Wire harness winding prevention device for robot

Abstract

The wire harness winding prevention device comprises a servo motor, the servo motor is connected with a speed reducer, the speed reducer is arranged on a clamp and a protective cover through a fixing frame, and an output shaft of the speed reducer penetrates through the fixing frame and the protective cover to be connected with a driving gear. The driving gear is meshed with an outer ring of the outer tooth slewing bearing, the outer tooth slewing bearing is connected to the second flange plate through an inner ring, a protective cover is arranged on the driving gear and the outer tooth slewing bearing, a position piece is arranged on the protective cover, and a wire harness fixing frame is arranged on the protective cover at the bottom of the outer ring. And a motor zero position sensor is arranged on the wire harness fixing frame. According to the utility model, the wire harness support can be controlled to rotate to a proper angle through the PLC during subprogram switching so as to be used by the switched subprograms, linkage among a plurality of subprograms can be realized, and the wire harness can be prevented from being wound on a robot or the wire harness support from impacting a test seat at the same time.

Description

Technical Field

[0001] The utility model belongs to the field of robots, and in particular relates to a wire harness winding prevention device for robots. Background Art

[0002] In the existing robotics field, robots often need to cooperate with tools to perform various combination tests (combination tests are tests that combine multiple subroutines into a main program). When switching between subroutines, the action of the robot arm will change significantly. For example, the program for the seat cushion is subroutine 1, and the program for the backrest is subroutine 2. When subroutine 1 ends, the robot will drive the tool back to the initial position. After returning to the initial position, the robot will select subroutine 2 and run the trajectory of subroutine 2. Since the seat cushion and the backrest are in different positions, the trajectories of subroutine 1 and subroutine 2 are different. Therefore, when switching between subroutines, the robot action will change significantly.

[0003] The connection between the existing robot and the tool is that the A6 axis of the robot is connected to the sensor through the first flange, and the sensor is connected to the tool through the second flange. In order to fix the wiring harness package, a wiring harness bracket is integrally connected to the first flange through a clamp. Since the position of the wiring harness bracket is fixed relative to the A6 axis, when performing a combined test, the position of the wiring harness bracket will not be compatible with each subroutine. When the subroutine is switched, it is very easy for the wiring harness to be wound around the robot or the wiring harness bracket to hit the test seat. In order to solve this problem, the subroutine test can only be performed separately. Before the next subroutine is executed, the clamp is manually loosened, the wiring harness bracket is rotated to the appropriate angle, and then the clamp is tightened. The robot continues to execute the next subroutine. If the subroutine ends at night or on weekends, there will be a problem of long robot downtime, which extends the test cycle and reduces the efficiency of robot use. Utility Model Content

[0004] The purpose of the utility model is to solve the above-mentioned problem and to provide a wire harness entanglement prevention device for a robot. The wire harness entanglement prevention device can control the wire harness bracket to rotate to a suitable angle through PLC between subprogram switching for use by the switched subprogram, thereby solving the problem that the position of the wire harness bracket is fixed relative to the A6 axis, so that the position of the wire harness bracket is not compatible with each subprogram. While realizing the linkage between multiple subprograms, it can also prevent the wire harness from being wound around the robot or the wire harness bracket from hitting the test seat.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a wire harness entanglement prevention device for a robot, comprising a servo motor, the servo motor is connected to a reducer, the reducer is arranged on a clamp and a protective cover through a fixing frame, the output shaft of the reducer passes through the fixing frame and the protective cover and is connected to a driving gear, the driving gear is meshed with the outer ring of an external gear slewing bearing, the external gear slewing bearing is connected to a second flange through an inner ring, a protective cover is provided on the driving gear and the external gear slewing bearing, a position sheet is provided on the protective cover, a wire harness fixing frame is provided on the protective cover at the bottom of the outer ring, the protective cover and the wire harness fixing frame at the bottom of the outer ring rotate with the outer ring, and a motor zero point position sensor is provided on the wire harness fixing frame.

[0006] As a further optimization, the protective cover is composed of a gear protective cover, a slewing bearing lower protective cover and a driving gear lower protective cover. The gear protective cover is arranged on the top of the driving gear and the external gear slewing bearing, and a positioning piece is provided on the side of the gear protective cover away from the driving gear. The slewing bearing lower protective cover is annular, arranged between the outer ring and the wire harness fixing frame, and rotates with the outer ring and the wire harness fixing frame. The driving gear lower protective cover is arranged at the bottom of the driving gear. After the gear protective cover, the slewing bearing lower protective cover and the driving gear lower protective cover are assembled, the driving gear and the outer ring are enclosed in the protective cover.

[0007] As a further optimization, the wire harness fixing frame includes a wire harness connecting frame, a wire harness bracket and a mounting plate. The wire harness fixing frame is connected to the protective cover at the bottom of the outer ring through the wire harness connecting frame. The wire harness bracket is integrally connected to the outer wall of the wire harness connecting frame. A mounting plate is integrally connected between the wire harness connecting frame and the wire harness bracket. A motor zero point position sensor is provided on the mounting plate.

[0008] Advantages and beneficial effects of the utility model

[0009] 1. In order to solve the problem that the position of the wire harness bracket is fixed relative to the A6 axis, so that the position of the wire harness bracket cannot be compatible with each subroutine, the utility model adds a driving gear and an external gear slewing bearing, and drives the driving gear and the external gear slewing bearing to rotate by a servo motor to make the wire harness fixing frame rotate relative to the A6 axis, so that it can be compatible with each subroutine to achieve linkage between multiple subroutines, and at the same time solves the problem of the wire harness being wound around the robot or the wire harness fixing frame hitting the test seat.

[0010] 2. The utility model does not need to manually rotate the harness holder between subprogram switching. Therefore, when the subprogram ends at night or on weekends, the harness holder can be rotated to a suitable angle through programming for use by the subprogram to be switched, shortening the test cycle and increasing the efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work.

[0012] Figure 1 It is a schematic diagram of the overall structure provided by an embodiment of the utility model;

[0013] Figure 2 This is another angle schematic diagram provided by an embodiment of the utility model;

[0014] Figure 3 It is a bottom view of the overall structure provided by the embodiment of the utility model;

[0015] Figure 4 It is a schematic diagram of an embodiment of the utility model provided with the protective cover removed;

[0016] Figure 5 It is a bottom view of the utility model after removing the lower protective cover of the slewing bearing and the lower protective cover of the driving gear.

[0017] Figure numerals: servo motor 1, reducer 2, fixing frame 3, clamp 4, protective cover 5, gear protective cover 51, slewing bearing lower protective cover 52, driving gear lower protective cover 53, driving gear 6, external gear slewing bearing 7, outer ring 71, inner ring 72, second flange 8, positioning piece 9, wire harness fixing frame 10, wire harness connecting frame 101, wire harness bracket 102, mounting plate 103, motor zero position sensor 11, first flange 12 and sensor 13. DETAILED DESCRIPTION

[0018] The terms "first", "second", "third", etc. in the specification and claims of the present utility model and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments described here can be implemented in an order other than that shown or described here.

[0019] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be noted that, in the description of the present invention, the terms "upper", "lower", "left", "right", "inside", "outside", "front", "back", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0020] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, a wire harness winding prevention device for a robot includes a servo motor 1, wherein the servo motor 1 is connected to a reducer 2 through a coupling, wherein the reducer 2 has the function of reducing speed and increasing torque, wherein the reducer 2 is arranged on a clamp 4 and a protective cover 5 through a fixing frame 3, wherein the output shaft of the reducer 2 passes through the fixing frame 3 and the protective cover 5 and is connected to a driving gear 6, wherein the KUKA robot can drive the servo motor 1 to rotate through a PLC, thereby driving the driving gear 6 to rotate, wherein the driving gear 6 is meshed with an outer ring 71 of an external gear slewing bearing 7, wherein the external gear slewing bearing 7 is connected to the outer ring 72 through an inner ring 73 of the external gear slewing bearing 7. On the second flange 8, when the driving gear 6 rotates, since the inner ring 72 is connected to the sensor 13 through the second flange 8, and the sensor 13 is connected to the A6 axis of the robot through the first flange 12, the inner ring 72 is stationary relative to the A6 axis, and the outer ring 71 is meshed with the driving gear 6, so as the driving gear 6 rotates, the inner ring 72 is connected to the tool through the third flange, and the driving gear 6 and the external gear slewing bearing 7 are provided with a protective cover 5, which can prevent dust from falling on the driving gear 6 and the external gear slewing bearing 7, and at the same time can prevent the human body from being injured by the gears.

[0021] like Figure 3 As shown, the protective cover 5 is composed of a gear protective cover 51, a slewing bearing lower protective cover 52 and a driving gear lower protective cover 53. The gear protective cover 51 is arranged on the top of the driving gear 6 and the external gear slewing bearing 7, and a positioning piece 9 is provided on the side of the gear protective cover 51 away from the driving gear 6 (see Figure 1 ), the slewing bearing lower protective cover 52 is annular, connected between the outer ring 71 and the wire harness fixing frame 10 by bolts, and rotates with the outer ring 71 and the wire harness fixing frame 10, the driving gear lower protective cover 53 is arranged at the bottom of the driving gear 6, and the gear protective cover 51, the slewing bearing lower protective cover 52 and the driving gear lower protective cover 53 are assembled to enclose the driving gear 6 and the outer ring 71 in the protective cover 5.

[0022] like Figure 3As shown, the harness fixing frame 10 includes a harness connecting frame 101, a harness bracket 102 and a mounting plate 103. The harness fixing frame 10 is connected to the lower protective cover 52 of the slewing bearing through the harness connecting frame 101. When the driving gear 6 drives the outer ring 71 on the external gear slewing bearing 7 to rotate, the outer ring 71 drives the lower protective cover 52 of the slewing bearing and the harness fixing frame 10 to rotate. The outer wall of the harness connecting frame 101 is integrally connected with a harness bracket 102, and the harness bracket 102 is used to fix the harness package. A mounting plate 103 is integrally connected between the harness connecting frame 101 and the harness bracket 102. A motor zero position sensor 11 is provided on the mounting plate 103. When the zero position sensor 11 senses the position sheet 9, the servo motor 1 stops rotating. At this time, the rotation angle of the harness fixing frame 10 returns to the zero position. The servo motor 1 and the motor zero position sensor 11 are controlled by PLC, and the PLC communicates with the KUKA robot.

[0023] Working process

[0024] When starting the PLC, click the "Return to Zero" button on the display screen, and the PLC will drive the servo motor 1 to rotate. The rotation of the servo motor 1 drives the driving gear 6 and the external gear slewing bearing 7 to rotate, thereby driving the harness fixing frame 10 and the motor zero position sensor 11 to rotate. When the motor zero position sensor 11 senses the position piece 9, it sends a signal to the PLC, and the PLC controls the servo motor 1 to stop rotating. At this time, the rotation angle of the harness fixing frame 10 returns to the zero position. At the same time, set the position information required for the test in the PLC, such as position 1 (rotated 30° relative to the zero position); position 2 (rotated 45° relative to the zero position), position 3 (rotated 90° relative to the zero position), etc.

[0025] The following example is described by setting position 1 as the initial position of subprogram 1, position 2 as the initial position of subprogram 2, and position 3 as the initial position of subprogram 3.

[0026] First, the KUKA robot outputs a rotation signal to start the PLC to rotate to position 1. Then the PLC will control the servo motor 1, the gear transmission mechanism and the harness holder 10 to rotate to position 1. When it rotates to position 1, the PLC will output a position arrival instruction signal to KUKA. The KUKA robot selects subroutine 1 and runs the trajectory of subroutine 1.

[0027] When subroutine 1 ends, the KUKA robot will return to the initial position. After returning to the initial position, the KUKA robot will output a rotation signal to start the PLC to rotate to position 2. The PLC will drive the servo motor 1, the gear transmission mechanism and the harness fixing frame 10 to rotate to position 2. When it rotates to position 2, the PLC will output a position arrival instruction signal to the KUKA, and the KUKA robot will execute the next subroutine 3 and cycle in sequence.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the utility model, rather than to limit them. Although the embodiments of the utility model are described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the embodiments of the utility model.

Claims

1. A wire harness entanglement prevention device for a robot, characterized in that: The invention comprises a servo motor (1), wherein the servo motor (1) is connected to a reducer (2), wherein the reducer (2) is arranged on a clamp (4) and a protective cover (5) through a fixing frame (3), wherein the output shaft of the reducer (2) passes through the fixing frame (3) and the protective cover (5) and is connected to a driving gear (6), wherein the driving gear (6) is meshed with an outer ring (71) of an external gear slewing bearing (7), wherein the external gear slewing bearing (7) is connected to a second flange (8) through an inner ring (72), wherein a protective cover (5) is arranged on the driving gear (6) and the external gear slewing bearing (7), wherein a position sheet (9) is arranged on the protective cover (5), wherein a wire harness fixing frame (10) is arranged on the protective cover at the bottom of the outer ring (71), wherein the protective cover at the bottom of the outer ring (71) and the wire harness fixing frame (10) rotate with the outer ring (71), and wherein a motor zero position sensor (11) is arranged on the wire harness fixing frame (10).

2. The anti-wire entanglement device for a robot according to claim 1, characterized in that: The protective cover (5) is composed of a gear protective cover (51), a slewing bearing lower protective cover (52) and a driving gear lower protective cover (53). The gear protective cover (51) is arranged on the top of the driving gear (6) and the external gear slewing bearing (7), and a positioning piece (9) is provided on the side of the gear protective cover (51) away from the driving gear (6). The slewing bearing lower protective cover (52) is annular and is arranged between the outer ring (71) and the wire harness fixing frame (10), and rotates with the outer ring (71) and the wire harness fixing frame (10). The driving gear lower protective cover (53) is arranged at the bottom of the driving gear (6). After the gear protective cover (51), the slewing bearing lower protective cover (52) and the driving gear lower protective cover (53) are assembled, the driving gear (6) and the outer ring (71) are enclosed in the protective cover (5).

3. The anti-wire entanglement device for a robot according to claim 1, characterized in that: The wire harness fixing frame (10) comprises a wire harness connecting frame (101), a wire harness bracket (102) and a mounting plate (103); the wire harness fixing frame (100) is connected to a protective cover at the bottom of an outer ring (71) via the wire harness connecting frame (101); the wire harness bracket (102) is integrally connected to the outer wall of the wire harness connecting frame (101); a mounting plate (103) is integrally connected between the wire harness connecting frame (101) and the wire harness bracket (102); and a motor zero position sensor (11) is provided on the mounting plate (103).

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