Rotary wire passing structure and mechanical arm

Abstract

The utility model discloses a rotary wire passing structure and a mechanical arm, the rotary wire passing structure comprises a hollow rotating shaft, a wire passing hole is formed in the hollow rotating shaft along the central axis in a penetrating mode, and a flexible flat cable is arranged in the wire passing hole in a penetrating mode. The flexible flat cable can automatically adjust the relative position with the hollow rotating shaft in the threading hole so as to adapt to the adjustment of the relative position of the first rotating piece and the second rotating piece, and the flexible flat cable is arranged in the hollow rotating shaft in a penetrating manner, so that the whole threading structure is more compact, and the rotation of the first rotating piece and the second rotating piece cannot be interfered; the rotation angle between the first rotating piece and the second rotating piece is prevented from being limited, the adjustment flexibility is improved, meanwhile, the flexible flat cable is not affected by rotation of the first rotating piece and the second rotating piece, and the problems of stretching deformation, winding and abrasion of the flexible flat cable generated when the first rotating piece and the second rotating piece rotate relatively are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially relates to a rotary wire passing structure and mechanical arm. BACKGROUND

[0002] The wire passing problem of the mechanical arm rotary joint rotating shaft has been one of the common problems in the robot structure design process, and whether the wire laying mode is reasonable seriously affects the relative rotation angle of the mechanical joint and the overall structure size. The joint external wire passing and the joint internal wire passing are the two common wire passing modes, wherein the joint external wire passing is to simply lead out the mechanical arm wire harness and pass the rotating shaft of the rotary joint from the outside, which is commonly used in the case that the wire harness is not much and the appearance requirement is not high; the joint internal wire passing is usually that the wire harness is offset relative to the rotating shaft, when the mechanical joint rotates relatively, the wire harness winding the rotating shaft will have problems such as elongation, accumulation or winding and torsion, which not only often causes the surface of the wire harness to wear, but also greatly limits the rotation angle of two adjacent joints, seriously affecting the dexterity of the mechanical arm.

[0003] For example, the utility model patent with the authorization announcement number CN207593835U discloses a connecting rod structure mechanical arm rotary wire passing structure, which comprises a flexible flat cable, a rotating shaft, an adapter plate and a flat cable, one end of the flat cable is connected with one end of the flexible flat cable through the adapter plate, and the middle part of the flexible flat cable is wound on the rotating shaft.

[0004] In the above scheme, the wire passing mode of the rotating shaft is that the middle part of the flexible flat cable is wound two to three turns on the rotating shaft to form a circle with a diameter of 2 to 3 times of the rotating shaft, but the flexible flat cable is often damaged due to folding and traction, and at the same time, the rotation movement between the mechanical arms is limited, when multiple flexible circuit boards are spiraled on the same rotating shaft, the probability of entanglement of the spiral flexible circuit boards will also greatly increase. SUMMARY

[0005] In view of the defects of the prior art, the utility model provides a rotary wire passing structure and a mechanical arm which are simple in structure, stable in work and high in dexterity.

[0006] To achieve the above purpose, the utility model realizes the following technical scheme.

[0007] The application provides a rotary wire passing structure, which comprises:

[0008] A hollow rotating shaft, one end of which is fixedly connected with a first rotating member, and the other end is rotatably connected with a second rotating member;

[0009] A wire passing hole is arranged on the hollow rotating shaft along the central axis of the hollow rotating shaft;

[0010] A flexible flat cable is arranged in the wire passing hole, and two ends of the flexible flat cable are connected with the first rotating member and the second rotating member respectively;

[0011] The first rotating member and the second rotating member are capable of relative rotation about the central axis of the hollow rotating shaft.

[0012] The technical effect is that when the first rotating member and the second rotating member rotate relative to each other, the flexible flat cable can automatically adjust the relative position with the hollow rotating shaft in the threading hole, thereby adapting to the relative position adjustment of the first rotating member and the second rotating member. Since the flexible flat cable is arranged inside the hollow rotating shaft, the overall structure is more compact, and the rotation of the first rotating member and the second rotating member is not interfered, avoiding the limitation of the rotation angle between the first rotating member and the second rotating member, improving the adjustment flexibility. At the same time, the flexible flat cable is not affected by the rotation of the first rotating member and the second rotating member, avoiding the problems of elongation deformation, winding and wear of the flexible flat cable when the first rotating member and the second rotating member rotate relative to each other.

[0013] Further limitation, the above-mentioned rotating wire passing structure, wherein the flexible flat cable is respectively provided with a rotating element at both ends.

[0014] Further limitation, the above-mentioned rotating wire passing structure, wherein one end of the hollow rotating shaft is rotatably connected with the second rotating member through a rotating bearing.

[0015] The technical effect is that the rotating bearing is used to rotatably connect the hollow rotating shaft with the second rotating member, which can improve the stability when the first rotating member and the second rotating member rotate relative to each other.

[0016] Further limitation, the above-mentioned rotating wire passing structure, wherein the hollow rotating shaft comprises an optical axis part and a mounting disc fixedly arranged at one end of the optical axis part, and the threading hole is arranged through the optical axis part and the mounting disc.

[0017] The mounting disc is fixedly connected with the first rotating member, and the optical axis part is rotatably connected with the second rotating member through a rotating bearing at the end away from the mounting disc.

[0018] Further limitation, the above-mentioned rotating wire passing structure, wherein the hollow rotating shaft is further provided with a positioning unit for clamping and positioning the flexible flat cable.

[0019] Further limitation, the above-mentioned rotating wire passing structure, wherein the positioning unit comprises a nest fixedly arranged in the threading hole, a rotating cylinder coaxial with the hollow rotating shaft is rotatably arranged on the nest, and a positioning hole communicating with the threading hole is arranged through the rotating cylinder in the axial direction.

[0020] A plurality of clamping plates are annularly arranged on the inner wall of the positioning hole about the central axis of the rotating cylinder, one end of the clamping plate is elastically hinged on the inner wall of the positioning hole, and the other end can abut against the flexible flat cable under the action of its own elastic force.

[0021] Its technical effect lies in that when the flexible flat cable penetrates through the threading hole and passes through the positioning hole, the multiple clamping plates can abut against the flexible flat cable under the elastic force, and the flexible flat cable can be positioned at the central axis position of the hollow rotating shaft through the abutting force of the multiple clamping plates, so that the position stability of the flexible flat cable is ensured when the first rotating part and the second rotating part relatively rotate.

[0022] Further limitation, the above-mentioned rotating wire structure, wherein the positioning unit is fixedly arranged on the hollow rotating shaft.

[0023] Two positioning units are linearly arranged about the central axis of the hollow rotating shaft and are respectively located at two ends of the hollow rotating shaft.

[0024] Its technical effect lies in that when the first rotating part and the second rotating part relatively rotate, the deformation of the flexible flat cable mainly occurs at the end of the hollow rotating shaft, and when the positioning units are arranged at two ends of the hollow rotating shaft to clamp and position the flexible flat cable, the deformation of the flexible flat cable can be further reduced, thereby improving the working reliability of the wire structure.

[0025] The application also provides a mechanical arm comprising a first joint and a second joint, wherein the first joint and the second joint are connected by the above-mentioned rotating wire structure.

[0026] One end of the hollow rotating shaft is fixedly connected with the second joint, and the other end is rotatably connected with the first joint, and two ends of the flexible flat cable are respectively connected with the first joint and the second joint.

[0027] Its technical effect lies in that the flexible flat cable is arranged in the shaft, which not only meets the relative rotation angle requirement between the first joint and the second joint, but also effectively reduces the wear between the flexible flat cable and the first joint and the second joint, thereby ensuring the activity flexibility of the mechanical arm.

[0028] Further limitation, the above-mentioned mechanical arm, wherein the end of the hollow rotating shaft away from the second joint is rotatably connected with the first joint through a rotating bearing.

[0029] Further limitation, the above-mentioned mechanical arm, wherein the second joint is provided with an embedding cavity, and the end of the hollow rotating shaft away from the first joint is embedded in the embedding cavity and fixedly connected with the second joint.

[0030] The second joint is further provided with a displacement slot, which extends along the radial direction of the embedding cavity and communicates with the embedding cavity in the axial direction of the embedding cavity.

[0031] When the second joint and the hollow rotating shaft are connected, the threading hole and the displacement slot communicate, and the end of the flexible flat cable away from the first joint extends into the displacement slot. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 Fig. 1 is a structural schematic diagram of a mechanical arm according to an embodiment of the present application;

[0033] Figure 2 Fig. 2 is an exploded structural schematic diagram of a mechanical arm according to an embodiment of the present application;

[0034] Figure 3 Fig. 3 is a structural schematic diagram of a rotating wire passing structure according to an embodiment of the present application;

[0035] Figure 4 Fig. 4 is an enlarged structural schematic diagram of a "positioning unit" part of a rotating wire passing structure according to an embodiment of the present application;

[0036] Figure 5 Fig. 5 is a structural sectional view of a "second joint 200" in a mechanical arm according to an embodiment of the present application.

[0037] REFERENCE NUMERALS

[0038] First joint-100, second joint-200, embedded cavity-210, accommodation slot-220, hollow rotating shaft-300, optical axis part-310, mounting disc-320, wire passing hole-330, rotating bearing-400, flexible flat cable-500, adapter element-600, nest-710, rotating drum-720, positioning hole-730, clamping plate-740. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0040] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a category, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0041] The rotating wire passing structure and the mechanical arm provided by the embodiments of the present application will be described in detail below with reference to the drawings, through specific embodiments and application scenarios.

[0042] As Figures 2 to 4 shown, the embodiment of the present application provides a rotating wire passing structure, which comprises a hollow rotating shaft 300, a wire passing hole 330 is arranged through the hollow rotating shaft 300 along a central axis, and a flexible flat cable 500 is arranged in the wire passing hole 330.

[0043] One end of the hollow rotating shaft 300 is fixedly connected with a first rotating member, and the other end is rotatably connected with a second rotating member.

[0044] The first rotating member and the second rotating member can rotate relative to the central axis of the hollow rotating shaft 300, and the two ends of the flexible flat cable 500 are connected with the first rotating member and the second rotating member respectively.

[0045] In the embodiment of the present application, when the first rotating member and the second rotating member rotate relative to each other, the flexible flat cable 500 can automatically adjust the relative position with the hollow rotating shaft 300 in the wire passing hole 330, so as to adapt to the relative position adjustment of the first rotating member and the second rotating member. Since the flexible flat cable 500 is arranged inside the hollow rotating shaft 300, the overall wire passing structure is more compact, and the rotation of the first rotating member and the second rotating member is not interfered, so that the rotation angle between the first rotating member and the second rotating member is not limited, the adjustment flexibility is improved, and the flexible flat cable 500 is not affected by the rotation of the first rotating member and the second rotating member, so that the problems of elongation deformation, winding and wear of the flexible flat cable 500 when the first rotating member and the second rotating member rotate relative to each other are avoided.

[0046] In a preferred embodiment, as Figure 2 , Figure 3 shown, the flexible flat cable 500 is specifically provided as a flexible cable or an FPC flat cable.

[0047] It can be understood that the setting form of the flexible flat cable 500 is not limited to the above one, and any flexible linear structure can be used, which will not be described here.

[0048] In a preferred embodiment, as Figure 2 , Figure 3 shown, the two ends of the flexible flat cable 500 are respectively fixedly provided with adapter elements 600.

[0049] It can be understood that the two adapter elements 600 are respectively connected with the matching elements in the first rotating member and the second rotating member, so as to realize signal transmission.

[0050] In a preferred embodiment, as Figure 2 shown, one end of the hollow rotating shaft 300 is rotatably connected with the second rotating member through a rotating bearing 400.

[0051] It can be understood that the rotation connection between the hollow rotating shaft 300 and the second rotating member is realized by the rotating bearing 400, which can improve the stability when the first rotating member and the second rotating member rotate relative to each other.

[0052] In a preferred embodiment, as shown in Figures 2 to 4 The hollow rotating shaft 300 includes an optical axis part 310 and a mounting disc 320 fixedly arranged at one end of the optical axis part 310. The threading hole 330 is arranged through the optical axis part 310 and the mounting disc 320.

[0053] The mounting disc 320 is fixedly connected with the first rotating member, and the optical axis part 310 is rotatably connected with the second rotating member through the rotating bearing 400 at the end away from the mounting disc 320.

[0054] In a preferred embodiment, as shown in Figure 4 The hollow rotating shaft 300 further comprises a positioning unit for clamping and positioning the flexible flat cable 500.

[0055] In a preferred embodiment, as shown in Figure 4 The positioning unit comprises a nest 710 fixedly arranged in the threading hole 330. The nest 710 is rotatably provided with a rotating barrel 720 coaxial with the hollow rotating shaft 300. The rotating barrel 720 is axially provided with a positioning hole 730 communicating with the threading hole 330.

[0056] The inner wall of the positioning hole 730 is annularly arrayed with a plurality of clamping plates 740 about the center axis of the rotating barrel 720. One end of the clamping plate 740 is elastically hinged to the inner wall of the positioning hole 730, and the other end can abut against the flexible flat cable 500 under the action of its own elastic force.

[0057] It can be understood that when the flexible flat cable 500 penetrates through the threading hole 330 and the positioning hole 730, the plurality of clamping plates 740 can abut against the flexible flat cable 500 under the action of their own elastic force. Through the abutting force of the plurality of clamping plates 740, the flexible flat cable 500 can be positioned at the center axis position of the hollow rotating shaft 300. When the first rotating member and the second rotating member rotate relative to each other, the rotating barrel 720 can rotate relative to the nest 710, thereby ensuring the position stability of the flexible flat cable 500.

[0058] In a preferred embodiment, two positioning units are fixedly arranged on the hollow rotating shaft 300, and the two positioning units are linearly arrayed about the center axis of the hollow rotating shaft 300 and located at both ends of the hollow rotating shaft 300.

[0059] It can be understood that when the first rotating part and the second rotating part rotate relative to each other, the deformation of the flexible flat cable 500 mainly occurs at the end of the hollow rotating shaft 300, and when the hollow rotating shaft 300 is provided with the positioning units at both ends to clamp and position the flexible flat cable 500, the deformation of the flexible flat cable 500 can be further reduced, thereby improving the working reliability of the wire passing structure.

[0060] As shown in Figures 1 to 5 , the embodiment of the application provides a mechanical arm, which comprises a first joint 100 and a second joint 200, and the first joint 100 and the second joint 200 are connected through the rotating wire passing structure in the above embodiment.

[0061] Among them, one end of the hollow rotating shaft 300 is fixedly connected with the second joint 200, and the other end is rotatably connected with the first joint 100, and both ends of the flexible flat cable 500 are connected with the first joint 100 and the second joint 200 respectively.

[0062] In the embodiment of the application, the above-mentioned mechanical arm is used to pass the wire in the shaft, which not only meets the relative rotation angle requirement between the first joint 100 and the second joint 200, but also effectively reduces the wear between the flexible flat cable 500 and the first joint 100 and the second joint 200, thereby ensuring the activity flexibility of the mechanical arm.

[0063] In a preferred embodiment, as shown in Figure 2 , the end of the hollow rotating shaft 300 away from the second joint 200 is rotatably connected with the first joint 100 through the rotating bearing 400.

[0064] In a preferred embodiment, as shown in Figure 5 , the second joint 200 is provided with an embedding cavity 210 with an opening facing the first joint 100, and the end of the hollow rotating shaft 300 away from the first joint 100 is embedded in the embedding cavity 210 and fixedly connected with the second joint 200.

[0065] The second joint 200 is further provided with a clearance groove 220 extending along the radial direction of the embedding cavity 210 and communicating with the embedding cavity 210 in the axial direction.

[0066] Among them, in the connected state of the second joint 200 and the hollow rotating shaft 300, the threading hole 330 communicates with the clearance groove 220, and the end of the flexible flat cable 500 away from the first joint 100 extends into the clearance groove 220.

[0067] It can be understood that when the hollow rotating shaft 300 is installed in the embedding cavity 210, the end thereof abuts against the bottom wall of the embedding cavity 210, and the clearance groove 220 is mainly used to provide a threading passage for the flexible flat cable 500.

[0068] It can be understood that, since the first joint 100 is connected with the hollow rotating shaft 300 in a rotating manner, as long as the threading slot in the first joint 100 is communicated with the threading hole 330, when the hollow rotating shaft 300 rotates relative to the first joint 100, the flexible flat cable 500 does not rotate relative to the threading hole 330, thereby reducing the abrasion and winding between the flexible flat cable 500 and the hollow rotating shaft 300 during movement.

[0069] It should be noted that, in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element. Also, it is to be noted that the scope of the methods and apparatus of this application are not limited by the order of the steps or the order of the components as shown or discussed, unless specifically stated otherwise. For example, the steps of the described methods can be performed in any order, unless otherwise specified, and the various elements of the described apparatuses can be combined, divided, or eliminated, unless otherwise specified. Furthermore, features described with respect to certain examples can be combined in other examples.

[0070] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative, rather than limiting, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope of protection of the claims, and all the forms belong to the protection of the present application.

Claims

1. A rotary wire passing structure, characterized by, include: A hollow rotating shaft, one end of which is fixedly connected to the first rotating component and the other end of which is rotatably connected to the second rotating component; A wire hole is provided through the hollow shaft along its central axis; A flexible cable is threaded through the cable hole, and its two ends are connected to the first rotating component and the second rotating component, respectively. The first and second rotating components are capable of rotating relative to each other about the central axis of the hollow rotating shaft.

2. A rotary wire passing structure according to claim 1, wherein The flexible cable is fixed with adapter elements at both ends.

3. A rotary wire pass structure according to claim 1 wherein, One end of the hollow shaft is rotatably connected to the second rotating component via a rotating bearing.

4. A rotating wire structure according to claim 1 or 3, wherein The hollow rotating shaft includes an optical shaft section and a mounting plate fixedly disposed at one end of the optical shaft section, and the wire hole is disposed through the optical shaft section and the mounting plate; The mounting plate is fixedly connected to the first rotating component, and the end of the optical axis away from the mounting plate is rotatably connected to the second rotating component through a rotating bearing.

5. A rotary wire pass structure according to claim 1 wherein, The hollow rotating shaft is also equipped with a positioning unit for clamping and positioning the flexible cable.

6. A rotary wire passing structure according to claim 5, wherein The positioning unit includes a nest fixedly installed in the thread hole, and a rotating cylinder coaxial with the hollow rotating shaft is rotatably provided on the nest. The rotating cylinder is provided with a positioning hole communicating with the thread hole along the axial direction. The positioning hole has multiple clamping plates arranged in a ring around the central axis of the rotating cylinder on its inner wall. One end of each clamping plate is elastically hinged to the inner wall of the positioning hole, and the other end can abut against the flexible cable under its own elastic force.

7. A rotary wire passing arrangement according to claim 5 or 6, wherein, Two positioning units are fixedly provided on the hollow rotating shaft; The two positioning units are arranged in a linear array about the central axis of the hollow rotating shaft and are located at both ends of the hollow rotating shaft, respectively.

8. A robot arm, characterized in that It includes a first joint and a second joint, wherein the first joint and the second joint are connected by a rotating wire-passing structure as described in any one of claims 1 to 7. The hollow rotating shaft has one end fixedly connected to the second joint and the other end rotatably connected to the first joint, and the two ends of the flexible cable are respectively connected to the first joint and the second joint.

9. The robotic arm of claim 8, wherein, The hollow rotating shaft is rotatably connected to the first joint at the end furthest from the second joint via a rotating bearing.

10. The robotic arm of claim 8, wherein, The second joint is provided with a cavity, and the hollow rotating shaft is embedded in the cavity at the end away from the first joint and is fixedly connected to the second joint; The second joint is also provided with a relief groove, which extends radially along the cavity and communicates with the cavity axially. In the state where the second joint and the hollow rotating shaft are connected, the threading hole is connected to the relief groove, and the flexible cable extends into the relief groove from the end away from the first joint.

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