Pneumatic grasping robot cable

Abstract

The utility model relates to cable technical field, concretely relates to a kind of pneumatic grabbing robot cable, it includes power unit, communication unit, servo coding unit, pneumatic pipe and power line unit;Power unit, communication unit, servo coding unit and power line unit are twisted into bus cable around pneumatic pipe, form integrated structure with pneumatic pipe as center framework, solve the problem of difficult installation and wiring of cable and pneumatic pipe in prior art;Pneumatic pipe includes pipe body and steel wire, pipe body is corrugated tube, compared with traditional straight pipe, effectively reduce bending radius;Steel wire is spirally arranged, and embedded in pipe body, effectively improve the burst pressure of pneumatic pipe, solve the problem of pneumatic pipe collapse and burst in high-frequency bending of robot, provide stable grabbing force, improve the working efficiency of grabbing robot.

Description

Technical Field

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

[0002] Currently, industrial robots are widely used, and their technology is developing towards greater intelligence and adaptability. Among them, pneumatic gripping robots are widely used in industrial automation (such as assembly lines, logistics sorting, and parts handling). Industrial robot cables, as core components for energy transmission and signal control, are particularly important for stable system operation. The end effectors of pneumatic gripping robots typically require high-speed, high-frequency, multi-degree-of-freedom (especially torsional) motion. This results in the cables connecting the end effectors being subjected to extremely severe mechanical stresses, including repeated bending, torsion, tension, compression, vibration, and impact. Existing robot cables suffer from problems such as susceptibility to fatigue fracture and poor signal transmission stability during use.

[0003] In addition, pneumatic gripping robots typically require the integration of power cables (to supply power to solenoid valves, etc.), control signal cables (to transmit sensor signals and control commands), and pneumatic pipelines (to transmit compressed air), which presents difficulties in installation and wiring. Pneumatic pipelines are prone to collapse or even burst during use, resulting in poor gripping force stability of the gripping robot and affecting its working efficiency. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model proposes a pneumatic gripping robot cable. This cable solves the problems of difficult installation and wiring, as well as the collapse and bursting of air pipes in existing technologies. It features high integration, high flexibility, anti-interference, and wear resistance.

[0005] The present invention discloses a pneumatic gripping robot cable, which adopts the following technical solution, including a power unit, a communication unit, a servo encoding unit, a pneumatic tube, and a power line unit; the power unit, communication unit, servo encoding unit, and power line unit are twisted around the pneumatic tube to form a total cable, and the total cable is wrapped with a total outer sheath; the pneumatic tube includes a tube body and a steel wire, the tube body is corrugated and made of high-strength polyurethane; the steel wire is spirally wound and embedded in the tube body.

[0006] Optionally, the power unit includes a power conductor and a power insulation layer covering the outside of the power conductor;

[0007] The communication unit includes a communication cable and a communication shield and a communication outer sheath covering the outside of the communication cable; the communication cable is made up of multiple communication wires twisted together; a support bar is provided in the center of the communication cable; the communication wire includes a communication core and a communication insulation layer covering the outside of the communication core;

[0008] The servo encoding unit includes multiple encoding cables, which are twisted in pairs; the encoding cables include encoding cores and an encoding insulation layer covering the outside of the encoding cores; the encoding cables are covered with an encoding shielding layer.

[0009] The power cord unit includes a power cord core and a power insulation layer covering the power cord core; there are two power cord cores, and the two power insulation layers are covered by a power outer sheath; the power outer sheath fills the gaps between the multiple power insulation layers.

[0010] Optionally, both the communication insulation layer and the coding insulation layer are extruded from high-density polyethylene material.

[0011] Optionally, both the communication shielding layer and the coding shielding layer include a wrapping layer and a braided layer; the wrapping layer is made of aluminum foil with the aluminum side facing outwards; the braided layer is made of tin-plated copper wire.

[0012] In the communication unit, the wrapping layer is wrapped around the outside of the communication cable, and the braided layer in the communication unit is located outside the wrapping layer; in the servo encoding unit, the wrapping layer is wrapped around the outside of the two twisted encoding cables, and the braided layer in the servo encoding unit is covered by multiple wrapping layers.

[0013] Optionally, the power core, the electrical core, the communication core, and the coding core are all made of Class 6 tin-plated copper material, and the diameter of a single wire is no greater than 0.08mm.

[0014] Optionally, a filler layer is provided between the main cable and the main outer sheath; the filler layer includes filler strips and filler filaments; the filler strips extend along the axial direction of the main cable, and multiple filler strips are evenly distributed along the circumference of the main cable; the filler strips are extruded from thermoplastic elastomer material; the filler filaments fill the gaps between the main cable and the filler strips and the outer sheath, and the filler filaments are polypropylene fiber filaments; a binding layer is provided between the filler layer and the main outer sheath.

[0015] Optionally, multiple filler strips are provided between the communication cable and the communication shielding layer. The multiple filler strips are evenly distributed circumferentially and extend along the axial direction of the communication cable. The filler strips are extruded from thermoplastic elastomer material.

[0016] Optionally, the power insulation layer, the power supply insulation layer, the power supply outer sheath, and the communication outer sheath are all extruded from thermoplastic elastomer material; the filler strip is extruded from thermoplastic elastomer material.

[0017] Optionally, the overall outer sheath is extruded from a thermoplastic polyurethane elastomer material.

[0018] The beneficial effects of this utility model are as follows: The pneumatic gripping robot cable of this utility model integrates the power unit, communication unit, servo encoding unit, and power line unit around the pneumatic tube to form an integrated structure with the pneumatic tube as the central skeleton, which solves the problem of difficult cable and pneumatic tube installation and wiring in the prior art; in addition, this utility model sets the tube body as a corrugated tube, which effectively reduces the bending radius compared with the traditional straight tube; and the addition of spiral steel wire in the tube body effectively increases the burst pressure of the pneumatic tube, solves the problem of pneumatic tube collapse and bursting during high-frequency bending of the robot, provides stable gripping force, and improves the working efficiency of the gripping robot.

[0019] Furthermore, both the communication insulation layer and the coding insulation layer are extruded from high-density polyethylene material, which has low dielectric constant and dielectric loss. Both the communication unit and the servo coding unit include an aluminum foil wrapping layer and a braided layer made of tin-plated copper wire, which avoids electromagnetic interference and makes the transmission of communication and control signals stable and accurate. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a pneumatic gripping robot cable according to the present invention;

[0022] Figure 2 This is a schematic diagram of the pneumatic tube in the cable of a pneumatic gripping robot according to this utility model.

[0023] In the diagram: 100, Power unit; 110, Power core; 120, Power insulation layer; 200, Communication unit; 210, Communication outer sheath; 220, Support bar; 230, Communication core; 240, Communication insulation layer; 300, Servo encoding unit; 310, Encoding core; 320, Encoding insulation layer; 330, Wrapping layer; 340, Braided layer; 400, Pneumatic tube; 410, Tube body; 420, Steel wire; 500, Power line unit; 510, Power core; 520, Power insulation layer; 530, Power outer sheath; 600, Overall outer sheath; 610, Filler bar; 620, Filler wire; 630, Binding layer. Detailed Implementation

[0024] The technical solutions of the present utility model 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 utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figures 1 to 2 As shown, the pneumatic gripping robot cable provided in this embodiment of the present invention includes a power unit 100, a communication unit 200, a servo encoding unit 300, a pneumatic tube 400, and a power line unit 500; the power unit 100, the communication unit 200, the servo encoding unit 300, and the power line unit 500 are twisted around the pneumatic tube 400 to form a total cable, and the total cable is wrapped with a total outer sheath 600, which is extruded from thermoplastic polyurethane elastomer material;

[0026] The power unit 100 includes a power conductor 110 and a power insulation layer 120 covering the outside of the power conductor 110;

[0027] The communication unit 200 includes a communication cable and a communication shielding layer and a communication outer sheath 210 covering the outside of the communication cable; the communication cable is made of multiple communication cables twisted together; a support bar 220 is provided in the center of the communication cable; the communication cable includes a communication core 230 and a communication insulation layer 240 covering the outside of the communication core 230.

[0028] The servo encoding unit 300 includes multiple encoding cables, which are twisted in pairs; the encoding cable includes an encoding core 310 and an encoding insulation layer 320 covering the outside of the encoding core 310; the encoding cable is covered with an encoding shielding layer.

[0029] The pneumatic tube 400 includes a tube body 410 and a steel wire 420. The tube body 410 is corrugated and made of high-strength polyurethane. The steel wire 420 is spirally wound and embedded in the tube body 410.

[0030] The power cord unit 500 includes a power cord core 510 and a power insulation layer 520 covering the power cord core 510; there are two power cord cores 510, and the two power insulation layers 520 are covered by a power outer sheath 530; the power outer sheath 530 fills the gaps between the multiple power insulation layers 520.

[0031] This utility model discloses a pneumatic gripping robot cable that integrates a power unit 100, a communication unit 200, a servo encoding unit 300, and a power line unit 500 around a pneumatic tube 400 to form an integrated structure with the pneumatic tube 400 as the central skeleton. Compared with traditional straight tubes, the corrugated tube body 410 effectively reduces the bending radius. In addition, a spirally wound steel wire 420 is added inside the tube body 410 to effectively increase the burst pressure of the pneumatic tube 400, solve the problem of collapse and bursting of the pneumatic tube 400 during high-frequency bending of the robot, provide stable gripping force, and extend service life.

[0032] In a further embodiment, both the communication insulation layer 240 and the coding insulation layer 320 are extruded from high-density polyethylene (HDPE) material; HDPE material has a low dielectric constant and dielectric loss; both the communication shielding layer and the coding shielding layer include a wrapping layer 330 and a braided layer 340; the wrapping layer 330 is made of aluminum foil with the aluminum side facing outwards; the braided layer 340 is woven from tin-plated copper wire.

[0033] The wrapping layer 330 in the communication unit 200 is wrapped around the outside of the communication cable, and the braided layer 340 in the communication unit 200 is located outside the wrapping layer 330; the wrapping layer 330 in the servo encoding unit 300 is wrapped around the outside of the two twisted encoding cables, and the braided layer 340 in the servo encoding unit 300 covers the outside of multiple wrapping layers 330.

[0034] Both the communication unit 200 and the servo encoding unit 300 include an aluminum foil wrapping layer 330 and a braided layer 340 made of tinned copper wire. The aluminum foil wrapping layer 330 reflects high-frequency interference, while the braided layer 340 made of tinned copper wire conducts low-frequency eddy currents. The double-layer shielding effectively improves the shielding performance. In addition, the servo encoding unit 300 adopts a design of twisting before shielding, which solves the problem of shielding layer tearing caused by traditional shielding before twisting. This cable makes the transmission of communication and control signals stable and accurate.

[0035] In a further embodiment, the power core 110, the power supply core 510, the communication core 230, and the coding core 310 are all made of 6 types of tin-plated copper material. Tin-plated copper material is more resistant to oxidation and corrosion; the diameter of a single wire is no more than 0.08mm, the bending stress dispersion efficiency is improved, it has high flexibility and bending resistance, and extends the service life of the cable.

[0036] In a further embodiment, a filler layer is provided between the main cable and the main outer sheath 600; the filler layer includes filler strips 610 and filler filaments 620; the filler strips 610 extend along the axial direction of the main cable, and multiple filler strips 610 are evenly distributed circumferentially along the main cable; the filler strips 610 are extruded from thermoplastic elastomer material (TPE) at 105℃; the filler filaments 620 fill the gaps between the main cable and the filler strips 610 and the outer sheath, and the filler filaments 620 are polypropylene fiber filaments (PP filaments); a binding layer 630 is provided between the filler layer and the main outer sheath 600. Multiple filler strips 610 are provided between the communication cable and the communication shielding layer, and the multiple filler strips 610 are evenly distributed circumferentially and extend axially along the communication cable; the filler strips 610 are extruded from thermoplastic elastomer material (TPE) at 105℃. The filler strip 610 provides axial rigid support, and the PP wire fills the gaps to absorb micro-vibrations. The composite buffer system reduces the displacement of the internal components of the cable under multi-directional bending and torsion conditions, thereby avoiding the risk of short circuits caused by mutual friction between the power line and the signal line, and significantly improving mechanical stability.

[0037] In a further embodiment, the power insulation layer 120, the power supply insulation layer 520, the power supply outer sheath 530, and the communication outer sheath 210 are all extruded from thermoplastic elastomer (TPE) material at 105°C; the filler strip 610 is extruded from thermoplastic elastomer material. The use of thermoplastic elastomer material for the power insulation layer 120, the power supply insulation layer 520, the communication outer sheath 210, and the filler strip 610 ensures consistent expansion and contraction rates during cable use, thus solving the problem of sheath cracking caused by different coefficients of thermal expansion.

[0038] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A pneumatic gripping robot cable, characterized in that, It includes a power unit, a communication unit, a servo encoder unit, a pneumatic tube, and a power line unit; the power unit, communication unit, servo encoder unit, and power line unit are twisted together around the pneumatic tube to form a total cable, and the total cable is wrapped with a total outer sheath; the pneumatic tube includes a tube body and a steel wire, the tube body is corrugated and made of high-strength polyurethane; the steel wire is spirally wound and embedded in the tube body.

2. The pneumatic gripping robot cable according to claim 1, characterized in that, The power unit includes a power conductor and a power insulation layer covering the outside of the power conductor; The communication unit includes a communication cable and a communication shield and a communication outer sheath covering the outside of the communication cable; the communication cable is made up of multiple communication wires twisted together; a support bar is provided in the center of the communication cable; the communication wire includes a communication core and a communication insulation layer covering the outside of the communication core; The servo encoding unit includes multiple encoding cables, which are twisted in pairs; the encoding cables include encoding cores and an encoding insulation layer covering the outside of the encoding cores; the encoding cables are covered with an encoding shielding layer. The power cord unit includes a power cord core and a power insulation layer covering the power cord core; there are two power cord cores, and the two power insulation layers are covered by a power outer sheath; the power outer sheath fills the gaps between the multiple power insulation layers.

3. The pneumatic gripping robot cable according to claim 2, characterized in that, Both the communication insulation layer and the coding insulation layer are extruded from high-density polyethylene material.

4. The pneumatic gripping robot cable according to claim 3, characterized in that, Both the communication shielding layer and the coding shielding layer include a wrapping layer and a braided layer; the wrapping layer is made of aluminum foil with the aluminum side facing out; the braided layer is made of tin-plated copper wire. In the communication unit, the wrapping layer is wrapped around the outside of the communication cable, and the braided layer in the communication unit is located outside the wrapping layer; in the servo encoding unit, the wrapping layer is wrapped around the outside of the two twisted encoding cables, and the braided layer in the servo encoding unit is covered by multiple wrapping layers.

5. A pneumatic gripping robot cable according to claim 2, characterized in that, The power core, the electrical core, the communication core, and the coding core are all made of Class 6 tin-plated copper material, and the diameter of a single wire is no greater than 0.08mm.

6. A pneumatic gripping robot cable according to claim 2, characterized in that, A filler layer is provided between the main cable and the main outer sheath; the filler layer includes filler strips and filler wires; the filler strips extend along the axial direction of the main cable, and multiple filler strips are evenly distributed along the circumference of the main cable; The filler strip is extruded from thermoplastic elastomer material; the filler filaments are filled in the gaps between the main cable and the filler strip and the outer sheath, and the filler filaments are polypropylene fibers; a binding layer is provided between the filler layer and the main outer sheath.

7. A pneumatic gripping robot cable according to claim 2, characterized in that, Multiple filler strips are provided between the communication cable and the communication shielding layer. The multiple filler strips are evenly distributed circumferentially and extend along the axial direction of the communication cable. The filler strips are extruded from thermoplastic elastomer material.

8. A pneumatic gripping robot cable according to claim 2, characterized in that, The power insulation layer, power supply insulation layer, power supply outer sheath, and communication outer sheath are all extruded from thermoplastic elastomer material; the filler strip is extruded from thermoplastic elastomer material.

9. A pneumatic gripping robot cable according to any one of claims 1-8, characterized in that, The overall outer sheath is extruded from thermoplastic polyurethane elastomer material.

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