compression of the elastic element connected to the end of the multiple second inner cylinders away from the first inner cylinder is the same.

5. A telescopic device for a robot cable package according to claim 4, characterized in that, The second inner cylinder includes an outer ring and an inner ring. The outer ring is threaded to the inner circumferential wall of the outer cylinder and is configured to move only along its axis. The inner ring is rotatably connected to the outer ring. Several spiral protrusions are evenly spaced on the inner circumferential surface of the inner ring and are pressed against the outside of the pipeline package. A transmission assembly is provided between the inner ring and the outer cylinder, and is configured such that when the outer cylinder rotates circumferentially, the inner ring rotates circumferentially at the same time.

6. A telescopic device for a robot cable package according to claim 5, characterized in that, The transmission assembly includes a first gear ring, a planetary gear, and a second gear ring. The first gear ring is coaxially mounted on the inner circumferential wall of the outer cylinder, the planetary gear is rotatably mounted on the outer ring, and the second gear ring is coaxially mounted on the outer circumferential surface of the inner ring. The planetary gear meshes with the first gear ring and the second gear ring respectively.

7. A telescopic device for a robot cable package according to claim 5, characterized in that, The pipeline package is equipped with a tension sensor to detect the tension force acting on it. The tension sensor is connected to the drive component. When the tension exceeds the preset value, the drive component drives the outer cylinder to accelerate circumferential rotation.

8. A telescopic device for a robot cable package according to claim 1, characterized in that, When the frictional force between the pipeline package and the first inner cylinder is greater than a preset value, the pipeline package moves axially relative to the first inner cylinder.

9. A telescopic device for a robot cable package according to claim 1, characterized in that, The support frame is equipped with a rotating support frame, which is rotatably sleeved on the outside of the outer cylinder.

10. A telescopic device for a robot cable package according to claim 1, characterized in that, The bracket is equipped with a dust cover.

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