Cable

Abstract

The utility model discloses a cable used for connecting adjacent joints in a robot. The cable comprises a communication line and a power line which are respectively arranged in a twisted-pair state, and a self-rolling protective sleeve wrapping the cable. The self-rolling protective sleeve is made of a woven material, the maximum wire harness diameter and the maximum inner diameter of the self-rolling protective sleeve both exceed the sum of the diameters of the communication line and the power line, and the length of the self-rolling protective sleeve is determined according to the length of the shortest line, so that protection of the cable and flexible movement of the robot are ensured. According to the utility model, the technical problem that wiring harnesses are easily damaged due to frequent movement of robot joints is solved.

Description

Technical Field

[0001] This utility model relates to the field of robot cable technology, and more specifically, to a cable. Background Technology

[0002] Existing robot joint wiring harness designs primarily consist of power and communication cables, typically using traditional straight-line wiring. With conventional harnesses, wear and bending become significant issues during continuous robot joint movement. These problems directly impact the harness's lifespan and can even lead to abnormal robot joint movements or signal transmission failures. Existing wiring harness materials can be broadly categorized into rigid and flexible cables. Rigid cables offer strong abrasion resistance but are prone to breakage in environments with continuous bending. Flexible cables provide good flexibility and bending resistance but are susceptible to wear under prolonged friction. Therefore, existing technologies cannot simultaneously meet the requirements for abrasion resistance and bending resistance, especially during frequent robot joint movements, where insufficient harness performance easily leads to damage.

[0003] There is currently no effective solution to the above problems. Utility Model Content

[0004] The main objective of this utility model embodiment is to provide a cable to at least solve the technical problem of wire harness damage caused by frequent joint movements in robots.

[0005] To achieve the above objectives, this utility model provides a cable for connecting adjacent joints in a robot. The cable includes a communication cable, a power cable, and a self-winding protective sleeve that wraps the communication cable and the power cable, wherein the communication cable and the power cable are arranged in a twisted pair.

[0006] Optionally, the communication line includes a receiving line and a transmitting line, which are arranged in a twisted pair.

[0007] Optionally, the power cord includes a positive terminal and a negative terminal, which are arranged in a twisted pair.

[0008] Alternatively, the self-rolling protective sleeve is obtained by weaving a woven material.

[0009] Optionally, the weaving material includes polyester monofilament and / or polyester multifilament.

[0010] Optionally, the maximum diameter of the self-winding protective sleeve exceeds the sum of the diameters of the communication line and the power line.

[0011] Optionally, the inner diameter of the self-winding protective sleeve exceeds the sum of the diameters of the communication line and the power line.

[0012] Optionally, the length of the self-winding protective sleeve is less than the length of the shortest wire between the communication line and the power line.

[0013] Alternatively, the length of the self-winding protective sleeve is equal to the length of the shortest wire minus the reserved wiring length.

[0014] Optionally, the wiring length is between 20mm and 30mm.

[0015] In this embodiment of the invention, by setting the communication line and power line of the cable used to connect adjacent joints in the robot to a twisted pair state, and using a self-winding wire harness protective sleeve to protect the communication line and power line, the bending resistance and wear resistance of the wire harness are enhanced, thereby achieving the technical effect of extending the service life of the wire harness and solving the technical problem of wire harness damage caused by frequent movement of robot joints. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a structural schematic diagram of the cable provided according to an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of a self-rolling protective sleeve provided according to an optional embodiment of the present utility model.

[0019] The attached figures are labeled as follows:

[0020] L1, Positive power supply connection; L2, Negative power supply connection; L3, Transmitting line; L4, Receiving line; G, Self-winding protective tube; A, Left end terminal of the wire harness; B, Right end terminal of the wire harness; T1, Left end round bare end of the positive power supply connection; T2, Right end round bare end of the positive power supply connection; T3, Left end round bare end of the negative power supply connection; T4, Right end round bare end of the negative power supply connection; J1, Left end PH type terminal of the communication line; J2, Right end PH type terminal of the communication line; 21, Polyester monofilament; 22, Polyester multifilament; D, Inner diameter of the self-winding textile tube. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0024] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0025] The mechanical structure of a robot includes a base, arm, joints, and end effector. During operation, the robot, through precise control of its joints, can perform highly repetitive and precision-required tasks such as assembly, handling, and inspection. Its main advantages lie in its flexibility, safety, and ease of integration. However, during robot operation, the high-frequency movement of the joints causes bending and friction in the wiring harness at the joints, resulting in a short lifespan for the wiring harness. To address the problem of wiring harness damage caused by frequent joint movement in existing technologies, this invention provides a cable.

[0026] The present invention provides, as follows: Figure 1 As shown, the cable includes a communication line, a power line, and a self-winding protective sleeve that wraps the communication line and the power line. The communication line and the power line are arranged in a twisted pair.

[0027] Optionally, the robot consists of multiple connected joints, which can be driven to perform specific tasks. Adjacent joints can be connected by cables to enable driving and communication between them. The cables connecting adjacent joints can be made of flexible materials, and in particular, the power and communication cables can be twisted pairs. This structure effectively reduces the tensile and bending stress on the cable harness during robot movement, enhancing its bending resistance. A self-winding protective sleeve is wrapped around the cable harness. This flexible sleeve has self-winding properties, allowing it to freely expand and contract as needed to adapt to objects of different diameters or lengths. It is typically made of highly elastic materials and features wear resistance, corrosion resistance, and high-temperature resistance, effectively preventing external wear on the cables.

[0028] By setting the communication and power cables used to connect adjacent joints in the robot to a twisted pair configuration and using a self-winding wire harness protective sleeve to protect the communication and power cables, the bending and abrasion resistance of the wire harness is enhanced, thereby extending the service life of the wire harness and solving the technical problem of wire harness damage caused by frequent joint movements in the robot.

[0029] As an optional embodiment, the communication line includes a receiving line and a transmitting line, which are arranged in a twisted pair.

[0030] Optionally, configuring the communication line as a twisted pair involves winding the receiving and transmitting lines in a twisted pair configuration. This effectively reduces tensile and bending stress on the power lines, enhancing their bending resistance. Furthermore, by appropriately selecting the twisted pair pitch, the impact of environmental noise on the transmitted signal can be reduced. The twisted pair pitch refers to the length of cable from the point where the two cables begin to twist together until they are aligned again. A shorter pitch indicates a higher twisted pair density and stronger resistance to electromagnetic interference.

[0031] As an optional embodiment, the power cord includes a positive terminal and a negative terminal, which are arranged in a twisted pair.

[0032] Optionally, setting the power cord to a twisted-pair structure can be achieved by twisting the positive and negative terminals of the power cord together, which can effectively reduce the tensile and bending stress on the power cord and enhance its bending resistance.

[0033] As an alternative embodiment, the self-rolling protective sleeve is obtained by weaving a woven material.

[0034] Optionally, self-winding protective sleeves can be categorized by shape into spiral, corrugated, and braided types. Spiral protective sleeves are made of continuous spiral metal wires or plastic strips, which can be tightly wound around the protected object. They have a robust structure, providing high pressure and impact resistance, and are suitable for protecting wires, cables, or pipes that need to withstand significant mechanical stress. Corrugated protective sleeves are tubular structures made of a series of corrugated metal or plastic materials, offering good pressure and impact resistance, suitable for protecting pipes or cables that need to withstand pressure. Braided protective sleeves are tubular structures made of multiple fine filaments or fibers through a braiding process, offering advantages such as good elasticity, wear resistance, pressure resistance, corrosion resistance, and light weight, making them more suitable as protective sleeves for robot joint cables. When designing the braided structure of self-winding protective sleeves, complex braiding patterns, such as spiral braiding and cross braiding, can be used to enhance the self-winding performance and mechanical strength of the protective sleeve. Adjusting the braiding density can also affect the flexibility and wear resistance of the protective sleeve. Using a self-winding braided tube as a protective sleeve not only resists wear and tear from the external environment, but the self-winding structure can also automatically expand and contract according to the movement of the wire harness, avoiding damage to the wire harness caused by tangling or excessive stretching.

[0035] As an optional embodiment, the weaving material includes polyester monofilament and / or polyester multifilament.

[0036] Optionally, polyester monofilament is a single fine filament made of polyester resin, characterized by high strength, light weight, heat resistance, chemical corrosion resistance, and durability. Polyester multifilament is a synthetic fiber made of polyester fibers, characterized by high strength, heat resistance, and chemical corrosion resistance. Using polyester monofilament and / or polyester multifilament as braiding materials to make self-winding protective sheaths can improve the abrasion resistance of cables and prevent external wear.

[0037] As an alternative embodiment, the maximum diameter of the self-winding protective sleeve exceeds the sum of the diameters of the communication line and the power line.

[0038] Optionally, the maximum wire harness diameter refers to the diameter of the largest wire harness that the self-winding protective sleeve can wrap. When selecting a self-winding protective sleeve, the maximum wire harness diameter should be considered to ensure that it is greater than the sum of the diameters of the communication line and the power line, with a certain margin to maintain its functionality, while ensuring that it will not cause damage to the wire harness or its surrounding mechanical structure.

[0039] As an alternative embodiment, the inner diameter of the self-winding protective sleeve exceeds the sum of the diameters of the communication line and the power line.

[0040] Optionally, when determining the size of the self-winding protective sleeve based on the communication and power cables, the diameters of the communication and power cables can be measured first, and their total diameter calculated. The inner diameter of the protective sleeve should be at least larger than this total diameter to ensure that the cables can move freely inside the sleeve without being squeezed, while providing sufficient space to accommodate the bending and stretching of the cables during robot joint movements. This design ensures the integrity and electrical performance of the cables, preventing signal transmission problems or power cable damage caused by mechanical stress. Furthermore, the inner diameter of the protective sleeve should not be too large, otherwise it can easily cause friction between the internal wire harness and the inner wall of the protective tube, affecting the protective effect, increasing the robot's weight, and reducing joint flexibility. There is a certain difference between the inner diameter of the self-winding protective sleeve and the maximum wire harness diameter. The inner diameter refers to the diameter of the inner wall of the self-winding protective sleeve, while the maximum wire harness diameter refers to the maximum outer diameter of the wire harness that can be accommodated.

[0041] As an alternative embodiment, the length of the self-winding protective sleeve is less than the length of the shortest wire between the communication line and the power line.

[0042] Optionally, to ensure that the self-winding protective sleeve effectively reduces friction damage to the communication and power cables, the length of the self-winding protective sleeve should at least cover the portion of the cable that may be exposed or abraded during movement. Simultaneously, to guarantee a proper connection at both ends of the communication and power cables, the length of the self-winding protective sleeve should be less than the length of the shortest of the two cables. This improves the cable's abrasion resistance without compromising its functionality.

[0043] As an alternative embodiment, the length of the self-winding protective sleeve is equal to the length of the shortest wire minus the wiring allowance.

[0044] Optionally, during actual assembly and maintenance, cables need to have a certain allowance to accommodate different installation locations and possible maintenance needs. This allowance is usually not in areas of movement or high wear, and therefore does not require the coverage of a self-winding protective sleeve. By making the length of the self-winding protective sleeve equal to the length of the shortest cable minus the allowance for wiring, the cable protection effect and the flexibility of mechanical layout can be optimized, while reducing material waste.

[0045] As an optional embodiment, the wiring allowance is between 20mm and 30mm.

[0046] Optionally, the reserved length of the wiring can be limited to between 20mm and 30mm, which can effectively reduce friction while ensuring stable connection at both ends of the wire harness.

[0047] As a specific embodiment, such as Figure 1 As shown, the positive terminal L1 and the negative terminal L2 of the power supply constitute the power line, which is wound in the form of a twisted pair.

[0048] Specifically, the transmitting line L3 is used to transmit data signals, and the receiving line L4 is used to receive data signals. The two together form a communication line, which is wound in the form of twisted pair with a twist pitch of 13mm to 25mm.

[0049] Specifically, the self-winding protective tube G is a nylon braided tube with open ends, which is woven from polyester monofilament and polyester multifilament. Figure 2 This is a schematic diagram of a self-rolling protective sleeve provided according to an optional embodiment of the present utility model.

[0050] Specifically, the sum of the diameters of the communication line and the power line is less than the maximum bundle diameter and inner diameter of the self-winding textile tube; they are arranged in parallel and placed inside the self-winding textile tube. For example... Figure 1 The combined diameter of the two power cords shown is approximately 2.3 mm. The communication cord is thinner than the power cord, so a self-winding protective sleeve with a diameter of 3 mm can be selected. The maximum wire harness diameter can be 4 mm.

[0051] Specifically, terminal A on the left end of the wire harness includes a bare circular terminal T1 for the positive power supply, a bare circular terminal T3 for the negative power supply, and a PH-type terminal J1 for the communication line. Terminal B on the right end of the wire harness includes a bare circular terminal T2 for the positive power supply, a bare circular terminal T4 for the negative power supply, and a PH-type terminal J2 for the communication line. The terminals and the self-winding textile tube have pre-installed wiring lengths to ensure a stable and reliable connection between the wire harness terminals.

[0052] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0053] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0054] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0055] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0056] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0057] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A cable, characterized by A cable for connecting adjacent joints in a robot, the cable comprising: a communication line, a power line, and a self-winding protective sleeve wrapping the communication line and the power line, wherein the communication line and the power line are arranged in a twisted pair state respectively. The length of the self-winding protective sleeve is equal to the length of the shortest line between the communication line and the power line minus a wiring reserved length, and the wiring reserved length is between 20 mm and 30 mm.

2. The cable of claim 1, wherein, The communication line comprises a receiving line and a sending line, and the receiving line and the sending line are arranged in a twisted pair state.

3. The cable of claim 1, wherein, The power line comprises a positive line and a negative line, and the positive line and the negative line are arranged in a twisted pair state.

4. The cable of claim 1, wherein, The self-winding protective sleeve is obtained by weaving a woven material.

5. The cable of claim 4, wherein, The woven material comprises polyester monofilament and / or polyester multifilament.

6. The cable of claim 1, wherein, The maximum wire harness diameter of the self-winding protective sleeve exceeds the sum of the diameters of the communication line and the power line.

7. The cable of claim 6, wherein, The inner diameter of the self-winding protective sleeve exceeds the sum of the diameters of the communication line and the power line.

8. The cable of claim 1, wherein, The length of the self-winding protective sleeve is less than the length of the shortest line between the communication line and the power line.

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