Robot grabbing equipment with cable protection

Abstract

The utility model provides robot grabbing equipment with cable protection, which comprises an equipment foundation, a mechanical arm is mounted on the equipment foundation, a grabbing device is mounted at the front end of the mechanical arm, a pressure sensor and a video acquisition device are arranged at the front end of the mechanical arm corresponding to the grabbing device, and a solid cable is laid along the mechanical arm. The entity cable comprises a cable core composed of at least one reinforced wire core and a plurality of functional cables, the cable core is sleeved with an inner protection tube, a protection device is arranged on the outer side of the inner protection tube, and the pressure sensor and the video acquisition device are connected with corresponding functional wires in the entity cable respectively; the protection device comprises an outer protection pipe and a spring, the spring is laid in the length direction of the outer protection pipe, and the inner protection pipe penetrates through the inner side of the spring. According to the invention, the protection device can protect the cable core from the outside, the reinforced wire core can protect the cable core from the inside, the physical cable is good in pulling resistance and scratch and bump resistance, the service life of the cable can be effectively prolonged, and the cable is not easy to damage due to pulling and bump.

Description

Technical Field

[0001] The invention belongs to the technical field of automation equipment, and in particular relates to a robot grasping device with cable protection. Background Art

[0002] With the development of science and technology and the advancement of industrial automation, robots are increasingly being used in various fields. In the fields of industrial production, logistics and transportation, medical care, etc., robots need to work together with humans to complete various tasks. Although there are robot products equipped with multi-finger flexible grippers on the robot arm in the prior art, which can improve the versatility of the system in grasping objects and can grasp objects quickly and accurately, the more flexible the robot arm is and the more joints it has, the greater the probability of pulling or scratching the functional cables. In daily use, the cables are easily damaged, so it is necessary to make improvements. Summary of the invention

[0003] In view of this, the present invention aims to overcome the defects in the prior art and proposes a robot grasping device with cable protection.

[0004] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0005] A robot grasping device with cable protection comprises an equipment base, a mechanical arm is installed on the equipment base, a grasping device is installed at the front end of the mechanical arm, a pressure sensor and a video acquisition device are arranged at the front end of the mechanical arm corresponding to the grasping device, a physical cable is laid along the mechanical arm, the physical cable comprises a cable core composed of at least one reinforcing wire core and a plurality of functional cables, an inner protective tube is sleeved on the outer side of the cable core, a protective device is arranged on the outer side of the inner protective tube, the pressure sensor and the video acquisition device are respectively connected with the corresponding functional wires in the physical cable; the protective device comprises an outer protective tube and a spring inside the outer protective tube, the spring is laid along the length direction of the outer protective tube, and the inner protective tube is penetrated inside the spring.

[0006] Furthermore, the outer diameter of the spring is the same as the inner diameter of the outer protective tube.

[0007] Furthermore, the types of functional cables of the cable core include but are not limited to power cables and signal cables.

[0008] Furthermore, a plurality of auxiliary fixing portions are provided at intervals on the outer wall of the outer protective tube, and each auxiliary fixing portion includes two annular protrusions.

[0009] Furthermore, the height of the annular protrusion is 0.3-1 mm.

[0010] Furthermore, a lubricating coating is provided on the inner wall of the outer protective tube.

[0011] Furthermore, the lubricating coating uses a solid lubricant.

[0012] Furthermore, the reinforcing wire core is made of nylon wire or fiber wire.

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] The present invention provides a robot grasping device with cable protection. The protective device can protect the cable core externally, and the reinforced wire core can protect the cable core internally, which can effectively increase the life of the cable. The physical cable is not easily damaged by pulling or bumping, has good performance in use, and has stable and reliable power supply and signal transmission performance of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0016] Figure 1 A schematic diagram of the structure created by the present invention;

[0017] Figure 2 A schematic diagram of a physical cable in the present invention;

[0018] Figure 3 A schematic diagram of a physical cable provided with an auxiliary fixing portion in an embodiment of the present invention;

[0019] Figure 4 The present invention is a schematic diagram of the cross-sectional structure of a physical cable in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0022] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0023] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0024] A robot gripping device with cable protection, such as Figures 1 to 4 As shown, it includes an equipment base 1, a mechanical arm 2 is installed on the equipment base, a grabbing device 3 is installed at the front end of the mechanical arm, a pressure sensor and a video acquisition device are arranged at the front end of the mechanical arm corresponding to the grabbing device, a physical cable 4 is laid along the mechanical arm, the physical cable includes a cable core composed of at least one reinforcing wire core 5 and a plurality of functional cables 6, an inner protective tube 7 is sleeved on the outer side of the cable core, a protective device is arranged on the outer side of the inner protective tube, the pressure sensor and the video acquisition device are respectively connected with the corresponding functional wires in the physical cable; the protective device includes an outer protective tube 8 and a spring 9 inside the outer protective tube, the spring is laid along the length direction of the outer protective tube, and the inner protective tube is penetrated inside the spring.

[0025] The functional cable types of the cable core include but are not limited to power cables and signal cables. For example, the reinforced core uses nylon wire or fiber wire, the protective device can protect the cable core externally, and the reinforced core can protect the cable core internally. The robot grasping device with cable protection created by the present invention has good resistance to pulling, scratching and collision, which can effectively increase the life of the cable and ensure the stability of the power supply and signal transmission performance of the equipment.

[0026] The outer diameter of the spring is the same as the inner diameter of the outer protective tube. When the mechanical arm moves, the physical cable moves with it. When the physical cable bends, the spring can effectively prevent the cable core from being too bent and damaged prematurely, and has good protective performance. In an optional embodiment, the inner wall of the outer protective tube is provided with a lubricating coating. The lubricating coating uses a solid lubricant. Even if there is relative movement between the spring and the outer protective tube, the friction between the spring and the outer protective tube is small and not easy to wear.

[0027] In an optional embodiment, the outer wall of the outer protective tube is provided with a plurality of auxiliary fixing parts at intervals, and each auxiliary fixing part includes two annular protrusions 10. The height of the annular protrusion is 0.3-1 mm. When fixing the physical cable, the cable can be tied with a binding belt at the auxiliary fixing part of the cable to prevent the outer protective tube from moving during use.

[0028] The present invention provides a robot grasping device with cable protection. The protective device can protect the cable core externally, and the reinforced wire core can protect the cable core internally, which can effectively increase the life of the cable. The physical cable is not easily damaged by pulling or bumping, has good performance in use, and has stable and reliable power supply and signal transmission performance of the equipment.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot grasping device with cable protection, characterized in that: It includes an equipment foundation, on which a mechanical arm is installed, a grabbing device is installed at the front end of the mechanical arm, a pressure sensor and a video acquisition device are arranged at the front end of the mechanical arm corresponding to the grabbing device, a physical cable is laid along the mechanical arm, the physical cable includes a cable core composed of at least one reinforcing wire core and a plurality of functional cables, an inner protective tube is sleeved on the outer side of the cable core, a protective device is arranged on the outer side of the inner protective tube, the pressure sensor and the video acquisition device are respectively connected with the corresponding functional wires in the physical cable; the protective device includes an outer protective tube and a spring inside the outer protective tube, the spring is laid along the length direction of the outer protective tube, and the inner protective tube is penetrated through the inner side of the spring.

2. A robot grasping device with cable protection according to claim 1, characterized in that: The outer diameter of the spring is the same as the inner diameter of the outer protective tube.

3. A robot grasping device with cable protection according to claim 1, characterized in that: The functional cable types of the cable core include but are not limited to power lines and signal lines.

4. A robot grasping device with cable protection according to claim 1, characterized in that: The outer wall of the outer protective tube is provided with a plurality of auxiliary fixing parts at intervals, and each auxiliary fixing part includes two annular protrusions.

5. A robot grasping device with cable protection according to claim 4, characterized in that: The height of the annular protrusion is 0.3-1 mm.

6. A robot grasping device with cable protection according to claim 1, characterized in that: The inner wall of the outer protective tube is provided with a lubricating coating.

7. A robot grasping device with cable protection according to claim 6, characterized in that: The lubricating coating uses solid lubricant.

8. The robot gripping device with cable protection according to claim 1, characterized in that: The reinforcing wire core is made of nylon wire or fiber wire.

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