Wire harness support device and robot arm

Abstract

The present application relates to a kind of wire harness support device and mechanical arm, the wire harness support device includes: fixed mechanism and limiting mechanism, the fixed mechanism includes fixed seat and support rod, the fixed seat is used to connect with mechanical arm body, the support rod is connected with the fixed seat, the limiting mechanism includes first limiting component, the first limiting component is connected with the support rod, and set in the upper of the fixed seat, the first limiting component has first sliding channel for the wire harness of mechanical arm sliding through.The wire harness support device of the present application can support protection to wire harness, avoid wire harness to interfere with the movement trajectory of mechanical arm body, it is beneficial to improve the reliability of mechanical arm when working.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a wire harness support device and a robotic arm. Background Technology

[0002] In practical applications of robotic arms, wiring harnesses (including cables, air hoses, welding torch wires, and cooling water pipes, etc.) are typically used as dynamic moving parts. In related technologies, the wiring harnesses of robotic arms often lack support, leading to the following technical problems: (1) The wiring harness interferes with the movement trajectory of the robotic arm, and may even collide with the joints or end tools.

[0003] (2) The wire harness is twisted or excessively twisted, resulting in damage to the conductor or sheath.

[0004] (3) If the bending radius of the wire harness is too small, it will increase the resistance of the welding wire feeding, thereby affecting the welding stability and weld quality.

[0005] (4) If the wire harness is positioned too low, it is susceptible to welding spatter, thermal stress, or high-temperature burns from electric arcs, which will shorten its service life. Summary of the Invention

[0006] The present invention aims to at least partially solve one of the technical problems in the related art.

[0007] Therefore, embodiments of the present invention propose a wire harness support device, which can support and protect the wire harness, prevent the wire harness from interfering with the movement trajectory of the robotic arm body, and improve the reliability of the robotic arm during operation.

[0008] An embodiment of the present invention also proposes a robotic arm.

[0009] The wire harness support device according to an embodiment of the present invention includes: a fixing mechanism, the fixing mechanism including a fixing seat and a support rod, the fixing seat being used to connect to the robot arm body, and the support rod being connected to the fixing seat; and a limiting mechanism, the limiting mechanism including a first limiting component, the first limiting component being connected to the support rod and disposed above the fixing seat, the first limiting component having a first sliding channel for the wire harness of the robot arm to slide through.

[0010] In the wire harness support device of the present invention, since the first limiting component is connected to the support rod and is located above the fixed base, the first limiting component has a first sliding channel for the wire harness of the robotic arm to slide through. Thus, the first limiting component can raise the position of the wire harness, avoid excessive drooping of the wire harness and excessively small bending radius, so as to support and protect the wire harness and prevent the wire harness from interfering with the movement trajectory of the robotic arm body, which is beneficial to improving the reliability of the robotic arm during operation.

[0011] In some embodiments, the first limiting component includes a puller and a sleeve, the first sliding channel is disposed in the sleeve, the puller is disposed in the support rod, the puller has a first pull rope and a second pull rope with adjustable length, the first pull rope and the second pull rope are both connected to the sleeve and are arranged at intervals along the extension direction of the first sliding channel.

[0012] In some embodiments, the connection point between the first traction rope and the sleeve is lower than the connection point between the second traction rope and the sleeve, and the traction force of the first traction rope is greater than the traction force of the second traction rope.

[0013] In some embodiments, the sleeve includes a cage and a plurality of rollers, the plurality of rollers being spaced apart from the cage along the extension direction of the first sliding channel, the rollers having a plurality of balls, the plurality of balls being spaced apart circumferentially along the first sliding channel.

[0014] In some embodiments, the support rod includes a vertical section and a bent section, the lower end of the vertical section is connected to the fixed base, the upper end of the vertical section is connected to the bent section, the bent section and the vertical section have a preset angle, and the traction device is detachably installed on the bent section.

[0015] In some embodiments, the support rod extends in a vertical direction, and the first limiting component is arranged near the upper end of the support rod.

[0016] In some embodiments, the wire harness support device further includes a second limiting component disposed near the lower end of the support rod, the second limiting component having a second sliding channel through which the wire harness of the robotic arm slides.

[0017] In some embodiments, the position of the second limiting component along the extension direction of the support rod is adjustable.

[0018] In some embodiments, there are at least two fixing seats, which are arranged at intervals along the extension direction of the support rod.

[0019] Another embodiment of the robotic arm of the present invention includes: a robotic arm body; a wire harness connected to the robotic arm body; and a wire harness support device, wherein the wire harness support device is any one of the wire harness support devices described in the embodiments of the present invention.

[0020] In the robotic arm of the present invention, since the first limiting component is connected to the support rod and is located above the fixed base, the first limiting component has a first sliding channel for the wire harness of the robotic arm to slide through. Thus, the first limiting component can raise the position of the wire harness, avoid excessive drooping of the wire harness and excessively small bending radius, so as to support and protect the wire harness and prevent the wire harness from interfering with the movement trajectory of the robotic arm body, which is beneficial to improving the reliability of the robotic arm during operation.

[0021] In some embodiments, the robotic arm further includes a conduit that is flexibly deformable, the conduit being slidably inserted through the first sliding channel, and the wire harness being inserted through the conduit.

[0022] In some embodiments, the outer peripheral wall of the catheter is provided with a first stop ring, which can abut against the first limiting component along the extension direction of the first sliding channel. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the robotic arm according to an embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the sleeve of the wire harness support device according to an embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the robotic arm body according to an embodiment of the present invention.

[0026] Figure label: 1. Fixing mechanism; 11. Fixing base; 12. Support rod; 121. Vertical section; 122. Bending section; 2. Limiting mechanism; 21. First limiting component; 211. Traction device; 2111. First traction rope; 2112. Second traction rope; 212. Sleeve; 2121. Cage; 21211. First sliding channel; 2122. Roller ring; 21221. Ball bearing; 22. Second limiting component; 221. Second sliding channel; 3. Robotic arm body; 31. Articulated arm; 32. Base; 33. Welding torch; 34. Positioning camera; 4. Conduit; 41. First stop ring; 42. Second stop ring. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0028] The following is a reference appendix. Figures 1 to 3 The present invention describes a wire harness support device and a robotic arm according to embodiments thereof.

[0029] like Figures 1 to 3 As shown, the wire harness support device of this embodiment includes a fixing mechanism 1 and a limiting mechanism 2. The fixing mechanism 1 includes a fixing base 11 and a support rod 12. The fixing base 11 is used to connect to the robot arm body 3, and the support rod 12 is connected to the fixing base 11. The limiting mechanism 2 includes a first limiting component 21, which is connected to the support rod 12 and disposed above the fixing base 11. The first limiting component 21 has a first sliding channel 21211 for the wire harness of the robot arm to slide through.

[0030] In the wire harness support device of the embodiment of the present invention, since the first limiting component 21 is connected to the support rod 12 and is located above the fixed base 11, the first limiting component 21 has a first sliding channel 21211 for the wire harness of the robotic arm to slide through. Thus, the first limiting component 21 can raise the position of the wire harness, prevent the wire harness from drooping excessively and the bending radius from being too small, so as to support and protect the wire harness and avoid the wire harness from interfering with the movement trajectory of the robotic arm body 3, which is beneficial to improving the reliability of the robotic arm during operation.

[0031] Optionally, the first limiting component 21 includes a puller 211 and a sleeve 212. A first sliding channel 21211 is disposed in the sleeve 212, and the puller 211 is disposed in the support rod 12. The puller 211 has a first pull rope 2111 and a second pull rope 2112 with adjustable lengths. Both the first pull rope 2111 and the second pull rope 2112 are connected to the sleeve 212 and are arranged at intervals along the extension direction of the first sliding channel 21211. Since the lengths of the first pull rope 2111 and the second pull rope 2112 are adjustable, the wire harness support device can adjust the vertical position and angle of the sleeve 212 according to the specific length of the wire harness, preventing problems such as excessive sag of the wire harness, excessively short wire harness, and excessively small bending radius, so as to achieve dynamic adjustment and optimized protection of the wire harness.

[0032] For example, the robotic arm is a welding robotic arm.

[0033] Understandably, when the wire harness is too long, it is prone to drooping into the welding area, increasing the risk of welding spatter burns and entanglement, which may lead to overload of the robotic arm. When the wire harness is too short, the robotic arm is easily pulled when performing remote welding actions, causing cable or robotic arm overload, which in turn cannot guarantee that the wire feed tube has a sufficiently large turning radius, resulting in increased wire feeding resistance and decreased welding quality.

[0034] The wire harness support device of this invention can support and protect the wire harness, preventing excessive sagging and avoiding the effects of welding spatter, while also preventing insufficient length during long-distance welding. This ensures interference-free operation within the 360° rotation range of the robotic arm. Furthermore, the wire harness support device of this invention ensures that the wire feed tube maintains a large turning radius during movement, reducing wire feeding resistance, improving welding stability, and significantly extending the wire harness lifespan.

[0035] Optionally, the connection point between the first traction rope 2111 and the sleeve 212 is lower than the connection point between the second traction rope 2112 and the sleeve 212, and the traction force of the first traction rope 2111 is greater than the traction force of the second traction rope 2112. It is understood that the first traction rope 2111 is used to provide basic tightening force to the sleeve 212 and the wire harness. The second traction rope 2112, as an auxiliary tension unit, can adjust the sliding direction of the wire harness, maximizing the dynamic compensation and extension / retraction of the wire harness under different working positions.

[0036] For example, the traction force of the first traction rope 2111 is twice that of the second traction rope 2112.

[0037] For example, the first traction rope 2111 and the second traction rope 2112 are controlled by different balancers to adjust the tension and length of the first traction rope 2111 and the second traction rope 2112.

[0038] Optionally, the sleeve 212 includes a retainer 2121 and a plurality of rollers 2122. The plurality of rollers 2122 are spaced apart on the retainer 2121 along the extending direction of the first sliding channel 21211. Each roller 2122 has a plurality of balls 21221, which are spaced apart circumferentially along the first sliding channel 21211. This can improve the smoothness of the wire harness when it extends and retracts within the first sliding channel 21211 and can effectively limit the minimum bending radius of the wire harness, preventing excessive bending of the wire harness.

[0039] like Figure 1 As shown, the support rod 12 extends in the vertical direction, and the first limiting component 21 is arranged near the upper end of the support rod 12 to raise the wire harness to a certain height and prevent the wire harness from drooping excessively.

[0040] Specifically, such as Figure 1As shown, the support rod 12 includes a vertical section 121 and a bent section 122. The lower end of the vertical section 121 is connected to the fixed base 11, and the upper end of the vertical section 121 is connected to the bent section 122. A preset angle exists between the bent section 122 and the vertical section 121. The puller 211 is detachably installed on the bent section 122. It is understood that the vertical section 121 extends vertically to lift the wire harness to a certain height. The preset angle between the bent section 122 and the vertical section 121 prevents the puller 211 from moving relative to the support rod 12 under external force after installation. Furthermore, since the puller 211 is detachably installed on the bent section 122, it is convenient for workers to disassemble and assemble the puller 211 for subsequent maintenance.

[0041] Optionally, the wire harness support device further includes a second limiting component 22, which is arranged near the lower end of the support rod 12. The second limiting component 22 has a second sliding channel 221 for the wire harness of the robotic arm to slide through. Under the synergistic action of the first limiting component 21 and the second limiting component 22, the wire harness can be further supported and protected, so that the wire harness will not sag excessively, will not be affected by welding spatter, and will not have insufficient length when welding at long distances. This ensures that there is no interference within the 360° rotation range of the robotic arm. Furthermore, the wire harness support device of this embodiment can ensure that the wire feed tube maintains a large turning radius during movement, reduce wire feeding resistance, improve welding stability, and significantly extend the life of the wire harness.

[0042] For example, the position of the second limiting component 22 along the extension direction of the support rod 12 is adjustable, thereby adapting to the fixing requirements of wire harnesses of different lengths and having a wider range of applications.

[0043] like Figure 1 As shown, there are at least two fixed seats 11, which are arranged at intervals along the extension direction of the support rod 12. Both fixed seats 11 are connected to the support rod 12 and the robotic arm body 3, thereby improving the stability of the fixing mechanism 1 after installation.

[0044] Another embodiment of the robotic arm of the present invention includes: a robotic arm body 3, a wiring harness, and a wiring harness support device. The wiring harness is connected to the robotic arm body 3, and the wiring harness support device is the wiring harness support device of the present invention.

[0045] In the robotic arm of the embodiment of the present invention, since the first limiting component 21 is connected to the support rod 12 and is located above the fixed base 11, the first limiting component 21 has a first sliding channel 21211 for the wire harness of the robotic arm to slide through. Thus, the first limiting component 21 can raise the position of the wire harness, avoid excessive drooping of the wire harness and excessively small bending radius, so as to support and protect the wire harness and avoid the wire harness interfering with the movement trajectory of the robotic arm body 3, which is beneficial to improving the reliability of the robotic arm during operation.

[0046] Optionally, the robotic arm also includes a conduit 4, which is flexible and deformable. The conduit 4 slides through the first sliding channel 21211, and the wire harness passes through the conduit 4. Thus, the conduit 4 can provide physical protection for the wire harness to prevent damage from welding spatter, impacts, or other factors.

[0047] Optionally, such as Figure 1 As shown, the outer peripheral wall of the conduit 4 is provided with a first stop ring 41. The first stop ring 41 can abut against the first limiting component 21 along the extension direction of the first sliding channel 21211, thereby constraining the sliding limit position of the conduit 4 to prevent the problem of excessively long or short wire harness distance caused by excessive upward or downward movement of the conduit 4.

[0048] like Figure 1 As shown, the outer peripheral wall of the conduit 4 is provided with a second stop ring 42. The second stop ring 42 can abut against the second limiting component 22 along the extension direction of the second sliding channel 221, thereby constraining the sliding limit position of the conduit 4 to prevent the problem of excessively long or short wire harness distance caused by excessive upward or downward movement of the conduit 4.

[0049] like Figure 1 and Figure 3 As shown, the robotic arm is a multi-degree-of-freedom robot, such as... Figure 3 As shown, the robotic arm has multiple articulated arms 31 and a base 32. The multiple articulated arms 31 are connected in series. The first articulated arm 31 is connected to the base 32, and the last articulated arm 31 is connected to the welding torch 33.

[0050] like Figure 1 As shown, the robotic arm also includes a positioning camera 34, which is located at one end of the articulated arm 31 near the welding torch 33, for taking pictures and positioning the welding area of ​​the welding torch 33.

[0051] The robotic arm of the present invention has at least one of the following technical effects: (1) It can ensure the optimal turning radius of the wire feeding tube of welding gun 33 and effectively reduce the wire feeding resistance.

[0052] (2) It can achieve adaptive adjustment of wire harness length, avoid excessive or insufficient wire harness, and prevent overload of robotic arm.

[0053] (3) It can improve the stability and service life of the robotic arm under complex working conditions.

[0054] (4) It can prevent the position of the wire harness from being too low, thereby reducing the damage to the wire harness and conduit 4 caused by welding spatter and thermal stress.

[0055] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0058] 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.

[0059] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0060] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A wire harness support device, characterized in that, include: The fixing mechanism (1) includes a fixing seat (11) and a support rod (12). The fixing seat (11) is used to connect with the robotic arm body (3), and the support rod (12) is connected to the fixing seat (11). The limiting mechanism (2) includes a first limiting component (21), which is connected to the support rod (12) and is located above the fixed base (11). The first limiting component (21) has a first sliding channel (21211) for the wire harness of the robotic arm to slide through.

2. The wire harness support device according to claim 1, characterized in that, The first limiting component (21) includes a traction device (211) and a sleeve (212). The first sliding channel (21211) is disposed on the sleeve (212). The traction device (211) is disposed on the support rod (12). The traction device (211) has a first traction rope (2111) and a second traction rope (2112) with adjustable length. The first traction rope (2111) and the second traction rope (2112) are both connected to the sleeve (212) and are arranged at intervals along the extension direction of the first sliding channel (21211).

3. The wire harness support device according to claim 2, characterized in that, The connection point between the first traction rope (2111) and the sleeve (212) is lower than the connection point between the second traction rope (2112) and the sleeve (212), and the traction force of the first traction rope (2111) is greater than the traction force of the second traction rope (2112).

4. The wire harness support device according to claim 2, characterized in that, The sleeve (212) includes a retainer (2121) and a plurality of rollers (2122). The plurality of rollers (2122) are spaced apart on the retainer (2121) along the extension direction of the first sliding channel (21211). Each roller (2122) has a plurality of balls (21221) spaced apart circumferentially along the first sliding channel (21211).

5. The wire harness support device according to claim 2, characterized in that, The support rod (12) includes a vertical section (121) and a bent section (122). The lower end of the vertical section (121) is connected to the fixed seat (11), and the upper end of the vertical section (121) is connected to the bent section (122). The bent section (122) and the vertical section (121) have a preset angle. The traction device (211) is detachably installed on the bent section (122).

6. The wire harness support device according to any one of claims 1-5, characterized in that, The wire harness support device further includes a second limiting component (22), which is arranged near the lower end of the support rod (12) and has a second sliding channel (221) for the wire harness of the robotic arm to slide through.

7. The wire harness support device according to claim 6, characterized in that, The position of the second limiting component (22) along the extension direction of the support rod (12) is adjustable; And / or, there are at least two fixing seats (11), and the two fixing seats (11) are arranged at intervals along the extension direction of the support rod (12).

8. A robotic arm, characterized in that, include: Robotic arm body (3); A wiring harness, which is connected to the robotic arm body (3); A wire harness support device, wherein the wire harness support device is any one of claims 1-7.

9. The robotic arm according to claim 8, characterized in that, The robotic arm also includes a conduit (4), which is flexibly deformable. The conduit (4) slides through the first sliding channel (21211), and the wire harness passes through the conduit (4).

10. The robotic arm according to claim 9, characterized in that, The outer peripheral wall of the conduit is provided with a first stop ring, which can abut against the first limiting component along the extension direction of the first sliding channel.

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