Drag chain device and robot

Abstract

The utility model provides a drag chain device and a robot, and belongs to the technical field of robots. The drag chain device comprises a protective sleeve, a metal sheet and at least one cable, an accommodating cavity is formed in the protective sleeve, and the metal sheet and the at least one cable are respectively positioned in the accommodating cavity; the length of the metal sheet is the same as that of the containing cavity, the cross section of the metal sheet is in a circular arc shape, and the metal sheet is attached to at least part of the inner wall of the containing cavity; and the metal sheet is positioned on one side of the at least one cable along the bending direction. According to the drag chain device, the supporting effect of the drag chain device on the cable is enhanced, a safety channel is formed in the protection sleeve in a supporting mode, and the cable is prevented from being damaged by stress or external force in the moving process.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a drag chain device and a robot. Background Art

[0002] A drag chain, also known as a cable carrier, is a device for binding cables or wires or pneumatic hoses and hydraulic hoses to facilitate their rotation and movement.

[0003] In the application scenarios of robots, torsion and multi-axis movement are common movement forms, and drag chains are required to supply energy, safely guide and protect the cables on the robots.

[0004] However, the common bridge-type drag chains and hose-type drag chains in the related art have problems such as large volume, high cost, and poor compatibility during use. Summary of the Utility Model

[0005] The utility model provides a drag chain device and a robot, which can solve the problems existing in the related art.

[0006] The technical solutions are as follows:

[0007] On the one hand, a drag chain device is provided. The drag chain device includes: a protective sleeve, a metal sheet, and at least one cable;

[0008] A receiving cavity is provided in the protective sleeve, and the metal sheet and the at least one cable are respectively located in the receiving cavity;

[0009] The length of the metal sheet is the same as the length of the receiving cavity, the cross-sectional shape of the metal sheet is arc-shaped, and it fits with at least part of the inner wall of the receiving cavity;

[0010] The metal sheet is located on one side of the at least one cable along the bending direction.

[0011] On the other hand, a robot is provided. The robot includes the drag chain device of the utility model.

[0012] The beneficial effects brought by the technical solutions provided by the utility model at least include:

[0013] For the drag chain device of the present utility model, a cable and a metal sheet are arranged in a protective sleeve at the same time. The metal sheet is arranged on one side of the cable along the bending direction. When the drag chain device is bent, the metal sheet forms a specific bending angle by using its own elastic deformation, playing a role in supporting the cable. And along with the movement of the drag chain device, the bending angle can translate accordingly; the cross-sectional shape of the metal sheet is arc-shaped, which is beneficial to improving the strength and stress characteristics of the metal sheet, thereby being beneficial to enhancing the support effect of the drag chain device on the cable, forming a safe passage in the protective sleeve, and avoiding the cable from being stressed or damaged by external forces during the movement process. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0015] Figure 1 It is a schematic structural diagram of the drag chain device provided by the embodiment of the present utility model;

[0016] Figure 2 It is a structural cross-sectional view of the drag chain device provided by the embodiment of the present utility model;

[0017] Figure 3 It is a structural cross-sectional view of the drag chain device provided by another embodiment of the present utility model;

[0018] Figure 4 It is a schematic structural diagram of the robot provided by the embodiment of the present utility model;

[0019] Figure 5 It is a schematic structural diagram of the metal sheet provided by the embodiment of the present utility model.

[0020] The reference numerals in the drawings are respectively represented as:

[0021] 100, drag chain device; 200, fixed module; 300, motion module;

[0022] 1, protective sleeve;

[0023] 101, accommodation cavity;

[0024] 2, metal sheet;

[0025] 3, cable;

[0026] 01, first circuit board; 02, second circuit board;

[0027] 03. The first straight segment; 04. The first bending segment; 05. The second straight segment; 06. The third straight segment; 07. The second bending segment;

[0028] A. The first direction. Detailed implementation mode

[0029] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation modes described in the following exemplary embodiments do not represent all implementation modes consistent with the present invention. On the contrary, they are only examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the Figure 1 orientation or positional relationship shown, 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 should not be construed as a limitation to the present invention.

[0031] Unless otherwise defined, all technical terms used in the embodiments of the present invention have the same meaning as commonly understood by those of ordinary skill in the art.

[0032] In the related art, there are the following two common types of drag chain devices:

[0033] 1. The bridge-type drag chain, usually composed of nylon or metal and needle rollers, is destined to have a large volume, high cost, complex assembly and heavy weight due to its structural form. Moreover, the nylon and metal structures will wear and generate chips during the movement process and cannot be used in a dust-free workshop.

[0034] 2. The hose drag chain, including a metal hose and a flexible hose. The disadvantage of the metal hose is that the bending radius is very large, and it will also generate debris during the movement process, and the processing cost is high and the weight is relatively large. The flexible hose can be applied to dust-free scenarios, but in this type of drag chain, the cables are integrally fixed in the flexible hose, resulting in low compatibility of this drag chain, a small number of cables that can pass through each flexible hose, and it cannot withstand external forces and has a limited movement range.

[0035] Therefore, the present utility model provides a drag chain device and a robot. When the drag chain device is bent, the metal sheet forms a specific bending angle by using its own elastic deformation, which plays a role in supporting the cable, and is beneficial to enhancing the supporting effect of the drag chain device on the cable, and avoiding the cable from being stressed or damaged by external forces during movement.

[0036] To make the objectives, technical solutions and advantages of the present utility model clearer, the following will further describe the embodiments of the present utility model in detail with reference to the accompanying drawings.

[0037] On the one hand, as shown in Figure 1 and Figure 2 , this embodiment provides a drag chain device 100, and the drag chain device 100 includes: a protective sleeve 1, a metal sheet 2, and at least one cable 3.

[0038] An accommodation cavity 101 is provided in the protective sleeve 1, and the metal sheet 2 and at least one cable 3 are respectively located in the accommodation cavity 101.

[0039] The length of the metal sheet 2 is the same as the length of the accommodation cavity 101, the cross-sectional shape of the metal sheet 2 is arc-shaped, and it fits with at least part of the inner wall of the accommodation cavity 101.

[0040] The metal sheet 2 is located on one side of at least one cable 3 along the bending direction.

[0041] In the drag chain device 100 of this embodiment, the cable 3 and the metal sheet 2 are arranged in the protective sleeve 1 at the same time, and the metal sheet 2 is arranged on one side of the cable 3 along the bending direction. When the drag chain device 100 is bent, the metal sheet 2 forms a specific bending angle by using its own elastic deformation, which plays a role in supporting the cable 3, and with the movement of the drag chain device 100, the bending angle can move along with it. When the drag chain device 100 moves in a straight line, the bending angle can also move in a straight line.

[0042] The cross-sectional shape of the metal sheet 2 is arc-shaped, which is beneficial to improving the strength and stress characteristics of the metal sheet 2, thereby being beneficial to enhancing the supporting effect of the drag chain device 100 on the cable 3, and forming a safe passage in the protective sleeve 1 to avoid the cable 3 from being stressed or damaged by external forces during movement.

[0043] In some possible implementation manners, the accommodation cavity 101 is a cylindrical cavity, and the metal sheet 2 can completely fit on the inner wall of the accommodation cavity 101.

[0044] In other possible implementation manners, the number of cables 3 is, for example, one, two, three, etc.

[0045] As shown in Figure 1 , in some embodiments, the metal sheet 2 is located inside at least one cable 3 along the bending direction.

[0046] With the above arrangement, when the drag chain device 100 is bent in the bending direction, a part of the metal sheet 2 is in a flattened state, forming a specific bending angle, which can support the inner side of the cable 3, so that the cable 3 is bent according to the bending angle, thereby providing a safe bending channel for the cable 3 and effectively avoiding the cable 3 from being stressed or damaged by external forces during movement.

[0047] The elastic deformation of the metal sheet 2 can be referred to Figure 5 As shown, when the drag chain device 100 is bent in the bending direction, a part of the metal sheet 2 is flattened, and the whole metal sheet 2 shows a deformation from an arc shape to a flat shape and then from a flat shape to an arc shape.

[0048] Combined with Figure 2 As shown, in some embodiments, the radius of the accommodation cavity 101 is the same as the radius of the cross-section of the metal sheet 2.

[0049] With the above arrangement, the metal sheet 2 can be completely attached to the inner wall of the accommodation cavity 101 without causing excessive extrusion to the inner wall of the accommodation cavity 101, which is beneficial to improving the service life of the sheath.

[0050] Combined with Figure 2 and Figure 3 As shown, in some embodiments, the central angle corresponding to the cross-section of the metal sheet 2 is α, where the value range of α is 90 - 180 degrees.

[0051] When the value of the central angle α corresponding to the cross-section of the metal sheet 2 satisfies the above value range, the metal sheet 2 has good elastic deformation performance and can provide reliable support and protection for the cable 3.

[0052] In some possible implementation manners, the value of the central angle α corresponding to the cross-section of the metal sheet 2, for example, is 90 degrees, 100 degrees, 120 degrees, 140 degrees, 150 degrees, 160 degrees, 180 degrees, etc.

[0053] In some embodiments, the value of the central angle α corresponding to the cross-section of the metal sheet 2 is 180 degrees. When the value of the central angle α is 180 degrees, the metal sheet 2 can completely wrap the cable 3 inside.

[0054] Combined with Figure 3 As shown, in some embodiments, the thickness of the metal sheet 2 is h, and the minimum radius of curvature of the middle plane of the metal sheet 2 is R, where h / R = 1 / 20.

[0055] When the thickness h and the minimum radius of curvature R of the metal sheet 2 satisfy the above ratio range, the metal sheet 2 forms a cylindrical thin shell structure. The cylindrical thin shell structure has characteristics such as large scale, light weight, and large folding and unfolding. When in a bent state (for reference, see Figure 5As shown, the cross-section undergoes elastic deformation and elastic potential energy is stored; during the unfolding process, the elastic potential energy is released to restore the deformation and maintain the cross-sectional shape.

[0056] Thus, the drag chain device 100 can utilize the above-mentioned metal sheet 2, which can undergo elastic deformation in the bent state and restore deformation in the unfolded state, to provide bending support and guidance for the cable 3 and reinforce the strength of the cable 3, avoiding damage to the cable 3 under external forces.

[0057] In some embodiments, the protective sleeve 1 is a fiber braided structure.

[0058] Among them, the fibers of the fiber braided structure can be at least one of fiberglass (FG), ceramic fiber, polyester (also known as terylene), and polyamide (also known as nylon) fiber. Any one of the above materials or any combination of several materials can be used to form this embodiment.

[0059] In some embodiments, the metal sheet 2 is a high-quality carbon structural steel strip structure.

[0060] Among them, high-quality carbon structural steel is carbon steel with a carbon content of less than 0.8%. The sulfur, phosphorus, and non-metallic inclusions contained in this steel are less than those in carbon structural steel, and its mechanical properties are relatively excellent.

[0061] On the other hand, this embodiment provides a robot, which includes the drag chain device 100 of the present utility model.

[0062] The robot of this embodiment adopts the drag chain device 100 of the present utility model and has all the beneficial technical effects of all embodiments of the present utility model.

[0063] Combined Figure 4 As shown, in some embodiments, the robot further includes a fixed module 200 and a motion module 300. The fixed module 200 is provided with a first circuit board 01, and the motion module 300 is provided with a second circuit board 02.

[0064] One end of the drag chain device 100 is connected to the fixed module 200, and the other end of the drag chain device 100 is connected to the fixed module 200. At least one cable is electrically connected to the first circuit board 01 and the second circuit board 02 respectively.

[0065] Through the above arrangement, the drag chain device 100 can be used to realize the electrical connection between the first circuit board 01 and the second circuit board 02 in the fixed module 200 and the motion module 300.

[0066] In some possible implementations, the circuit board includes a printed circuit board (PCB), a flexible printed circuit board (FPC), a rigid-flex board, and so on.

[0067] Combined Figure 4 and Figure 5 As shown, in some embodiments, the motion module 300 reciprocates linearly relative to the fixed module 200 along the first direction A. The drag chain device 100 includes a first straight section 03, a first bending section 04, and a second straight section 05 connected in sequence.

[0068] The first straight section 03 and the second straight section 05 are respectively arranged along the first direction A, and the first straight section 03 is connected to the fixed module 200, and the second straight section 05 is connected to the motion module 300.

[0069] Through the above arrangement, by using the drag chain device 100, the electrical connection between the motion module 300 and the fixed module 200 during the movement of the motion module 300 along the first direction A can be satisfied.

[0070] When the motion module 300 moves along the first direction A away from the fixed module 200, the position of the first bending section 04 changes along the first direction A, the length of the second straight section 05 increases, the length of the first straight section 03 decreases, which can also be described as the overlapping dimension of the first straight section 03 and the second straight section 05 decreases, and the overall length of the drag chain device 100 along the first direction A increases.

[0071] When the motion module 300 moves along the first direction A towards the fixed module 200, the position of the first bending section 04 changes along the first direction A, the length of the second straight section 05 decreases, the length of the first straight section 03 increases, which can also be described as the overlapping dimension of the first straight section 03 and the second straight section 05 increases, and the overall length of the drag chain device 100 along the first direction A decreases.

[0072] Combined Figure 4 As shown, in some embodiments, the first circuit board 01 is located at the end of the fixed module 200 away from the motion module 300, and the second circuit board 02 is located at the end of the motion module 300 away from the fixed module 200.

[0073] The drag chain device 100 further includes a fixed third straight section 06 and a second bending section 07. The third straight section 06, the second bending section 07, the first straight section 03, the first bending section 04, and the second straight section 05 are connected in sequence, and the third straight section 06 and the second bending section 07 are fixedly arranged on the fixed module 200.

[0074] The third straight line segment 06 is connected to the fixed module 200, and the second straight line segment 05 is connected to the moving module 300.

[0075] In this embodiment, since the first circuit board 01 and the second circuit board 02 are respectively arranged at the ends of the moving module 300 or the fixed module 200 away from each other, therefore, the drag chain device 100 also needs the third straight line segment 06 and the second bending segment 07 fixedly arranged to push the positions of the first straight line segment 03, the second straight line segment 05 and the first bending segment 04 of the drag chain device 100 to the end of the fixed module 200 close to the moving module 300, so as to ensure reliable electrical connection during the movement of the moving module 300 and the fixed module 200.

[0076] In some possible implementation manners, the moving module 300 is inserted into the fixed module 200 along the first direction A. When the moving module 300 moves along the first direction A, the moving module 300 can extend out of or retract into the fixed module 200.

[0077] It should be noted that, in the present utility model, "a plurality of" and "at least one" refer to one or more, and "a plurality" and "at least two" refer to two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the front and rear associated objects.

[0078] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless otherwise clearly and specifically defined.

[0079] Unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0080] In the description of this specification, the description referring to the terms "certain embodiments", "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present utility model.

[0081] The above are only the embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A drag chain device, characterized in that, The drag chain device (100) includes: a protective sleeve (1), a metal sheet (2), and at least one cable (3); An accommodation cavity (101) is provided inside the protective sleeve (1), and the metal sheet (2) and the at least one cable (3) are respectively located inside the accommodation cavity (101); The length of the metal sheet (2) is the same as the length of the accommodation cavity (101), the cross-sectional shape of the metal sheet (2) is arc-shaped, and it fits with at least part of the inner wall of the accommodation cavity (101); The metal sheet (2) is located on one side of the at least one cable (3) along the bending direction.

2. The drag chain device according to claim 1, wherein The metal sheet (2) is located inside the at least one cable (3) along the bending direction.

3. The drag chain device according to claim 1, wherein, The radius of the accommodation cavity (101) is the same as the radius of the cross-section of the metal sheet (2).

4. The drag chain device according to claim 1, characterized in that, The central angle corresponding to the cross-section of the metal sheet (2) is α, where the value range of α is 90 - 180 degrees.

5. The drag chain device according to claim 1, characterized in that, The thickness of the metal sheet (2) is h, and the minimum radius of curvature of the middle plane of the metal sheet (2) is R, where h / R = 1 / 20.

6. The drag chain device according to any one of claims 1 to 5, characterized in that The protective sleeve (1) is a fiber braided structure; And / or The metal sheet (2) is a high-quality carbon structural steel strip structure.

7. A robot, characterized in that, The robot includes the drag chain device (100) according to any one of claims 1 to 6.

8. The robot according to claim 7, characterized in that, The robot further includes a fixed module (200) and a motion module (300). The fixed module (200) is provided with a first circuit board (01), and the motion module (300) is provided with a second circuit board (02); One end of the drag chain device (100) is connected to the fixed module (200), the other end of the drag chain device (100) is connected to the fixed module (200), and the at least one cable (3) is electrically connected to the first circuit board (01) and the second circuit board (02) respectively.

9. The robot according to claim 8, characterized in that, The motion module (300) performs linear reciprocating motion relative to the fixed module (200) along a first direction (A); The drag chain device (100) includes a first straight section (03), a first bending section (04), and a second straight section (05) connected in sequence; The first straight section (03) and the second straight section (05) are respectively arranged along the first direction (A), the first straight section (03) is connected to the fixed module (200), and the second straight section (05) is connected to the motion module (300).

10. The robot according to claim 9, wherein The first circuit board (01) is located at the end of the fixed module (200) away from the motion module (300), and the second circuit board (02) is located at the end of the motion module (300) away from the fixed module (200); The drag chain device (100) further includes a fixedly arranged third straight section (06) and a second bending section (07). The third straight section (06), the second bending section (07), the first straight section (03), the first bending section (04), and the second straight section (05) are connected in sequence, and the third straight section (06) and the second bending section (07) are fixedly arranged on the fixed module (200); The third straight segment (06) is connected to the fixed module (200), and the second straight segment (05) is connected to the moving module (300).

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