Manipulator cable protection device and manipulator

Abstract

The utility model provides a mechanical arm cable protection device and a mechanical arm, the mechanical arm cable protection device is applied to the mechanical arm, and the mechanical arm comprises a mechanical arm and a clamping jaw movably arranged on the mechanical arm in a lifting mode; the mechanical arm cable protection device comprises a lifting assembly which is movably arranged on a mechanical arm in a lifting mode; the flexible wiring pipe is used for installing a cable, one end of the flexible wiring pipe is arranged on the mechanical arm, the other end of the flexible wiring pipe is arranged on the clamping jaw, and the part, located between the two ends, of the flexible wiring pipe is connected with the lifting assembly; one end of the elastic assembly is connected with the mechanical arm, and the other end of the elastic assembly is connected with the lifting assembly; when the clamping jaw ascends, the elastic assembly can provide elastic force so that the flexible wiring pipe and the lifting assembly can ascend synchronously. According to the mechanical arm cable protection device, the cable is prevented from being excessively pulled, and the service life of the cable can be prolonged.

Description

Technical Field

[0001] The present application belongs to the technical field of manipulators, and more specifically, relates to a manipulator cable protection device and a manipulator. Background Art

[0002] With the continuous development of work automation, robotic arms are widely used in industrial automation handling. Currently, robotic arms typically consist of a mechanical arm and a gripper mounted on the arm. External cables are typically first fixed to the mechanical arm and then connected to the gripper. When the gripper is raised or lowered, the cables are easily overstretched, which shortens their service life. Utility Model Content

[0003] An embodiment of the present application provides a robot cable protection device, which can prevent the cable from being excessively pulled and increase the service life of the cable.

[0004] The technical solution adopted in the embodiment of the present application is to provide a robot cable protection device applied to a robot, wherein the robot comprises a robot arm and a gripper movablely arranged on the robot arm; the robot cable protection device comprises:

[0005] A lifting assembly is movably mounted on the robotic arm;

[0006] a flexible cable conduit for installing cables, one end of the flexible cable conduit being disposed on the robotic arm and the other end being disposed on the clamping claw, and a portion of the flexible cable conduit between the two ends being connected to the lifting assembly; and

[0007] an elastic component, one end of which is connected to the mechanical arm and the other end of which is connected to the lifting component;

[0008] When the clamping claw rises, the elastic component can provide elastic force to make the flexible wiring tube and the lifting component rise synchronously.

[0009] Furthermore, the lifting assembly includes:

[0010] A slider, wherein the robot arm is provided with a guide rail extending along the lifting direction of the clamping claw, and the slider is slidably mounted on the guide rail; and

[0011] A lifting seat is arranged on the slider, and the flexible wiring tube is connected to the lifting seat.

[0012] Furthermore, the robot cable protection device also includes a rotating component, which can be rotatably installed on the lifting component, and the flexible wiring tube is connected to the rotating component.

[0013] Furthermore, the rotating assembly includes a rotating seat, which can be rotatably mounted on the lifting assembly. A mounting hole is provided on the rotating seat, and the flexible wiring tube is fixed in the mounting hole.

[0014] Furthermore, the rotating assembly also includes a rotating shaft and a bearing. One end of the rotating shaft is fixedly connected to the rotating seat, and the other end is rotatably connected to the lifting assembly through the bearing.

[0015] Furthermore, the elastic component includes:

[0016] A first connecting member is provided on the robotic arm;

[0017] A second connecting member is provided on the lifting assembly; and

[0018] An elastic member has one end connected to the first connecting member and the other end connected to the second connecting member.

[0019] Furthermore, the flexible wiring tube includes a curved section and a straight section, one end of the curved section is arranged on the robotic arm, and the other end is connected to one end of the straight section, the other end of the straight section is arranged on the clamp, and the straight section is connected to the lifting assembly.

[0020] Furthermore, the robot cable protection device further includes:

[0021] A first mounting base is provided on the robotic arm;

[0022] a first connector, disposed on the first mounting seat, connected to one end of the flexible wiring tube, and configured to allow the cable to pass through the first connector and into the flexible wiring tube;

[0023] A second mounting seat is provided on the clamping jaw; and

[0024] The second connector is provided on the second mounting seat, and the second connector is connected to the other end of the flexible wiring tube. The second connector is used for allowing the cable in the flexible wiring tube to pass through the second connector and be connected to the clamp.

[0025] Furthermore, the mechanical arms include at least two, and each of the mechanical arms is rotatably connected in sequence;

[0026] The flexible wiring tubes include at least two, and two ends of one flexible wiring tube are respectively connected to two adjacently arranged robotic arms.

[0027] An embodiment of the present application also provides a manipulator, comprising a manipulator arm, a clamping claw movably arranged on the manipulator arm, a cable, and the manipulator cable protection device as described above, wherein the cable connects the manipulator arm and the clamping claw and is installed in the flexible wiring tube.

[0028] The beneficial effect of the robot cable protection device provided in the embodiment of the present application is that: the robot cable protection device in the embodiment of the present application can be movably set on the robot arm through the lifting component, and the part of the flexible wiring tube between the two ends is connected to the lifting component, one end of the flexible wiring tube is set on the robot arm, and the other end is set on the clamping claw, so that the lifting component and the flexible wiring tube can be lifted and lowered relative to the robot arm. When the clamping claw descends, the clamping claw can drive the flexible wiring tube and the lifting component to descend synchronously, so that the cables located in the flexible wiring tube are synchronously lowered, avoiding excessive pulling of the cables, and improving the service life of the cables. In addition, one end of the elastic component is connected to the robot arm, and the other end is connected to the lifting component. When the clamping claw rises, the elastic component can provide elastic force to make the flexible wiring tube and the lifting component rise synchronously, avoiding bending of the cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] Figure 1 A schematic diagram of the three-dimensional structure of the manipulator provided in an embodiment of the present application;

[0031] Figure 2 A schematic diagram of the three-dimensional structure of the lifting assembly and the elastic assembly provided in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of the three-dimensional structure of the rotating assembly provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of the three-dimensional structure of the flexible wiring tube provided in an embodiment of the present application.

[0034] Among them, the reference numerals in the figures are:

[0035] 100. Robot cable protection device; 10. Lifting assembly; 11. Slider; 12. Lifting seat; 20. Flexible wiring tube; 21. Bending section; 22. Straight section; 30. Elastic assembly; 31. First connecting member; 32. Second connecting member; 33. Elastic member; 40. Rotating assembly; 41. Rotating seat; 411. Mounting hole; 42. Rotating shaft; 43. Bearing; 50. First mounting seat; 60. First joint; 70. Second mounting seat; 80. Second joint; 200. Robot arm; 210. Guide rail; 300. Gripper. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0037] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0040] See also Figure 1 The robot cable protection device 100 provided in an embodiment of the present application is now described. The robot is applied to a robot. The robot includes a robot arm 200 and a gripper 300 movably disposed on the robot arm 200. The robot cable protection device 100 includes a lifting assembly 10, a flexible cable conduit 20, and an elastic assembly 30.

[0041] The lifting assembly 10 is movably mounted on the robot arm 200 .

[0042] The flexible cable conduit 20 is used to install cables (not shown in the figure), that is, the cables are installed in the flexible cable conduit 20, thereby protecting the cables. It can be understood that the cables move synchronously with the flexible cable conduit 20. One end of the flexible cable conduit 20 is arranged on the robot arm 200, and the other end is arranged on the clamping claw 300. The portion of the flexible cable conduit 20 located between the two ends is connected to the lifting assembly 10. Since the flexible cable conduit 20 is connected to the lifting assembly 10, the lifting assembly 10 can be arranged on the robot arm 200 in a lifting and lowering manner, that is, the flexible cable conduit 20 can be lifted and lowered relative to the robot arm 200. The flexible cable conduit 20 is arranged on the robot arm 200 through the lifting assembly 10, which can play a better limiting role and improve the movement accuracy of the flexible cable conduit 20 during the lifting process.

[0043] One end of the elastic component 30 is connected to the robot arm 200 , and the other end is connected to the lifting component 10 .

[0044] When the clamping jaw 300 descends, it causes the flexible cable conduit 20 and the lifting assembly 10 to descend synchronously, thereby simultaneously lowering the cables within the flexible cable conduit 20 and preventing them from being excessively stretched. When the clamping jaw 300 ascends, the elastic assembly 30 provides a spring force that causes the flexible cable conduit 20 and the lifting assembly 10 to ascend synchronously, preventing the cables from bending.

[0045] The robot cable protection device 100 provided in the embodiment of the present application can be movably arranged on the robot arm 200 through the lifting component 10, and the part of the flexible wiring tube 20 located between the two ends is connected to the lifting component 10, one end of the flexible wiring tube 20 is arranged on the robot arm 200, and the other end is arranged on the clamping claw 300, so that the lifting component 10 and the flexible wiring tube 20 can be lifted and lowered relative to the robot arm 200. When the clamping claw 300 descends, the clamping claw 300 can drive the flexible wiring tube 20 and the lifting component 10 to descend synchronously, so that the cables located in the flexible wiring tube 20 are synchronously lowered, avoiding excessive pulling of the cables and improving the service life of the cables. In addition, one end of the elastic component 30 is connected to the robot arm 200, and the other end is connected to the lifting component 10. When the clamping claw 300 rises, the elastic component 30 can provide elastic force to make the flexible wiring tube 20 and the lifting component 10 rise synchronously, avoiding bending of the cables.

[0046] See also Figure 1 and Figure 2The lifting assembly 10 may include a slider 11 and a lifting base 12. A guide rail 210 extending in the lifting direction of the gripper 300 is provided on the robotic arm 200. The slider 11 is slidably mounted on the guide rail 210. The lifting base 12 is disposed on the slider 11. The flexible cable conduit 20 is connected to the lifting base 12. The cooperation between the slider 11 and the guide rail 210 prevents the flexible cable conduit 20 and the cable from deviating during the lifting process, further improving motion accuracy.

[0047] See also Figure 1 and Figure 3 The robot cable protection device 100 may further include a rotating assembly 40 rotatably mounted on the lifting assembly 10. The flexible cable conduit 20 is connected to the rotating assembly 40, allowing the flexible cable conduit 20 to rotate relative to the lifting assembly 10. When the clamping jaw 300 rotates, the clamping jaw 300 simultaneously drives the flexible cable conduit 20 and the rotating assembly 40 to rotate synchronously, preventing excessive pulling, twisting, and bending of the cable, thereby ensuring the safety of the cable and improving the operational safety of the robot.

[0048] See also Figure 3 The rotating assembly 40 may include a rotating base 41, which is rotatably mounted on the lifting assembly 10. Specifically, the rotating base 41 is rotatably mounted on the lifting base 12. The rotating base 41 defines a mounting hole 411, into which the flexible cable conduit 20 is secured. When the clamping jaw 300 rotates, the flexible cable conduit 20 can rotate synchronously with the rotating base 41 because the rotating base 41 is rotatable relative to the lifting assembly 10.

[0049] See also Figure 3 The rotating assembly 40 may further include a rotating shaft 42 and a bearing 43. One end of the rotating shaft 42 is fixedly connected to the rotating base 41, and the other end is rotatably connected to the lifting assembly 10 via the bearing 43. Specifically, the other end is rotatably connected to the lifting base 12 via the bearing 43. The arrangement of the rotating base 41 and the bearing 43 enables the rotating base 41 to rotate relative to the lifting assembly 10. When the flexible cable conduit 20 is mounted on the rotating base 41, the flexible cable conduit 20 can rotate synchronously with the rotation of the clamping jaw 300.

[0050] See also Figure 1 and Figure 2The elastic component 30 may include a first connecting member 31, a second connecting member 32, and an elastic member 33. The first connecting member 31 is disposed on the robotic arm 200. The second connecting member 32 is disposed on the lifting assembly 10. One end of the elastic member 33 is connected to the first connecting member 31, and the other end is connected to the second connecting member 32. Through the first connecting member 31 and the second connecting member 32, one end of the elastic member 33 is connected to the robotic arm 200, and the other end is connected to the lifting assembly 10, thereby providing an elastic force to drive the lifting assembly 10 to rise. Specifically, the elastic member 33 may be a compression spring or a tension spring.

[0051] See also Figure 1 and Figure 2 The robot arm 200 may be provided with a plurality of connection holes (not shown) spaced apart along the lifting direction of the gripper 300, and the first connection member 31 may be disposed in any of the connection holes. By providing a plurality of connection holes, the position of the first connection member 31 can be adjusted, thereby accommodating elastic members 33 of different lengths.

[0052] See also Figure 4 The flexible wiring tube 20 may include a curved section 21 and a straight section 22. One end of the curved section 21 is provided on the robotic arm 200, and the other end is connected to one end of the straight section 22. The other end of the straight section 22 is provided on the clamp 300, and the straight section 22 is connected to the lifting assembly 10. Since the flexible wiring tube 20 includes the curved section 21, when the clamp 300 drives the straight section 22 to descend, the straight section 22 will drive and pull the curved section 21 downward, thereby changing the bending deformation of the curved section 21 to avoid excessive pulling. When the clamp 300 rises, the straight section 22 moves upward under the elastic force of the elastic assembly 30. At this time, the bending deformation of the curved section 21 will change, thereby avoiding bending of the straight section 22. Specifically, the flexible wiring tube 20 may be a corrugated tube.

[0053] See also Figure 1 and Figure 4 The robot cable protection device 100 may further include a first mounting seat 50, a first connector 60, a second mounting seat 70, and a second connector 80. The first mounting seat 50 is disposed on the robot arm 200. The first connector 60 is disposed on the first mounting seat 50 and is connected to one end of the flexible cable conduit 20. The first connector 60 is used to allow the cable to pass through the flexible cable conduit 20 through the first connector 60. The arrangement of the first mounting seat 50 and the first connector 60 allows one end of the flexible cable conduit 20 to be fixed to the robot arm 200.

[0054] A second mounting base 70 is mounted on the clamping jaw 300. A second connector 80 is mounted on the second mounting base 70 and connected to the other end of the flexible cable conduit 20. The second connector 80 allows the cables within the flexible cable conduit 20 to pass through the second connector 80 and connect to the clamping jaw 300. The second mounting base 70 and the second connector 80 secure the other end of the flexible cable conduit 20 to the clamping jaw 300.

[0055] See also Figure 1 and Figure 4 The robot arm 200 may include at least two, each of which is rotatably connected in sequence. By providing at least two robot arms 200, the flexibility of the robot arm 200 may be improved.

[0056] At least two flexible cable conduits 20 can be included, with each flexible cable conduit 20 having two ends connected to two adjacent robotic arms 200. That is, one end of a flexible cable conduit 20 is connected to one of the adjacent robotic arms 200, and the other end is connected to the other adjacent robotic arm 200. The segmented arrangement of the flexible cable conduit 20 further protects the flexible cable conduit 20 and reduces the risk of cable damage.

[0057] See also Figure 1 An embodiment of the present application also provides a manipulator, including a manipulator arm 200, a clamping claw 300 movably arranged on the manipulator arm 200, a cable, and a manipulator cable protection device 100 in any of the above embodiments, wherein the cable connects the manipulator arm 200 and the clamping claw 300 and is installed in a flexible wiring tube 20.

[0058] Since the robot of the embodiment of the present application includes the robot cable protection device 100 in any of the above embodiments, it has the beneficial effects brought by the robot cable protection device 100 in any of the above embodiments, which will not be repeated here.

[0059] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A robot cable protection device, applied to a robot, wherein the robot comprises a robot arm and a gripper movable and movable on the robot arm; characterized in that: The manipulator cable protection device comprises: A lifting assembly is movably mounted on the robotic arm; a flexible cable conduit for installing cables, one end of the flexible cable conduit being disposed on the robotic arm and the other end being disposed on the clamping claw, and a portion of the flexible cable conduit between the two ends being connected to the lifting assembly; and an elastic component, one end of which is connected to the mechanical arm, and the other end of which is connected to the lifting component; When the clamping claw rises, the elastic component can provide elastic force to make the flexible wiring tube and the lifting component rise synchronously.

2. The robot cable protection device according to claim 1, characterized in that: The lifting assembly comprises: A slider, wherein the robot arm is provided with a guide rail extending along the lifting direction of the clamping claw, and the slider is slidably mounted on the guide rail; and A lifting seat is arranged on the slider, and the flexible wiring tube is connected to the lifting seat.

3. The robot cable protection device according to claim 1, characterized in that: The robot cable protection device also includes a rotating assembly, which can be rotatably installed on the lifting assembly, and the flexible wiring tube is connected to the rotating assembly.

4. The robot cable protection device according to claim 3, characterized in that: The rotating assembly includes a rotating seat, which can be rotatably mounted on the lifting assembly. A mounting hole is provided on the rotating seat, and the flexible wiring tube is fixed in the mounting hole.

5. The robot cable protection device according to claim 4, characterized in that: The rotating assembly further includes a rotating shaft and a bearing. One end of the rotating shaft is fixedly connected to the rotating seat, and the other end is rotatably connected to the lifting assembly through the bearing.

6. The robot cable protection device according to any one of claims 1 to 5, characterized in that: The elastic component comprises: A first connecting member is provided on the robotic arm; A second connecting member is provided on the lifting assembly; and An elastic member, one end of which is connected to the first connecting member, and the other end of which is connected to the second connecting member.

7. The robot cable protection device according to any one of claims 1 to 5, characterized in that: The flexible wiring tube includes a curved section and a straight section, one end of the curved section is arranged on the robotic arm, and the other end is connected to one end of the straight section, the other end of the straight section is arranged on the clamp, and the straight section is connected to the lifting assembly.

8. The robot cable protection device according to any one of claims 1 to 5, characterized in that: The manipulator cable protection device further includes: A first mounting base is provided on the robotic arm; a first connector, disposed on the first mounting seat, connected to one end of the flexible wiring tube, and configured to allow the cable to pass through the first connector and into the flexible wiring tube; A second mounting seat is provided on the clamping jaw; and The second connector is provided on the second mounting seat, and the second connector is connected to the other end of the flexible wiring tube. The second connector is used for allowing the cable in the flexible wiring tube to pass through the second connector and be connected to the clamp.

9. The robot cable protection device according to any one of claims 1 to 5, characterized in that: The mechanical arms include at least two, and each of the mechanical arms is rotatably connected in sequence; The flexible wiring tubes include at least two, and two ends of one flexible wiring tube are respectively connected to two adjacently arranged robotic arms.

10. A robot, characterized in that: It comprises a robotic arm, a clamping claw movably arranged on the robotic arm, a cable, and a robotic arm cable protection device according to any one of claims 1 to 9, wherein the cable connects the robotic arm and the clamping claw and is installed in the flexible wiring tube.

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