Robot wire passing joint

Abstract

The utility model provides a robot wire passing joint, and belongs to the technical field of robots. The problem of how to prolong the service life of the cable is solved. According to the robot wire passing joint, a robot comprises a cable, a four-axis joint and a three-axis joint internally provided with a speed reducer, the wire passing joint is located between the three-axis joint and the four-axis joint, and a connecting body is arranged between the three-axis joint and the wire passing joint; the connecting body comprises a connecting part connected and positioned with the driving end of the speed reducer, a driving part used for driving the four-axis joint to rotate and a single-turning part formed between the connecting part and the driving part, the single-turning part is in a long strip shape, a cable passing cavity is formed in the three-axis joint and located on one side of the speed reducer, and a cable penetrates through the cable passing cavity and the driving part and extends into the four-axis joint; one end of the cable is positioned in the cable passing cavity, and the other end of the cable is positioned in the center of the junction of the cable passing joint and the four-axis joint. The robot wire passing joint can prolong the service life of the cable.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots and relates to a wire-passing joint of a robot. Background Art

[0002] Robots are relatively common in today's life. As a type of robot, the six-axis robot is widely used in the industrial production field due to the multi-dimensional sensitivity of its axis joints.

[0003] As is well known, in addition to the basic transmission components, the six-axis robot mainly consists of a main shaft and a secondary shaft. Among them, the first-axis joint (also known as the S axis), the second-axis joint (also known as the L axis), and the third-axis joint (also known as the U axis) that make up the main shaft perform body rotation, large-arm movement, and small-arm movement actions respectively. Secondly, the fourth-axis joint (also known as the R axis), the fifth-axis joint (also known as the B axis), and the sixth-axis joint (also known as the T axis) that make up the secondary shaft perform rotation, up-and-down swing, and circumferential rotation actions respectively.

[0004] Especially for the transmission of the fifth-axis joint and the sixth-axis joint of the secondary shaft part, it is necessary to arrange cables in the third-axis joint that pass through the fourth-axis joint and connect the motors in the fifth-axis joint and the sixth-axis joint. In the prior art, in order to ensure the normal arrangement of the cables, generally, a hollow reducer is arranged in the third-axis joint, and the arranged cables pass through the hollow reducer and the fourth-axis joint in sequence and then are connected to the motors in the fifth-axis joint and the sixth-axis joint.

[0005] Although the above structure can complete the power supply and control of the motors in the fifth-axis joint and the sixth-axis joint, there are still great disadvantages in the actual application process. Specifically, first, the action performed by the fourth-axis joint is rotational motion. When the cable passes through the hollow reducer and the fourth-axis joint, it passes through the center, and the wire-passing part is not freely movable. Instead, the part of the cable between the hollow reducer and the fourth-axis joint is positioned by means of clamping. This causes the fourth-axis joint to continuously twist the cable during movement, resulting in the cable being twisted in the circumferential direction. Over time, the service life of the cable will be reduced, and further, the robot will frequently malfunction. Summary of the Invention

[0006] The purpose of the utility model is to provide a wire-passing joint of a robot in view of the above problems existing in the prior art. The technical problem to be solved by the utility model is: how to improve the service life of the cable.

[0007] The object of the present utility model can be achieved by the following technical solutions: A wire-passing joint of a robot, the robot includes a cable, a four-axis joint, and a three-axis joint internally provided with a speed reducer. It is characterized in that the wire-passing joint is located between the three-axis joint and the four-axis joint, a connecting body is provided between the three-axis joint and the wire-passing joint, the connecting body includes a connecting portion connected and positioned with the driving end of the speed reducer, a driving portion for driving the four-axis joint to rotate, and a single-crank portion formed between the connecting portion and the driving portion. The single-crank portion is strip-shaped. There is a wire-passing cavity on one side of the speed reducer inside the three-axis joint. The cable passes through the wire-passing cavity and the driving portion and extends into the four-axis joint. One end of the cable is positioned in the wire-passing cavity, and the other end is positioned at the center of the junction of the wire-passing joint and the four-axis joint.

[0008] In this application, a wire-passing joint is arranged between the three-axis joint and the four-axis joint, and an ordinary speed reducer is used instead of a hollow speed reducer and installed in the three-axis joint. A connecting body composed of a connecting portion, a driving portion, and a single-crank portion is installed between the three-axis joint and the wire-passing joint to connect and drive the speed reducer and the four-axis joint. On the premise of realizing the normal control of the four-axis joint to perform rotational movements, a wire-passing cavity is arranged on one side of the speed reducer in the three-axis joint, so that the cable passes through the wire-passing cavity and the driving portion and then extends into the four-axis joint to connect the five-axis motor and the six-axis motor, so as to achieve the control of the five-axis joint and the six-axis joint. In the section where the cable passes through the wire-passing joint, one end is positioned in the wire-passing cavity, and the other end is positioned between the wire-passing joint and the four-axis joint. On the premise of ensuring the firm arrangement of this section of the cable, since one end of the cable passing through the wire-passing cavity is eccentrically arranged relative to the speed reducer, and the other end is located at the center of the junction of the wire-passing joint and the four-axis joint, when the four-axis robotic arm rotates driven by the connecting body in cooperation with the speed reducer, this part of the cable in the wire-passing joint has non-opposite ends, thereby reducing the torsional deformation stress acting on the cable, thus greatly reducing the degree of twist generated by the cable, thereby increasing the service life of the cable, effectively reducing the failure rate of the robot. Moreover, it is worth mentioning that in this application, the single-crank portion is set to be strip-shaped, and the purpose is to leave more space in the circumferential direction inside the wire-passing joint for the cable to be arranged. And it should be emphasized that this application is mainly aimed at the rotation range of the four-axis joint being between ±180°. Within this rotation range, the single-crank portion will not hook the cable and apply force to it, avoiding the cable being damaged by being pulled.

[0009] In the above-mentioned wire-passing joint of the robot, the connecting part is disc-shaped, the driving part is ring-shaped, one end of the single-crank part is formed on the surface of the connecting part facing the driving part, and the other end is formed at the outer wall edge of the driving part facing the connecting part. Through this setting, the single-crank part is eccentrically arranged relative to the connecting part and the driving part, so as to minimize the contact between the single-crank part and the cable in the wire-passing joint as much as possible, and avoid the cable being pulled by the rotational movement of the connecting body.

[0010] In the above-mentioned wire-passing joint of the robot, the outer diameter of the driving part is larger than that of the connecting part, and one end of the single-crank part close to the four-axis joint is inclined outward. Making the outer diameter of the driving part larger can maximize its contact area within a limited space to ensure stable transmission. At the same time, setting one end of the single-crank part close to the four-axis joint to be inclined outward can further prevent the single-crank part from hooking the cable and pulling it.

[0011] In the above-mentioned wire-passing joint of the robot, the cable located between the three-axis joint and the four-axis joint is in a flexural shape. This ensures that this part of the cable between the three-axis joint and the four-axis joint has enough length to withstand the bending deformation force when the connecting body rotates.

[0012] In the above-mentioned wire-passing joint of the robot, a front pressing plate is detachably connected in the wire-passing cavity. One end of the cable passing through the wire-passing cavity is pressed by the front pressing plate against the wall of the wire-passing cavity. A positioning plate is provided at the junction of the wire-passing joint and the four-axis joint, and a rear pressing plate is detachably connected to the positioning plate. One end of the cable extending out of the wire-passing joint is pressed by the rear pressing plate against the surface of the positioning plate. Thus, the two ends of this section of the cable located inside the wire-passing joint are pressed and positioned by the cooperation of the front pressing plate and the rear pressing plate with fasteners, ensuring the firm positioning of this part of the cable.

[0013] In the above-mentioned wire-passing joint of the robot, a bushing is rotatably connected inside the wire-passing joint. One end of the bushing is connected and positioned with the driving part, and the other end is connected and positioned with the four-axis joint. Specifically, a bushing is arranged inside the wire-passing joint to connect the driving part of the connecting body and the four-axis joint, so as to make up for the insufficient length of the connecting body and ensure the normal operation of the robot.

[0014] In the above-mentioned wire-passing joint of the robot, an annular connecting disc is provided on the inner wall of the four-axis joint. The connecting disc and the bushing are detachably connected by the fasteners, and the rear pressing plate is detachably connected to the connecting disc by the fasteners. Specifically, through the cooperation of bolts and nuts, the bolts pass through the connecting disc, the four-axis joint and the bushing in sequence and are screwed and locked with the fasteners, so as to complete the connection between the bushing and the four-axis joint. While ensuring the firm installation of the two, the connecting disc can also provide an installation position for the rear pressing plate.

[0015] In the above-mentioned wire-passing joint of the robot, a bearing is provided at one end of the wire-passing joint facing the four-axis joint, and the inner ring of the bearing is fixedly clamped with the outer wall of the shaft sleeve. Through the setting of the bearing, the phenomenon of instability during rotation caused by the too long lever arm formed by the cooperation of the connecting body and the shaft sleeve is avoided.

[0016] Compared with the prior art, the wire-passing joint of this robot has the following advantages:

[0017] The transmission between the three-axis joint and the four-axis joint of the robot is realized by a connecting body composed of a disc-shaped connecting part, an annular driving part, and a strip-shaped single-crank part. A wire-passing cavity for laying cables is opened on one side of the reducer in the three-axis joint. Due to the avoidance effect of the single-crank part, the cable can extend into the four-axis joint after passing through the wire-passing cavity and the driving part, avoiding the situation of central wiring in the prior art, preventing the cable located in the wire-passing joint from being twisted due to the rotation of the four-axis joint, effectively ensuring the service life of the cable, and reducing the failure rate of the robot. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the wire-passing joint of this robot.

[0019] Figure 2 is a front view of the wire-passing joint of this robot.

[0020] Figure 3 is Figure 2 a cross-sectional view taken along the A-A direction.

[0021] Figure 4 is Figure 3 a partial enlarged view of A in

[0022] Figure 5 is Figure 3 a partial enlarged view of B in

[0023] Figure 6 is a cross-sectional view of the three-axis joint.

[0024] Figure 7 is a schematic structural diagram of the connecting body.

[0025] In the figure, 1, cable; 2, four-axis joint; 3, three-axis joint; 31, reducer; 32, wire-passing cavity; 321, front pressing plate; 4, wire-passing joint; 41, shaft sleeve; 42, connecting disc; 43, bearing; 5, connecting body; 51, connecting part; 52, driving part; 53, single-crank part; 6, positioning plate; 61, rear pressing plate. Detailed Embodiments

[0026] The following are specific embodiments of the present utility model and, in conjunction with the accompanying drawings, further describe the technical solutions of the present utility model, but the present utility model is not limited to these embodiments.

[0027] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 7 shown, in the wire-passing joint of this robot, the robot includes a cable 1, a three-axis joint 3 and a four-axis joint 2. The wire-passing joint 4 is located between the three-axis joint 3 and the four-axis joint 2. A speed reducer 31 driven by a motor is connected inside the three-axis joint 3. A connecting body 5 is provided between the three-axis joint 3 and the wire-passing joint 4. The connecting body 5 specifically includes a disc-shaped connecting portion 51, an annular driving portion 52, and a single-crank portion 53 formed between the connecting portion 51 and the driving portion 52 and in a strip shape. The connecting portion 51 of the connecting body 5 is screwed and fixed to the driving end of the speed reducer 31 through bolts. A bushing 41 is rotatably connected inside one end of the driving joint facing the four-axis joint 2. The driving end of the connecting body 5 is screwed and fixed to one end of the bushing 41 through bolts. A connecting disc 42 is provided on the inner wall of one end of the four-axis joint 2 facing the wire-passing joint 4. The other end of the bushing 41 abuts against the outer wall of the end of the four-axis joint 2. Bolts are sequentially passed through the connecting disc 42, the outer wall of the end of the four-axis joint 2, and the bushing 41 and are screwed and tightened with nuts in cooperation with the bolts, so that the bushing 41 and the connecting disc 42 cooperate to clamp the end of the four-axis joint 2, thereby completing the transmission connection between the three-axis joint 3 and the four-axis joint 2. When the motor in the three-axis joint 3 drives the speed reducer 31 to rotate, the whole connecting body 5 rotates to control the bushing 41 to rotate, and at the same time, the four-axis joint 2 is driven to rotate through the bushing 41. In addition, it is worth mentioning that, in order to avoid unstable rotation caused by too long a lever arm formed by the connecting body 5 and the bushing 41, a bearing 43 is installed on the inner wall of one end of the wire-passing joint 4 facing the four-axis joint 2. The outer ring of the bearing 43 is clamped with the inner wall of the wire-passing joint 4, and the inner ring is clamped with the outer wall of the bushing 41, so as to achieve auxiliary limiting of the bushing 41.

[0028] Combined with Figure 6, a wire passing cavity 32 is provided on one side of the speed reducer 31 in the three-axis joint 3. The cable 1 passes through the wire passing cavity 32 and extends into the wire passing joint 4, coils in a flexural shape for a certain length, then passes through the driving part 52 and the shaft sleeve 41, and extends into the four-axis joint 2 from the center where the wire passing joint 4 and the four-axis joint 2 meet. In the wire passing cavity 32, a front pressing plate 321 is screwed and locked by a screw, and the front pressing plate 321 presses the cable 1 against the cavity wall of the wire passing cavity 32. At the junction of the wire passing joint 4 and the four-axis joint 2, an L-shaped positioning plate 6 is provided. The positioning plate 6 is arranged close to the center lines of the wire passing joint 4 and the four-axis joint 2. One end of it is positioned on the connecting disk 42 by screwing with a screw, and the other end extends into the shaft sleeve 41, and a rear pressing plate 61 is screwed and locked on the plate surface. The cable 1 is pressed against the positioning plate 6 by the rear pressing plate 61, so as to realize the positioning of both ends of the cable 1 passing through the wire passing joint 4.

[0029] In addition, as Figure 7 shown, the outer diameter of the connecting part 51 in the connecting body 5 is smaller than the outer diameter of the driving part 52. One end of the single crank part 53 is formed on the plate surface of the connecting part 51 facing the driving part 52, and the other end is formed on the outer wall edge of the driving part 52 facing the connecting part 51. Moreover, one end of the single crank part 53 close to the four-axis joint 2 is bent outward.

[0030] Working principle: The speed reducer 31 in the three-axis joint 3 drives the connecting body 5 to rotate through the motor. The connecting body 5 drives the shaft sleeve 41 to drive the four-axis joint 2 to rotate (the rotation amplitude of the four-axis joint 2 is between ±180°). During this process, for the cable 1 in the wire passing joint 4, since the extending end is eccentrically arranged relative to the speed reducer 31, and the extending end is located at the center where the wire passing joint 4 and the four-axis joint 2 meet, and since the cable 1 in the wire passing joint 4 is in a flexural state itself, when the four-axis joint 2 is driven to rotate, it offsets the original torsional deformation amount through its own stress-induced bending deformation, thereby avoiding the situation of frequent excessive torsion failure, effectively improving its service life, and further reducing the failure rate of the robot.

[0031] The specific embodiments described herein are only illustrative of the spirit of the present invention. Those skilled in the technical field to which the present invention belongs can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0032] Although terms such as cable 1, four-axis joint 2, three-axis joint 3, reduction gear 31, wire passing cavity 32, front pressure plate 321, wire passing joint 4, bushing 41, connecting plate 42, bearing 43, connecting body 5, connecting portion 51, driving portion 52, single crank portion 53, positioning plate 6, rear pressure plate 61 are used more frequently in this text, the possibility of using other terms is not excluded. The use of these terms is only for more convenient description and explanation of the essence of the present utility model; interpreting them as any additional limitation is contrary to the spirit of the present utility model.

Claims

1. A robot crossing-line joint. The robot includes a cable (1), a four-axis joint (2), and a three-axis joint (3) with a speed reducer (31) disposed therein. It is characterized in that, The wire-passing joint (4) is located between the three-axis joint (3) and the four-axis joint (2). A connecting body (5) is provided between the three-axis joint (3) and the wire-passing joint (4). The connecting body (5) includes a connecting portion (51) connected and positioned with the driving end of the speed reducer (31), a driving portion (52) for driving the four-axis joint (2) to rotate, and a single-crank portion (53) formed between the connecting portion (51) and the driving portion (52). The single-crank portion (53) is in a long strip shape. Inside the three-axis joint (3) and on one side of the speed reducer (31), there is a wire-passing cavity (32). The cable (1) passes through the wire-passing cavity (32) and the driving portion (52) and extends into the four-axis joint (2). One end of the cable (1) is positioned in the wire-passing cavity (32), and the other end is positioned at the center of the junction of the wire-passing joint (4) and the four-axis joint (2).

2. The robot crossing-line joint according to claim 1, wherein The connecting portion (51) is in a disc shape, the driving portion (52) is in an annular shape. One end of the single-crank portion (53) is formed on the surface of the connecting portion (51) facing the driving portion (52), and the other end is formed at the outer wall edge of the driving portion (52) facing the connecting portion (51).

3. The robot wire-passing joint according to claim 1 or 2, characterized in that The outer diameter of the driving portion (52) is larger than the outer diameter of the connecting portion (51), and one end of the single-crank portion (53) close to the four-axis joint (2) is inclined outwardly.

4. The robot wire-passing joint according to claim 1 or 2, characterized in that, The cable (1) located between the three-axis joint (3) and the four-axis joint (2) is in a flexural shape.

5. The robot wire-passing joint according to claim 1 or 2, characterized in that, A front pressing plate (321) is detachably connected in the wire-passing cavity (32). One end of the cable (1) passing through the wire-passing cavity (32) is pressed by the front pressing plate (321) against the wall of the wire-passing cavity (32). At the junction of the wire-passing joint (4) and the four-axis joint (2), there is a positioning plate (6). A rear pressing plate (61) is detachably connected to the positioning plate (6). One end of the cable (1) extending out of the wire-passing joint (4) is pressed by the rear pressing plate (61) against the surface of the positioning plate (6).

6. The robot wire-passing joint according to claim 5, wherein, A bushing (41) is rotatably connected in the wire-passing joint (4). One end of the bushing (41) is connected and positioned with the driving portion (52), and the other end is connected and positioned with the four-axis joint (2).

7. The robot wire-passing joint according to claim 6, characterized in that, An annular connecting disc (42) is provided on the inner wall of the four-axis joint (2). The connecting disc (42) and the bushing (41) are detachably connected by fasteners. The rear pressing plate (61) is detachably connected to the connecting disc (42) by fasteners.

8. The robot wire-passing joint according to claim 7, wherein One end of the wire-passing joint (4) facing the four-axis joint (2) is provided with a bearing (43), and the inner ring of the bearing (43) is fixedly clamped with the outer wall of the bushing (41).

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