Massage robot with wire harness arrangement mechanism

By designing a wiring harness finishing mechanism in the massage robot, using pulleys and torsion spring components to neatly arrange and adjust the wiring harness tension, the problem of restricted harness winding and rotation is solved, and the tightness of the wiring harness and the smooth rotation of the robotic arm are achieved.

CN222282755UActive Publication Date: 2024-12-31INST OF INTELLIGENT MFG TECH JITRI
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Patent Information

Application Number
CN202323614427.4
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2023-12-28
Publication Date
2024-12-31
Estimated Expiration
2033-12-28

AI Technical Summary

Technical Problem

The wiring harnesses of existing massage robots are often loose under the massage head, and the lines are chaotic and entangled, resulting in limited rotation of the robotic arm around the Z axis, which makes it impossible to maximize the length of the wire.

Method used

A wire harness finishing mechanism is designed, including a flat panel, output motor, pulley assembly, adjustment assembly and fixing clamp assembly. The wire harness is arranged neatly through pulleys, the torsion spring adjusts the wire harness tension, and the fixing clamp assembly clamps the fixed wire harness to adapt to different diameters and widths. .

Benefits of technology

Effectively avoid wire harness entanglement, ensure the tight state of the wire harness, cooperate with the rotation of the robot arm, and prevent the wire harness from loosening, suitable for wire harnesses of different diameters and widths.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model relates to a massage robot with a wire harness tidying mechanism, which comprises a wire harness tidying mechanism, and the wire harness tidying mechanism comprises a surface plate which is rotatably arranged on the end wall of a control assembly; the output motor is installed on the control assembly, and the output end of the output motor is connected to the rotating connection position of the surface plate and the control assembly; the pulley assembly is installed at the end, away from the control assembly, of the surface plate, the pulley assembly comprises first fixed pulleys rotationally arranged on the surface plate, the number of the first fixed pulleys corresponds to that of the wire harnesses, and the first fixed pulleys are installed at equal intervals in the width direction of the surface plate; and the wire harness bypasses the first fixed pulley from the lower part of the first fixed pulley and is connected with the mechanical arm. The wire harnesses are neatly arranged in the thickness direction of the surface plate, mutual winding of the wire harnesses is avoided, meanwhile, the surface plate can be driven to rotate on the same horizontal plane around the connecting position of the surface plate and the control assembly, and therefore the mechanical arm is matched with the rotating action of the mechanical arm around the Z axis.
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Description

Technical Field

[0001] The utility model belongs to the technical field of wire harness arrangement, in particular to a massage robot with a wire harness arrangement mechanism. Background Art

[0002] The massage robot relies on the coordinated use of a robotic arm and a massage head to complete massage. It mainly includes a robotic arm and a mobile control console. The mobile control console has a chassis, which is connected to the robotic arm through cables to control the movement of the robotic arm. Since the wiring harness is often loose directly under the massage head, the wiring is chaotic and entangled with each other, the wire length cannot be maximized, which limits the rotation of the robotic arm around the Z axis. Utility Model Content

[0003] The utility model aims to solve the problems in the prior art and provides a massage robot with a wire harness arrangement mechanism. The specific technical solution is as follows:

[0004] A massage robot with a harness arranging mechanism comprises a control component and a mechanical arm installed above the control component, wherein a chassis is installed in the control component, and the chassis is connected to the mechanical arm through a harness, and a wire hole for the harness to pass through is opened on the end wall of the control component, and a harness arranging mechanism is arranged on one side of the control component with the wire hole, and the harness arranging mechanism comprises:

[0005] A flat plate rotatably disposed on an end wall of the control assembly;

[0006] An output motor is mounted on the control assembly, and an output end of the output motor is connected to a rotation connection between the plane plate and the control assembly;

[0007] A pulley assembly is installed at one end of the plane board away from the control assembly, and the pulley assembly includes a first fixed pulley rotatably arranged on the plane board. The number of the first fixed pulleys corresponds to the wiring harness, and the first fixed pulleys are installed equidistantly along the width direction of the plane board; the wiring harness passes around the first fixed pulley from below and is connected to the robotic arm.

[0008] As a further technical solution of the utility model, it also includes an adjustment component arranged in the middle of the plane plate, and the adjustment component includes:

[0009] A swing arm, rotatably connected above the plane plate;

[0010] a torsion spring connected between the swing arm and the plane plate;

[0011] A second fixed pulley is rotatably disposed above the swing arm, the number of the second fixed pulleys corresponds to the wire harness, and the wire harness is equidistantly arranged along the width direction of the swing arm, and the wire harness passes over the second fixed pulley and fits the second fixed pulley;

[0012] The torsion spring has an elastic force to drive the swing arm to rise so as to adjust the tension of the wire harness.

[0013] As a further technical solution of the utility model, a clamping assembly is provided on one side of the upper side of the plane plate facing the wire hole, and the clamping assembly includes:

[0014] A first side panel, mounted on the surface of the plane panel;

[0015] A first through hole is provided along the thickness direction of the first side plate, and the number of the first through holes corresponds to the wiring harness;

[0016] A second side panel, slidably disposed on the surface of the plane panel and arranged in parallel with the first side panel;

[0017] Second side holes are opened along the thickness direction of the second side plate, and the number of the second side holes corresponds to the wiring harness;

[0018] The second side plate is driven by an external force to slide along the surface of the plane plate to adjust the overlapping area of ​​the second side hole and the first through hole on the vertical projection surface of the control component.

[0019] As a further technical solution of the utility model, a connecting plate is connected to the second side plate, and an extrusion bolt is rotatably connected inside the connecting plate, and the bottom of the extrusion bolt abuts against the plane plate to fix the second side plate.

[0020] The beneficial effects of the utility model are as follows:

[0021] (1) In the present application, the wire harness is restricted by the first fixed pulley so that the wire harness is neatly arranged along the thickness direction of the plane plate to avoid entanglement between the wire harnesses. At the same time, the plane plate can be driven to rotate on a horizontal plane around the connection between it and the control component, thereby cooperating with the rotation movement of the robot arm around the Z axis.

[0022] (2) The tension of the wire harness can be adjusted by the lifting force of the torsion spring on the swing arm, thereby ensuring that the wire harness remains taut at all times.

[0023] (3) By clamping and fixing one side of the wiring harness connected to the chassis, loosening of the connection between the wiring harness and the chassis can be avoided. At the same time, the overlapping area of ​​the second side hole and the first through hole on the vertical projection surface of the control component can be adjusted to adapt to wiring harnesses of different diameters and widths. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall structural diagram of the massage robot with a harness arrangement mechanism is shown;

[0025] Figure 2 A specific structural schematic diagram of the control component is shown;

[0026] Figure 3 The schematic diagram of the structure after the wiring harness arrangement mechanism is installed is shown;

[0027] Figure 4 A schematic diagram of the structure of the wire harness arrangement mechanism is shown;

[0028] Figure 5 A schematic structural diagram of a pulley assembly is shown;

[0029] Figure 6 A schematic diagram of the structure of the regulating component is shown;

[0030] Figure 7 A schematic structural diagram of a clamping assembly is shown.

[0031] Legend:

[0032] 100, control assembly; 110, chassis; 120, wire hole; 200, mechanical arm; 210, plane plate; 220, output motor; 230, pulley assembly; 231, first fixed pulley; 240, adjustment assembly; 241, swing arm; 242, torsion spring; 243, second fixed pulley; 250, clamping assembly; 251, first side plate; 252, first through hole; 253, second side plate; 254, second side hole; 255, connecting plate; 256, extrusion bolt. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present utility model clearer, the technical solution of the present utility model will be clearly and completely described below in conjunction with the embodiments.

[0034] The massage robot relies on the coordinated use of a robotic arm and a massage head to complete massage. It mainly includes a robotic arm and a mobile control console. The mobile control console has a chassis, which is connected to the robotic arm through cables to control the movement of the robotic arm. Since the wiring harness is often loose directly under the massage head, the wiring is chaotic and entangled with each other, the wire length cannot be maximized, which limits the circumferential rotation of the robotic arm.

[0035] In view of the above technical problems, the present application provides a massage robot with a wire harness arrangement mechanism. Figure 1 The overall structural diagram of the massage robot with a harness arrangement mechanism is shown; Figure 2 A specific structural schematic diagram of the control component 100 is shown; Figure 1 and Figure 2 In the figure, the massage robot with a wire harness organizing mechanism includes a control component 100 and a mechanical arm 200 installed above the control component 100. A chassis 110 is installed in the control component 100. The chassis 110 is connected to the mechanical arm 200 through a wire harness. A wire hole 120 for the wire harness to pass through is opened on the end wall of the control component 100.

[0036] During use, one end of the wire harness is passed through the wire hole 120 and connected to the chassis 110 , and the other end is connected to the robot arm 200 . The rotation and lifting of the robot arm 200 can be controlled through the chassis 110 .

[0037] Figure 3 The schematic diagram of the structure after the wiring harness arrangement mechanism is installed is shown; Figure 4 A schematic diagram of the structure of the wire harness arrangement mechanism is shown; Figure 5 A schematic structural diagram of the pulley assembly 230 is shown; Figure 3-Figure 5 In the embodiment, a wire harness arrangement mechanism is provided on one side of the control component 100 where the wire hole 120 is opened. The wire harness arrangement mechanism includes:

[0038] The flat plate 210 is rotatably disposed on the end wall of the control assembly 100;

[0039] The output motor 220 is installed on the control assembly 100, and the output end of the output motor 220 is connected to the rotation connection between the plane plate 210 and the control assembly 100;

[0040] The pulley assembly 230 is installed at one end of the plane plate 210 away from the control assembly 100. The pulley assembly 230 includes a first fixed pulley 231 rotatably set on the plane plate 210. The number of the first fixed pulleys 231 corresponds to the wiring harness, and the first fixed pulleys 231 are installed equidistantly along the width direction of the plane plate 210; the wiring harness passes around the first fixed pulley 231 from below and is connected to the robot arm 200.

[0041] During use, the wire harness passing through the wire hole 120 is passed under the first fixed pulley 231 and closely attached to the first fixed pulley 231, and then connected to the robot arm 200. The wire harness is restricted by the first fixed pulley 231 so that the wire harness is neatly arranged along the thickness direction of the flat plate 210 to avoid entanglement between the wire harnesses. At the same time, the flat plate 210 can be driven to rotate on a horizontal plane around the connection between it and the control component 100, thereby cooperating with the rotation of the robot arm 200 around the Z axis.

[0042] Since the robot arm 200 also has a lifting function, the wire harness is normally in a loose state, which is not conducive to the above-mentioned wire harness arrangement.

[0043] In response to the above technical issues, Figure 6 A schematic diagram of the structure of the adjustment component 240 is shown; Figure 6 In the embodiment, an adjustment component 240 is also provided in the middle of the plane plate 210, and the adjustment component 240 includes:

[0044] The swing arm 241 is rotatably connected to the top of the flat plate 210;

[0045] A torsion spring 242 connected between the swing arm 241 and the plane plate 210;

[0046] The second fixed pulley 243 is rotatably disposed above the swing arm 241. The number of the second fixed pulleys 243 corresponds to the wire harness, and the wire harness is arranged equidistantly along the width direction of the swing arm 241. The wire harness passes over the second fixed pulley 243 and fits the second fixed pulley 243.

[0047] The torsion spring 242 has an elastic force to drive the swing arm 241 to rise so as to adjust the tension of the wire harness.

[0048] During use, the wiring harness is passed over the second fixed pulley 243 and fits against the second fixed pulley 243. When the robot arm 200 is lifted, the wiring harness is stretched. At this time, the wiring harness squeezes the second fixed pulley 243 to force the swing arm 241 to rotate. At this time, the swing arm 241 lowers its head and the torsion spring 242 is deformed to keep the wiring harness taut. As the robot arm 200 lowers its head, the swing arm 241 rises and keeps the wiring harness taut. In the present application, the tension of the wiring harness can be adjusted by the lifting force of the torsion spring 242 on the swing arm 241, thereby ensuring that the wiring harness remains taut at all times.

[0049] Figure 7 A schematic structural diagram of the clamping assembly 250 is shown; Figure 7 In the embodiment, a clamping assembly 250 is provided on one side of the plane plate 210 facing the wire hole 120, and the clamping assembly 250 includes:

[0050] The first side plate 251 is installed on the surface of the plane plate 210;

[0051] First through holes 252 are opened along the thickness direction of the first side plate 251, and the number of the first through holes 252 corresponds to the wiring harness;

[0052] The second side plate 253 is slidably disposed on the surface of the plane plate 210 and is designed in parallel with the first side plate 251;

[0053] The second side holes 254 are opened along the thickness direction of the second side plate 253, and the number of the second side holes 254 corresponds to the wiring harness;

[0054] The second side plate 253 is driven by an external force to slide along the surface of the plane plate 210 to adjust the overlapping area of ​​the second side hole 254 and the first through hole 252 on the vertical projection plane of the control assembly 100 .

[0055] It should be noted that the slidable track of the second side plate 253 matches its length track.

[0056] During use, the wiring harness is passed through the first through-hole 252 and the second side hole 254 in sequence, and then the second side plate 253 is driven to force the second side plate 253 to slide along its length trajectory to adjust the overlapping area between the first through-hole 252 and the second side hole 254, and the wiring harness is squeezed and fixed by the first side plate 251 and the second side plate 253 to prevent the robot arm 200 from affecting the connection between the wiring harness and the chassis 110 during the lifting process. In the present application, the connection between the wiring harness and the chassis 110 is prevented from loosening by clamping and fixing one side where the wiring harness is connected to the chassis 110, and at the same time, the overlapping area between the second side hole 254 and the first through-hole 252 on the vertical projection plane of the control component 100 can be adjusted to suit wiring harnesses of different diameters and widths.

[0057] Continue to see Figure 7 A connecting plate 255 is connected to the second side plate 253 , and a pressing bolt 256 is rotatably connected inside the connecting plate 255 . The bottom of the pressing bolt 256 abuts against the plane plate 210 to fix the second side plate 253 .

[0058] During use, since the extrusion bolt 256 is threadedly connected to the connecting plate 255 , the extrusion bolt 256 can be rotated to move up and down, thereby abutting and fixing the adjusted second side plate 253 .

[0059] The above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it.

Claims

1. A massage robot with a harness arrangement mechanism, comprising a control assembly (100) and a mechanical arm (200) installed above the control assembly (100), wherein a chassis (110) is installed in the control assembly (100), wherein the chassis (110) is connected to the mechanical arm (200) via a harness, and a wire hole (120) for the harness to pass through is provided on an end wall of the control assembly (100), wherein the control assembly (100) comprises: A wire harness arranging mechanism is provided on one side of the control component (100) where the wire hole (120) is opened. The wire harness arranging mechanism comprises: A flat plate (210) is rotatably mounted on an end wall of the control assembly (100); An output motor (220) is mounted on the control assembly (100), and an output end of the output motor (220) is connected to a rotation connection between the plane plate (210) and the control assembly (100); A pulley assembly (230) is installed at one end of the plane plate (210) away from the control assembly (100), and the pulley assembly (230) includes a first fixed pulley (231) rotatably arranged on the plane plate (210), the number of the first fixed pulleys (231) corresponding to the wiring harness, and the first fixed pulleys (231) are installed equidistantly along the width direction of the plane plate (210); the wiring harness passes under the first fixed pulley (231), bypasses the first fixed pulley (231), and is connected to the robot arm (200).

2. The massage robot with a wire harness arrangement mechanism according to claim 1, characterized in that: It also includes an adjustment component (240) disposed in the middle of the plane plate (210), the adjustment component (240) including: A swing arm (241) is rotatably connected to the top of the plane plate (210); A torsion spring (242) connected between the swing arm (241) and the plane plate (210); A second fixed pulley (243) is rotatably disposed above the swing arm (241); the number of the second fixed pulleys (243) corresponds to the wire harness, and the wire harness is arranged equidistantly along the width direction of the swing arm (241); the wire harness passes over the second fixed pulley (243) and fits against the second fixed pulley (243); The torsion spring (242) has an elastic force to drive the swing arm (241) to rise so as to adjust the tension of the wire harness.

3. The massage robot with a wire harness arrangement mechanism according to claim 1 or 2, characterized in that: A clamping assembly (250) is provided on one side of the upper side of the plane plate (210) facing the wire hole (120), and the clamping assembly (250) comprises: A first side plate (251) mounted on the surface of the plane plate (210); A first through hole (252) is provided along the thickness direction of the first side plate (251), and the number of the first through holes (252) corresponds to the wiring harness; A second side plate (253) is slidably disposed on the surface of the plane plate (210) and is designed in parallel with the first side plate (251); Second side holes (254) are opened along the thickness direction of the second side plate (253), and the number of the second side holes (254) corresponds to the wiring harness; The second side plate (253) is driven by an external force to slide along the surface of the plane plate (210) to adjust the overlapping area of ​​the second side hole (254) and the first through hole (252) on the vertical projection surface of the control component (100).

4. The massage robot with a wire harness arrangement mechanism according to claim 3, characterized in that: The second side plate (253) is connected to a connecting plate (255), and a pressing bolt (256) is rotatably connected inside the connecting plate (255), and the bottom of the pressing bolt (256) abuts against the plane plate (210) to fix the second side plate (253).