Robot joint wiring structure

Abstract

The utility model relates to the technical field of robot joint wiring structures, in particular to a robot joint wiring structure which comprises a joint module, a joint module moving unit and a cable fixing mechanism, the cable fixing mechanism comprises a fixing base, a rotating ring, a connecting rod, a telescopic assembly, a fixing ring and a connecting assembly, the rotating ring is provided with a threading hole, and the connecting rod is connected with the connecting assembly. The joint module is arranged on the joint module movable unit, the fixed seat is rotationally connected with the joint module movable unit and located below the joint module movable unit, the rotating ring is rotationally connected with the fixed seat, the fixed seat is located in the rotating ring, and the connecting rod is arranged between the rotating ring and the fixed ring through the connecting assembly. The telescopic assembly is arranged below the joint module, the fixing ring is arranged on the telescopic assembly, the cable is fixed to the joint module through the line fixing mechanism, it is ensured that the cable cannot be wound in the movement process of the joint module, and then the safety of the device is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot joint wiring structure technical field especially relates to a robot joint wiring structure. BACKGROUND

[0002] The wiring structure of the robot joint refers to the structure arranged inside or outside the robot joint for guiding and protecting the cable. The current joint module of the robot has the problems of inconvenient joint module connection replacement, affecting the connection of the robot arm, inconvenient joint module movement and affecting use.

[0003] The patent application with the publication number CN 220699651 U discloses a joint module of a robot, which comprises a joint module movement unit and a joint module. The utility model sets up the joint module movement unit, uses the rotating seat to make the first clamping block rotate, uses the rotating bearing to make the second clamping block rotate more stably, uses the fixed shell to fix the rotating motor, starts the rotating motor to drive the second clamping block to rotate, uses the fixed cover plate to fix the fixed shell, uses the pull handle to drive the fixed cover plate to move, to conveniently overhaul the rotating motor, to conveniently make the joint module move, to conveniently use, to make the joint module connection replacement more convenient, not to affect the connection of the robot arm, to make the joint module movement more convenient, not to affect use.

[0004] The operation of the robot needs cable control, but in the prior art, the cable is directly fixed outside the joint module, when the joint module movement unit controls the workpiece module to move, the cable is easy to be entangled with the joint module movement unit, resulting in low safety of the robot. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a robot joint wiring structure, which aims at solving the problem that the operation of the robot needs cable control, but in the prior art, the cable is directly fixed outside the joint module, when the joint module movement unit controls the workpiece module to move, the cable is easy to be entangled with the joint module movement unit, resulting in low safety of the robot.

[0006] To achieve the above object, the utility model provides a kind of robot joint wiring structure, including joint module, joint module movable unit and cable fixing mechanism, the cable fixing mechanism includes fixed seat, rotating ring, connecting rod, telescopic component, fixed ring and connecting component, the rotating ring has threading hole, the joint module is set on the joint module movable unit, the fixed seat is rotatably connected with the joint module movable unit, and it is located below the joint module movable unit, the rotating ring is rotatably connected with the fixed seat, and the fixed seat is located in the rotating ring, the connecting rod is set between the rotating ring and the fixed ring by the connecting component, the telescopic component is set below the joint module, and the fixed ring is set on the telescopic component.

[0007] Wherein, the connecting component includes connecting seat and first rotating roller, the connecting seat is fixedly connected with the rotating ring, the first rotating roller is rotatably connected with the connecting seat and one end of the connecting rod, and the connecting rod is located in the connecting seat.

[0008] Wherein, the connecting component further includes mounting seat, second rotating roller and mounting block, the mounting seat is fixedly connected with one end of the connecting rod, the mounting block is fixedly connected with the fixed ring, the second rotating roller is rotatably connected with the mounting seat and the mounting block, and the mounting block is located in the mounting seat.

[0009] Wherein, the telescopic component includes telescopic spring and moving plate, the joint module has mounting groove, two ends of the telescopic spring are fixedly connected with the moving plate and the joint module respectively, and located in the mounting groove, the moving plate is slidably connected with the joint module, and located in the mounting groove.

[0010] Wherein, the telescopic component further includes two sliders, the joint module has two sliding grooves, two sliding grooves are set at two ends of the mounting groove respectively, two sliders are fixedly connected with two ends of the moving plate respectively, and two sliders are slidably connected with the joint module and located in two sliding grooves respectively.

[0011] The utility model discloses a kind of robot joint wiring structure, the joint module movable unit controls the joint module when rotating in vertical direction, the telescopic component telescopes, cable still keeps in the threading hole and the fixed ring, the joint module movable unit controls the joint module horizontal rotation, the fixed ring is driven the rotating ring on the fixed seat outer wall by the connecting component and the connecting rod, cable cannot be wound with the joint module movable unit, by the above-mentioned mode, cable can be fixed in the joint module and the fixed seat outer wall, in the process of robot working, cable always keeps stable, cannot be wound, to further improve the security of robot. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced.

[0013] Figure 1 is the structural schematic diagram of the robot joint wiring structure of the utility model.

[0014] Figure 2 is another direction of the structural schematic diagram of the robot joint wiring structure of the utility model.

[0015] Figure 3 is the Figure 2 enlarged view of the partial structure at A of the utility model.

[0016] Figure 4 is the front view of the robot joint wiring structure of the utility model.

[0017] 101-joint module movable unit, 102-joint module, 103-fixed seat, 104-rotary ring, 105-threading hole, 106-connection seat, 107-first rotary roller, 108-connection rod, 109-mounting seat, 110-second rotary roller, 111-mounting block, 112-fixed ring, 113-moving plate, 114-mounting groove, 115-sliding block, 116-sliding groove. DETAILED DESCRIPTION

[0018] Please refer to Figures 1 to 4 , wherein, Figure 1 is the structural schematic diagram of the robot joint wiring structure of the utility model, Figure 2 is another direction of the structural schematic diagram of the robot joint wiring structure of the utility model, Figure 3 is the Figure 2 enlarged view of the partial structure at A of the utility model, Figure 4 is the front view of the robot joint wiring structure of the utility model.

[0019] The utility model provides a kind of robot joint wiring structure, including joint module 102, joint module movable unit 101 and cable fixing mechanism, the cable fixing mechanism includes fixed seat 103, rotating ring 104, connecting rod 108, telescopic component, fixed ring 112 and connecting component, the rotating ring 104 has threading hole 105, the connecting component includes mounting seat 109, second rotating roller 110, mounting block 111, connecting seat 106 and first rotating roller 107, the telescopic component includes two sliders 115, telescopic spring and moving plate 113, the joint module 102 has mounting groove 114 and two sliding slots 116, the operation of robot needs cable control by the foregoing scheme, but in prior art, cable is directly fixed in joint module 102 outside, when joint module movable unit 101 controls workpiece module to move, cable is prone to winding with joint module movable unit 101, lead to the safety of robot is lower.

[0020] In the embodiment, the joint module 102 is arranged on the joint module movable unit 101, the fixed seat 103 is rotatably connected with the joint module movable unit 101 and located below the joint module movable unit 101, the rotating ring 104 is rotatably connected with the fixed seat 103, and the fixed seat 103 is located in the rotating ring 104, the connecting rod 108 is arranged between the rotating ring 104 and the fixed ring 112 through the connecting component, the telescopic component is arranged below the joint module 102, and the fixed ring 112 is arranged on the telescopic component, when the joint module movable unit 101 controls the joint module 102 to rotate in the vertical direction, the telescopic component is telescopic, and the cable is still kept in the threading hole 105 and the fixed ring 112, when the joint module movable unit 101 controls the joint module 102 to rotate horizontally, the fixed ring 112 drives the rotating ring 104 to rotate on the outer side wall of the fixed seat 103 through the connecting component and the connecting rod 108, and the cable will not be wound with the joint module movable unit 101, and by the above-mentioned mode, the cable can be fixed on the joint module 102 and the outer side wall of the fixed seat 103, in the working process of robot, the cable is always kept stable, and will not be wound, thereby improving the safety of robot.

[0021] Further, the connecting seat 106 is fixedly connected with the rotating ring 104, the first rotating roller 107 is rotatably connected with the connecting seat 106 and one end of the connecting rod 108, and the connecting rod 108 is located in the connecting seat 106.

[0022] Further, the mounting base 109 is fixedly connected with one end of the connecting rod 108, the mounting block 111 is fixedly connected with the fixed ring 112, the second rotating roller 110 is rotatably connected with the mounting base 109 and the mounting block 111, and the mounting block 111 is located in the mounting base 109.

[0023] In the embodiment, when the joint module 102 rotates in the vertical direction, the telescopic spring is telescopic, at this time, the first rotating roller 107 and the second rotating roller 110 rotate, the angle of the connecting rod 108 changes, the first rotating roller 107, the second rotating roller 110 and the connecting rod 108 cooperate to keep the cable in the threading hole 105 and the fixed ring 112; when the joint module 102 rotates horizontally, the first rotating roller 107 and the second rotating roller 110 do not rotate, the fixed ring 112 drives the rotating ring 104 to rotate on the outer wall of the fixed base 103 through the connecting rod 108, the cable does not entangle with the joint module 102, and the cable is fixed on the joint module 102 and the outer wall of the fixed base 103 through the above manner, which keeps the cable stable during the working process of the robot and improves the safety of the robot.

[0024] Further, the two ends of the telescopic spring are fixedly connected with the moving plate 113 and the joint module 102 respectively and located in the mounting groove 114, and the moving plate 113 is slidably connected with the joint module 102 and located in the mounting groove 114.

[0025] In the embodiment, when the joint module 102 rotates in the vertical direction, the telescopic spring is telescopic and drives the moving plate 113 to slide in the mounting groove 114, at this time, the first rotating roller 107 and the second rotating roller 110 rotate, the angle of the connecting rod 108 changes, and the first rotating roller 107, the second rotating roller 110 and the connecting rod 108 cooperate to keep the cable in the threading hole 105 and the fixed ring 112.

[0026] Further, two sliding grooves 116 are arranged at two ends of the mounting groove 114 respectively, two sliding blocks 115 are fixedly connected with two ends of the moving plate 113 respectively, and the two sliding blocks 115 are slidably connected with the joint module 102 and located in the two sliding grooves 116 respectively.

[0027] In the embodiment, the joint module movable unit 101 controls the joint module 102 to rotate in the vertical direction, the telescopic spring is telescopic, and the movable plate 113 is driven to slide in the mounting groove 114, the two sliders 115 at the two ends of the movable plate 113 are respectively slid in the two sliding grooves 116, the two sliders 115 and the two sliding grooves 116 limit and guide the movement of the movable plate 113 and the fixed ring 112, so that the movable plate 113 and the fixed ring 112 cannot be separated from the joint module 102, and the stability of the device is improved.

[0028] The utility model discloses the joint module movable unit 101 controls the joint module 102 to rotate in the vertical direction, the telescopic spring is telescopic, and the movable plate 113 is driven to slide in the mounting groove 114, the two sliders 115 at the two ends of the movable plate 113 are respectively slid in the two sliding grooves 116, the two sliders 115 and the two sliding grooves 116 limit and guide the movement of the movable plate 113 and the fixed ring 112, so that the movable plate 113 and the fixed ring 112 cannot be separated from the joint module 102, and the stability of the device is improved.

[0029] The above disclosed is only a preferred embodiment of the application, which cannot limit the scope of the application, and those skilled in the art can understand that all or part of the above-mentioned processes can be implemented, and equivalent changes made according to the claims of the application still belong to the scope of the application.

Claims

1. A robot joint wiring structure, comprising a joint module and a joint module movable unit, wherein the joint module is disposed on the joint module movable unit, characterized in that, It also includes a cable fixing mechanism, which comprises a fixing base, a rotating ring, a connecting rod, a telescopic assembly, a fixing ring, and a connecting assembly. The rotating ring has a wire through hole. The fixing base is rotatably connected to the movable unit of the joint module and is located below the movable unit of the joint module. The rotating ring is rotatably connected to the fixing base, and the fixing base is located inside the rotating ring. The connecting rod is disposed between the rotating ring and the fixing ring through the connecting assembly. The telescopic assembly is disposed below the joint module, and the fixing ring is disposed on the telescopic assembly.

2. The robot joint wiring structure as described in claim 1, characterized in that, The connecting assembly includes a connecting seat and a first rotating roller. The connecting seat is fixedly connected to the rotating ring. The first rotating roller is rotatably connected to the connecting seat and one end of the connecting rod, and the connecting rod is located inside the connecting seat.

3. The robot joint wiring structure as described in claim 2, characterized in that, The connecting assembly further includes a mounting base, a second rotating roller, and a mounting block. The mounting base is fixedly connected to one end of the connecting rod, the mounting block is fixedly connected to the fixing ring, the second rotating roller is rotatably connected to the mounting base and the mounting block, and the mounting block is located inside the mounting base.

4. The robot joint wiring structure as described in claim 3, characterized in that, The telescopic assembly includes a telescopic spring and a movable plate. The joint module has a mounting groove. The two ends of the telescopic spring are fixedly connected to the movable plate and the joint module respectively and are located in the mounting groove. The movable plate is slidably connected to the joint module and is located in the mounting groove.

5. The robot joint wiring structure as described in claim 4, characterized in that, The telescopic assembly also includes two sliders. The joint module has two sliding grooves, which are respectively disposed at both ends of the mounting groove. The two sliders are respectively fixedly connected to both ends of the movable plate. The two sliders are slidably connected to the joint module and are respectively located in the two sliding grooves.

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