Mechanical arm drag chain and outer cover co-bending hinge section joint structure

Abstract

The mechanical arm drag chain and cover co-bending hinged section joint structure is characterized in that: the drag chain bottom mounting plate and the cover inner side wall are integrally blanked and bent by the same bending line, which not only ingeniously realizes the combination of the functions of the drag chain bearing surface and the cover inner reinforcing rib, but also eliminates the physical boundary between the drag chain and the cover from the structure; the hinge pair composed of continuous wave-shaped flanging and high-temperature-resistant silica gel strips can evenly disperse the rotating stress in the surface contact engagement state of the wave peak and valley alternately fitting, effectively absorb the deformation stress generated by the large-angle movement of the mechanical arm in combination with the preset pre-bending angle, and the high-temperature-resistant silica gel strips arranged in close contact not only form a reliable bending buffer sealing area, but also improve the anti-fatigue wear performance of the hinge part; the slot-shaped rotating buckle and the anti-misassembly positioning convex point arranged on the section joint end cover realize quick manual locking and unlocking without any tools.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a structure in which the drag chain and outer cover of a robotic arm are bent and hinged together. Background Technology

[0002] Industrial and collaborative robots typically require protective covers and cable-guided drag chains around the joints of their robotic arms to provide airtight protection for internal cables and precision components, preventing cables from becoming tangled or pulled during the robot's multi-joint complex movements. As robots evolve towards higher integration and lighter weight, the external protective structure not only needs to meet basic requirements for dust and impact protection, but also needs to maintain extremely high structural stability and responsive reliability during frequent, large-angle bending movements of the robotic arm. Currently, most existing robotic arm covers are assembled using a segmented fixing method, forming a common technical paradigm in practical applications.

[0003] However, existing robotic arm perimeter protection technologies still have several significant drawbacks. Firstly, most outer casings use fixed covers or bolts to connect adjacent sections. When teaching programming, internal maintenance, or cable replacement is required, operators must sequentially disassemble multiple casing sections, a cumbersome and time-consuming process that severely reduces on-site maintenance efficiency. Secondly, cable carriers are typically installed as independent standard components on the outside of the robotic arm. This independent installation not only occupies valuable external installation space but also, when the robotic arm bends significantly, the carrier's trajectory can easily interfere with the fixed rigid casing, causing jamming or even frictional damage, leading to equipment malfunctions. While some existing technologies employ segmented casings to accommodate bending, the carrier and casing remain physically separated. Under long-term reciprocating bending fatigue, the gaps between the separate structures are prone to wear, and the problem of the large space occupied by the carrier cannot be fundamentally solved.

[0004] Therefore, there is an urgent need in this field to develop a robotic arm segment structure that can highly integrate the load-bearing and installation function of the cable drag chain with the structural function of the robotic arm protective cover, while possessing good bending flexibility, fatigue resistance, and tool-free quick disassembly and maintenance characteristics, so as to completely solve the engineering and technical problems such as motion interference and disassembly and assembly difficulties caused by the existing split design. Summary of the Invention

[0005] The purpose of this invention is to provide a structure in which the robotic arm cable chain and the outer cover are bent and hinged together to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: This invention provides a structure for a robotic arm cable chain and outer cover that are bent and hinged together, comprising: The snap-on cover is composed of two detachable snap-on cover pieces that are connected together to form an internal accommodating space. The co-bending integrated structure is located inside the snap-on cover and includes a drag chain bottom mounting plate and an inner sidewall of the cover. The drag chain bottom mounting plate and the inner sidewall of the cover are integrally cut from the same sheet material and bent along the same bending line. After bending, the inner sidewall of the cover forms an internal reinforcing rib to enhance the strength of the cover. A hinge joint is provided at the joint between adjacent segments, including a continuous wavy flange and a high-temperature resistant silicone strip disposed inside the continuous wavy flange. The continuous wavy flange has alternating peaks and troughs. Adjacent segments are connected by alternating engagement of the peaks of one segment and the troughs of another segment to form a rotatable hinge connection. The high-temperature resistant silicone strip is compressed to form a sealing area when the peaks and troughs are engaged. The quick-release structure is located on the segment end caps at the openings at both ends of the snap-on cover. It includes a straight-line screw fastener and anti-misalignment positioning protrusions that cooperate with the straight-line screw fastener. The straight-line screw fastener and the anti-misalignment positioning protrusions are used to manually unlock adjacent segments without tools.

[0007] Preferably, both the snap-on cover and the co-bending integrated structure are made of 304 stainless steel sheet with a thickness of 0.8mm, and the bending forming part is provided with a bending radius that meets the requirements of the sheet stamping process.

[0008] Preferably, the continuous wavy flange is provided on the mating surface of adjacent segments facing each other. The crests of the waves protrude outward along the edge of the mating surface, and the troughs of the waves are recessed inward along the edge of the mating surface. When adjacent segments are mated, the crests on one segment are embedded in the troughs on the other segment, forming a wavy continuous surface contact meshing structure.

[0009] Preferably, the high-temperature resistant silicone strip is laid on the inner side of the crest of the continuous wavy flange and arranged along the undulating contour of the crest and trough. When adjacent segments are fitted together, the high-temperature resistant silicone strip is squeezed and deformed, filling the gap between the crest and trough, and forming a continuous sealed compression area extending along the wavy trajectory.

[0010] Preferably, the hinge rotation center of the hinge pair is located at the meshing interface of the continuous wavy flange of the adjacent segments. After the crests and troughs of the adjacent segments are engaged, hinge gaps are reserved on both sides of the high-temperature resistant silicone strip and at the bottom of the meshing troughs. The hinge gaps are used to accommodate the spatial displacement when the adjacent segments rotate relative to each other.

[0011] Preferably, the segment end caps are detachably installed at both ends of the snap-on cover, the anti-misalignment positioning protrusions are arranged along the circumferential position of the segment end caps, and the straight-line buckle is rotatably installed at the center or off-center position of the segment end caps. When the straight-line buckle is rotated to the locking position, the segment end caps of adjacent segments are locked together.

[0012] Preferably, a preset initial pre-bending angle is provided between adjacent segments, and the adjacent segments absorb the torsional deformation stress generated when the robotic arm bends at a large angle through the pre-bending angle.

[0013] Preferably, the co-bending integrated structure connects the drag chain bottom mounting plate and the inner sidewall of the cover at the same bending line. The drag chain bottom mounting plate is located on the upper side of the inner sidewall of the cover and extends horizontally, while the inner sidewall of the cover extends vertically to form the internal reinforcing rib.

[0014] Preferably, the edges of the upper and lower cover pieces are joined together along the length direction, and the upper and lower cover pieces are fixed together by bolts distributed along the length direction through a through-and-fasten connection.

[0015] Preferably, after the co-bending integrated structure is formed in one bending process, the drag chain bottom mounting plate forms a drag chain bearing surface for installing and fixing the cable drag chain, and the inner side wall of the cover forms a stress-bearing reinforcing rib to support the snap-on cover.

[0016] The present invention achieves the following beneficial technical effects compared to the prior art: The present invention provides a robotic arm drag chain and outer cover with a joint bending hinge segment structure, which has the technical characteristics of high integration, long service life and convenient maintenance. By using the same sheet metal to integrally cut the drag chain bottom mounting plate and the inner wall of the cover, and bending them along the same bending line, the function of the drag chain bearing surface and the inner reinforcing rib of the cover is cleverly combined, greatly reducing the number of parts. It also eliminates the physical boundary between the drag chain and the outer cover, fundamentally solving the problems of motion interference and jamming. The hinge pair, which uses continuous wave-shaped flanges and high-temperature resistant silicone strips, can evenly distribute rotational stress by relying on the surface contact engagement state of alternating crests and troughs. Combined with the preset pre-bending angle, it effectively absorbs the deformation stress generated by the large-angle movement of the robotic arm. At the same time, the attached high-temperature resistant silicone strips form a reliable bending buffer sealing area and improve the fatigue wear resistance of the hinge parts. In addition, the one-line screw buckle and anti-misinstallation positioning protrusions on the segment end caps enable quick manual locking and unlocking without the need for any tools, greatly improving the convenience and efficiency of teaching programming and maintenance operations. The structure of this invention has been verified by fatigue testing. Compared with the traditional split structure, the total number of parts is reduced by 40%, the effective internal space utilization rate is increased by 15%, and there is no damage to the contact area between the cable drag chain and the cover. It has excellent industrial promotion value. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an isometric view of a single articulated joint of the robotic arm in this invention; Figure 2 This is a partial enlarged view of the bent portion where the drag chain base plate and the cover body are bent together in this invention; Figure 3 This is a cross-sectional structural diagram of the wave-flange hinged joint in this invention. Detailed Implementation

[0019] Unless otherwise specified, the terms "connection" and "linkage" used in this application include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0020] 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.

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The purpose of this invention is to provide a structure in which the robotic arm cable chain and the outer cover are bent and hinged together to solve the problems existing in the prior art.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Example 1: like Figure 1 and Figure 2As shown, the present invention provides a mechanical arm cable chain and outer cover with a joint bending hinge segment structure, the main frame of which is a snap-fit ​​cover 1. The snap-fit ​​cover 1 is mainly composed of two thin shell plates, an upper cover 2 and a lower cover 3, snapped together along the length direction. Segment end caps 4 are respectively provided at the openings at both ends of the snap-fit ​​cover 1 to seal the internal space. Inside the snap-fit ​​cover 1, there is a mechanical arm joint 12 for installation, and a cable cable chain 13 for accommodating cables and transmitting power is arranged around the mechanical arm joint 12. In order to achieve quick assembly and disassembly, a straight-line buckle 10 is provided on the segment end cap 4, and anti-misassembly positioning protrusions 6 are arranged on the circumferential position of the segment end cap 4. The user only needs to manually rotate the straight-line buckle 10 to lock and unlock the adjacent segments. The anti-misassembly positioning protrusions 6 are used to ensure accurate alignment when the buckle is reset, and prevent misassembly or reverse assembly during assembly. Furthermore, the edges of the upper cover 2 and the lower cover 3 are joined together along the length direction, and the upper cover 2 and the lower cover 3 are locked together by bolts 11 evenly distributed along the length direction, thereby forming a stable protective cover.

[0025] like Figure 2 As shown, the co-bending integrated structure of the present invention is embodied in the construction of the co-bending integrated sheet 7. This co-bending integrated sheet 7 is made of 0.8 mm thick 304 stainless steel sheet. Its specific forming process involves firstly laser-cutting the sheet into a single piece, and then using a CNC bending machine to perform a one-time bending process along the same bending line 15. After bending, the horizontally extending portion forms the cable chain bottom mounting plate 16, the upper surface of which constitutes the cable chain bearing surface 5 for supporting the aforementioned cable cable chain 13; while the vertically extending portion forms the inner wall 8 of the cover, which directly fits against the inner wall of the snap-fit ​​cover 1. The vertically extending portion after bending has a robust structure and also forms the internal reinforcing rib 17 of the cover. A bending radius 18, sufficient for the stamping process, is provided at the arc transition position of the bending process to ensure the structural strength of the sheet during bending. Furthermore, after the cutting and bending of the integrated bending sheet 7, the whole structure forms a co-bending overlapping feature 20, and a co-bending overlapping part 14 is formed at the root position. The aforementioned sheet thickness 19 ensures the lightweight and high rigidity of the overall structure by using a conventional thin sheet specification of 0.8 mm.

[0026] like Figure 3As shown, a flexible rotational connection is achieved between adjacent segments via a hinge joint 9. The hinge joint 9 is located at the mating surface 29 of adjacent robotic arm segments facing each other, and its core component is a continuous wavy flange 21. The continuous wavy flange 21 consists of alternating crests 22 and troughs 23 along the mating surface. The crests 22 on one segment and the troughs 23 on another segment alternately interlock, forming a continuous surface contact engagement. A high-temperature resistant silicone strip 24 is attached to the inner side of the continuous wavy flange 21, and this high-temperature resistant silicone strip 24 is arranged along the undulating wave trajectory of the crests 22 and troughs 23. When adjacent segments are mated, the high-temperature resistant silicone strip 24 is compressed and deformed, filling the interlocking gap between the crests 22 and troughs 23, forming a sealed compression area 28, thereby achieving buffering, shock absorption, and effective dust prevention. Meanwhile, the engagement point of the crest 22 and trough 23 of the hinge joint 9 forms a hinge rotation center 25. Adjacent segments also have a pre-reserved hinge gap 27 to accommodate the displacement space generated during relative rotation. To actively absorb the torsional stress generated during large-angle bending motion of the robotic arm joint 12, a pre-bending angle 26 is preset between adjacent segments, preferably 8°±0.5°. This pre-bending angle ensures stable operation of the robotic arm even under extreme bending conditions, avoiding rigid interference.

[0027] In the specific engineering implementation, the integrated bending plate 7 is first laser-cut and bent into shape in one step to form the cable chain bottom mounting plate 16 and the inner wall 8 of the cover. Then, the cable cable chain 13 is installed on the cable chain bearing surface 5. Next, the high-temperature resistant silicone strip 24 is embedded inside the crest 22 of the continuous wavy flange 21, the upper cover 2 and the lower cover 3 are fastened together, and the segment end caps 4 are installed at both ends. After testing, the structure showed no wear or perforation at the contact area between the cable chain bearing surface 5 and the robotic arm joint 12 after 50,000 bending fatigue tests. Compared with the traditional split structure, the total number of parts in this invention is reduced by 40%, and the effective internal space utilization rate is increased by 15%. In summary, this embodiment fully utilizes the structural advantages of the integrated bending plate 7 and the continuous wavy flange 21, and can provide excellent protection and bearing effect when the robotic arm moves at high speed and large angle.

[0028] 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.

[0029] It should be noted that the components mentioned in the above embodiments are all general standard parts or components known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0030] This invention has illustrated its principles and implementation methods using specific examples. The descriptions of these embodiments are merely illustrative of the method and its core ideas; furthermore, those skilled in the art will recognize that modifications may be made to the specific implementation methods and application scope based on the principles of this invention. Therefore, the content of this specification should not be construed as limiting the invention.

Claims

1. A robotic arm cable chain and outer cover share a bent hinged segment structure, characterized in that, include: The snap-on cover is composed of two detachable snap-on cover pieces that are connected together to form an internal accommodating space. The co-bending integrated structure is located inside the snap-on cover and includes a drag chain bottom mounting plate and an inner sidewall of the cover. The drag chain bottom mounting plate and the inner sidewall of the cover are integrally cut from the same sheet material and bent along the same bending line. After bending, the inner sidewall of the cover forms an internal reinforcing rib to enhance the strength of the cover. A hinge joint is provided at the joint between adjacent segments, including a continuous wavy flange and a high-temperature resistant silicone strip disposed inside the continuous wavy flange. The continuous wavy flange has alternating peaks and troughs. Adjacent segments are connected by alternating engagement of the peaks of one segment and the troughs of another segment to form a rotatable hinge connection. The high-temperature resistant silicone strip is compressed to form a sealing area when the peaks and troughs are engaged. The quick-release structure is located on the segment end caps at the openings at both ends of the snap-on cover. It includes a straight-line screw fastener and anti-misalignment positioning protrusions that cooperate with the straight-line screw fastener. The straight-line screw fastener and the anti-misalignment positioning protrusions are used to manually unlock adjacent segments without tools.

2. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, Both the snap-on cover and the co-bending integrated structure are made of 0.8mm thick 304 stainless steel sheet, and the bending forming part is provided with a bending radius that meets the requirements of the sheet stamping process.

3. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, The continuous wavy flange is set on the mating surface of adjacent segments facing each other. The crests of the waves protrude outward along the edge of the mating surface, and the troughs of the waves are recessed inward along the edge of the mating surface. When adjacent segments are mated, the crests on one segment are embedded in the troughs on the other segment, forming a continuous wavy surface contact meshing structure.

4. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, The high-temperature resistant silicone strip is laid on the inner side of the crest of the continuous wavy flange and arranged along the undulating contour of the crest and trough. When adjacent segments are fitted together, the high-temperature resistant silicone strip is squeezed and deformed, filling the gap between the crest and trough, and forming a continuous sealed compression area extending along the wavy trajectory.

5. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, The hinge rotation center of the hinge pair is located at the meshing interface of the continuous wavy flange of the adjacent segments. After the crests and troughs of the adjacent segments are engaged, hinge gaps are reserved on both sides of the high-temperature resistant silicone strip and at the bottom of the meshing trough. The hinge gaps are used to accommodate the spatial displacement when the adjacent segments rotate relative to each other.

6. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, The segment end caps are detachably installed at both ends of the snap-on cover. The anti-misalignment positioning protrusions are set along the circumferential position of the segment end caps. The straight-line buckle is rotatably installed at the center or off-center position of the segment end caps. When the straight-line buckle is rotated to the locking position, the segment end caps of adjacent segments are locked together.

7. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, A preset initial pre-bending angle is provided between adjacent segments, and the adjacent segments absorb the torsional deformation stress generated when the robotic arm bends at a large angle through the pre-bending angle.

8. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, The co-bending integrated structure connects the drag chain bottom mounting plate and the inner sidewall of the cover at the same bending line. The drag chain bottom mounting plate is located on the upper side of the inner sidewall of the cover and extends horizontally. The inner sidewall of the cover extends vertically to form the internal reinforcing rib.

9. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, The edges of the upper and lower cover pieces are joined together along the length direction, and the upper and lower cover pieces are fixed together by bolts distributed along the length direction through a through-and-fasten connection.

10. The robotic arm cable chain and outer cover share a bent hinged segment structure according to claim 1, characterized in that, After the integrated structure is formed in one bending process, the bottom mounting plate of the cable drag chain forms a drag chain bearing surface for installing and fixing the cable drag chain, and the inner side wall of the cover forms a stress-bearing reinforcing rib to support the snap-on cover.

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