An anti-tangling robotic cable package support
By introducing a ring pressure sensor and detection control circuit into the robot's cable bundle support, the problems of cable bundle entanglement and breakage when the upper arm and forearm move beyond their range of motion are solved, enabling timely power shutdown and alarm prompts, and reducing the escalation of faults.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI TONGHE INTELLIGENT TECH CO LTD
- Filing Date
- 2025-08-26
- Publication Date
- 2026-07-17
AI Technical Summary
Existing robot cable bundle supports are prone to cable bundle entanglement or breakage when the robot's upper arm or forearm moves beyond the set range, lacking effective protection devices and alarm mechanisms.
A ring pressure sensor and detection and control circuit are introduced into the pipeline package support. The detection circuit outputs a signal to the control circuit to shut off the robot's main power and trigger an alarm, preventing the pipeline package from breaking.
It enables timely shutdown of the robot's power supply before the pipeline package is about to break, preventing the fault from escalating, and reduces the risk of pipeline package entanglement and damage by prompting maintenance through alarms.
Smart Images
Figure CN224509762U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of multi-axis robot auxiliary equipment technology, and in particular to an anti-entanglement robot cable package support. Background Technology
[0002] A multi-axis robot cable package is a cable and air pipe management system designed specifically for industrial robots. It is used to centrally protect and manage the robot's power lines, signal lines, air pipes, and other pipelines, ensuring stable operation during complex movements. The core functions of the robot cable package include the following: (1) Protection performance: The cable and air pipes are wrapped with wear-resistant and high-temperature resistant materials (such as PUR or TPE) to prevent damage caused by twisting, friction, or pulling during the movement of the robot's various arms; (2) Integrated management: The scattered power lines, signal lines, air pipes, etc. are integrated into a unified module, reducing the problems of tangling and signal interference; (3) Motion adaptability: Through special structural design (such as corrugated pipes with length margins wrapping the cable bundles and air pipes), it adapts to the robot's high-speed and high-frequency movements, minimizing the limitation on the range of motion. The multi-axis robot cable package bracket is a metal structural component used to fix the robot cable package. Its main function is to firmly install the corrugated pipes protecting the cable package onto the robot body, ensuring that the cable remains stable during movement. A typical pipeline package support structure includes fixed rings and a sliding mounting base. Multiple fixed rings are fixedly installed on one side at the relevant position on the industrial robot. The pipeline package is movably sleeved inside the multiple fixed rings. The sliding mounting base is installed at the upper rear end of the robot's main arm. Specifically, a section of the pipeline package is movably sleeved with a spring, which is fitted between the limiting seats at the front and rear ends of the mounting base (the corresponding front and rear sections of the pipeline package slide within the shaft holes of the two limiting seats respectively). A limiting plate is fixedly installed at the rear end of the spring on one section of the pipeline package (to limit the spring). When the robot is working, the main arm moves within a certain range, or the forearm at the front end of the main arm rotates, the forearm fixing base pulls the front end of the pipeline package forward against the elastic force of the spring, and the corresponding section of the pipeline package moves forward, satisfying the need for a certain range of motion of the main arm and forearm for the length of the pipeline package. When the main arm and forearm return to their original position, the pipeline package moves backward along the support under the spring force, shortening the front end length to prevent damage such as entanglement.
[0003] While existing robot cable bundle supports meet practical work needs to some extent, their structural limitations also present the following technical shortcomings that urgently require improvement. Specifically, the cable bundle lacks a protective device. When the robot's arm or forearm moves beyond its set range—for example, when the forearm rotates circumferentially, or when its front end is being used for painting or welding—problems arise. These issues can stem from problems in the robot's programming, such as the forearm rotating beyond a set angle or making multiple rotations, or the cable bundle becoming entangled. In such cases, when the forearm pulls a section of the cable bundle forward, the forward movement may be excessive. This could cause the spring to compress to its limit, and continued pulling could lead to the cable bundle breaking. Therefore, it is essential to provide a cable bundle support that can trigger an alarm and shut off the robot's main power supply when the cable bundle is stretched beyond a threshold to prevent breakage. Utility Model Content
[0004] To overcome the shortcomings of existing industrial robot cable bundle supports, which are limited by their structure and have the drawbacks described in the background art, this utility model provides a cable bundle support body that, under the combined action of relevant mechanisms, can promptly shut off the main power supply of the industrial robot before a section of the cable bundle is pulled to the stop point and near breakage due to various reasons, and can also alarm to prompt relevant personnel to carry out maintenance, thereby minimizing the escalation of the fault.
[0005] The technical solution adopted by this utility model to solve its technical problem is:
[0006] A robot tubing package support for preventing tangling includes a support body, an annular pressure sensor, and a power module. The support body includes a fixing ring, a sliding mounting base, and a spring. Limiting seats are fixedly mounted at the front and rear ends of the mounting base, each with a shaft hole. The spring slides around the outer side of a section of the tubing package, positioned between the inner sides of the two limiting seats. Corresponding front and rear sections of the tubing package slide within the shaft holes of the two limiting seats. A limiting plate is fixedly mounted outside the tubing package section at the rear end of the spring. The outer diameter of the limiting plate is larger than the inner diameter of the shaft hole of the limiting seat and the outer diameter of the spring. The mounting base is fixedly installed on the upper end of the robot arm; it also has a detection circuit and a control circuit; the annular pressure sensor is fixedly installed on the rear side of a limiting seat at the front end, and the front end of the spring is in close contact with the force-bearing surface of the rear end of the pressure sensor; the detection circuit, control circuit, and power module are installed in the component box, and the power output terminal of the power module is electrically connected to the two poles of the battery, the power input terminal of the pressure sensor, the detection circuit, and the control circuit; the signal output terminal of the detection circuit is electrically connected to the power input terminal of the control circuit; and the signal output terminal of the pressure sensor is electrically connected to the signal input terminal of the detection circuit.
[0007] Furthermore, the inner diameter of the pressure sensor's central hole is smaller than the outer diameter of the spring and larger than the outer diameter of the pipeline casing.
[0008] Furthermore, the length of the spring is greater than the distance between the front and rear end limit seats of the mounting base.
[0009] Furthermore, the detection circuit includes an adjustable resistor, a resistor, and a voltage comparator that are electrically connected. One end of the adjustable resistor is connected to one end of the resistor and the positive signal input terminal of the voltage comparator, and the other end of the resistor is connected to the negative power supply input terminal and the negative signal input terminal of the voltage comparator.
[0010] Furthermore, the control circuit includes a thyristor, a relay, and a resistor that are electrically connected. One end of the resistor is connected to the control electrode of the thyristor, the cathode of the thyristor is connected to the positive power input terminal of the relay and the alarm, and the negative power input terminal of the alarm is connected to the negative power input terminal of the relay.
[0011] Compared with existing technologies, the advantages of this utility model are as follows: Based on the pipeline package support body, this utility model has all the functions of a conventional pipeline package support. In application, under the combined action of related mechanisms, when a section of the pipeline package is pulled to its limit and near breakage due to various reasons, the pressure signal output by the pressure sensor will increase. Consequently, the detection circuit will output a signal to the signal input terminal of the control circuit. The control circuit can promptly shut off the main power supply to the industrial robot, preventing the robot from continuing to work and causing the pipeline package to break. Simultaneously, the alarm will alert relevant personnel to conduct maintenance, minimizing the escalation of the fault. Based on the above, this utility model has good application prospects. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the structure of this utility model installed on an industrial robot.
[0013] Figure 2 This is a partial structural schematic diagram of the present invention.
[0014] Figure 3 This is the circuit diagram of this utility model. Detailed Implementation
[0015] Figure 1 , 2As shown in Figure 3, an anti-tangling robot cable bundle support includes a robot cable bundle support body 1, a pressure sensor E2, a power module E1, and a battery G1 (12V / 10Ah). The cable bundle support body includes a fixing ring 101, a sliding mounting seat 102, and a spring 103. Limiting seats 104 are fixedly installed at the front and rear ends of the mounting seat, respectively. The limiting seats have a shaft hole in the middle. The spring 103 is slidably sleeved on the outside of a section of the cable bundle 5, and the spring 103 is located between the inner sides of the two limiting seats 104. The front and rear parts of the corresponding section of the cable bundle 5 are slidably located on the two limiting seats 104 respectively. Inside the shaft hole of 4, a section of the pipeline 5 is fixedly installed at the rear end of the spring with a limiting plate 105. The outer diameter of the limiting plate 105 is larger than the inner diameter of the shaft hole of the limiting seat 104 and the outer diameter of the spring 103. The lower outer end of the sliding mounting seat 102 is fixedly installed at the rear upper end of the upper arm 21 of the robot 2. It also has a detection circuit 3 and a control circuit 4. The annular pressure sensor E2 is fixedly installed on the rear side of one of the front limiting seats 104, and the front end of the spring 103 is in close contact with the rear force-bearing surface of the pressure sensor E2. The power module E1, the detection circuit 3, and the control circuit 4 are installed in the component box of the industrial robot 2.
[0016] Figure 1 , 2 As shown in Figure 3, the inner diameter of the center hole of the pressure sensor E2 is smaller than the outer diameter of the spring 103 but larger than the outer diameter of the pipeline package 5. The length of the spring 103 is slightly larger than the distance between the inner sides of the two limit seats 104 of the mounting base. The detection circuit includes an adjustable resistor RP1, a resistor R1, and a voltage comparator E3 connected via circuit board wiring. One end of the adjustable resistor RP1 is connected to one end of the resistor R1 and pin 1 of the positive signal input terminal of the voltage comparator E3. The other end of the resistor R1 is connected to pin 2 of the negative power input terminal and pin 4 of the negative signal input terminal of the voltage comparator E3. The control circuit includes a thyristor VS, a relay K1, and a resistor R2 connected via circuit board wiring. One end of the resistor R2 is connected to the control electrode of the thyristor VS. The cathode of the thyristor VS is connected to the positive power input terminal of the relay K1 and the alarm B. The negative power input terminal of the alarm B is connected to the negative power input terminal of the relay K1.
[0017] Figure 1 , 2As shown in Figure 3, the power input terminals 1 and 2 of the power module E1, the two control power input terminals of the relay K1 in the control circuit, and the two poles of the AC 220V power supply are connected by wires. The power output terminals 3 and 4 of the power module E1 are connected to the two poles of the battery G1, the power input terminals 1 and 2 of the pressure sensor E2, the power input terminals of the detection circuit, the voltage comparator E3, the power input terminals of the control circuit (connected in series via power switch S1), the anode of the thyristor VS, and the negative power input terminal of the relay K1 are connected by wires. The signal output terminal of the detection circuit, the voltage comparator E3, the signal input terminal of the control circuit, and the other end of the resistor R2 are connected by wires. The signal output terminal 3 of the pressure sensor E2 and the signal input terminal of the detection circuit, the adjustable resistor RP1, are connected by wires. The two normally closed contacts of the relay K1 are connected to the main power input terminal M of the industrial robot 2 by wires. Figure 3 In this circuit, power module E1 is a finished product of AC 220V to DC 12V power module; adjustable resistor RP1 has a resistance of 47K (adjusted to 17K in this embodiment); resistors R1 and R2 have resistances of 10K and 1K respectively; relay K1 is DC 12V; thyristor VS is MCR100-1; alarm B is a finished product of active continuous audible alarm model MF12V; voltage comparator E3 is LM393N, which has two power input terminals, two signal input terminals, and one signal power output terminal. Depending on the selection, it operates with two signals. When the input voltage is higher or lower than the set threshold voltage, the signal power output terminal outputs power (the voltage comparator E3 itself has an adjustable resistor for threshold adjustment; when the resistance value of the adjustable resistor is relatively large, the power output terminal will output power when the input voltage signal is relatively high; when the resistance value of the adjustable resistor is relatively small, the power output terminal will output power when the input voltage signal is relatively low); the pressure sensor E2 is a finished weighing sensor product with model HX-001 and an annular through hole in the middle, which has two power input terminals and one signal output terminal.
[0018] Figure 1 , 2As shown in Figure 3, this utility model is based on the pipeline package support body 1, which is used to fix the robot pipeline package 5. Its main function is to firmly install the corrugated pipe of the pipeline package 5 to protect the pipeline on the robot 2, so as to ensure that the pipeline remains stable during the movement. The multiple fixing rings 101 of the pipeline package support are fixedly installed on one side of the industrial robot 2 at the relevant position. When the robot 2 works, the upper arm 21 moves within a certain range, and the forearm 22 at the front end of the upper arm 21 rotates, the fixing seat of the forearm 22 pulls the front end of the pipeline package 5 to overcome the elastic force of the spring 103 and move forward (the limiting plate 105 moves forward with the pipeline package and compresses the spring). The pipeline package 5 moves forward in a corresponding section, which meets the needs of the upper arm 21, the forearm 22 and other components for a certain range of movement and the length of the pipeline package 5. When the upper arm 21, the forearm 22 and other components return to their original position, the pipeline package 5 moves backward along the pipeline package support body 1 under the action of the elastic force of the spring 103, and the front end length becomes shorter to prevent the pipeline package 5 from being entangled and damaged. The above are existing mature technologies, which will not be elaborated upon in this application, nor will they be used to protect the above technical solutions. In this new invention, after the AC 220V power supply enters the power input terminal of the power module E1, the power module E1 outputs a stable DC 12V power supply through pins 3 and 4 (which simultaneously enters the power input terminal of the battery G1 to charge the battery G1, so that the detection circuit and control circuit can continue to operate when the 220V power supply fails). This power supply enters the power input terminals of the detection circuit, pressure sensor, and control circuit, and the above circuits and modules operate after being powered on. Specifically, when a section of the pipeline bundle 5 is pulled forward by the fixing seat of the forearm 22 and moves forward against the elastic force of the spring 103, the reverse force generated by the compression of the spring will act on the force-bearing surface of the pressure sensor E2. The pressure sensor E2's pin 3 will output a voltage signal to the other end of the adjustable resistor RP1. The more the pipeline bundle section moves forward and the more tightly the spring 103 is compressed, the higher the voltage signal output by the pressure sensor E2's pin 3 will be; conversely, the lower the voltage signal output by the pressure sensor E2's pin 3 will be. In practice, when a section of the pipeline is pulled forward without exceeding the threshold (that is, when the forward movement is relatively small and the spring is relatively loose), the voltage signal output by pin 3 of pressure sensor E2 is relatively low. This voltage signal is divided by adjustable resistor RP1 and resistor R1 and enters pin 3 of voltage comparator E3 (pin 4 is grounded). Since it is lower than the internal threshold voltage of voltage comparator E3, pin 5 of voltage comparator E3 does not output a high level, and relay K1 will not be energized to close its control power input terminal and normally closed contact terminal. In this way, 220V AC power continues to enter the main power input terminal M of industrial robot 2, and industrial robot 2 works normally.When a section of the pipeline bundle is pulled forward beyond a threshold (i.e., the forward movement is relatively large and the spring is tightly compressed), the voltage signal output from pin 3 of pressure sensor E2 is relatively high. This voltage signal, after being divided by adjustable resistor RP1 and resistor R1, enters pin 3 of voltage comparator E3, exceeding the internal threshold voltage of voltage comparator E3. Therefore, pin 5 of voltage comparator E3 outputs a high level. This high level, after being reduced and current-limited by resistor R2, triggers the conduction of SCR VS. Consequently, relay K1 is energized, opening its control power input terminal and normally closed contact terminal. This prevents the 220V AC power from continuing to flow into the main power input terminal M of industrial robot 2, stopping industrial robot 2 and preventing the pipeline bundle from breaking due to continued operation. Simultaneously, the positive power output from the cathode of SCR VS enters the positive power input terminal of relay K1, and also enters the positive power input terminal of alarm B. Alarm B is then energized and sounds an alarm to alert personnel for repair, minimizing the escalation of the fault.
[0019] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model.
[0020] Furthermore, it should be understood that although this specification describes the embodiments, the embodiments do not necessarily contain only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A robot tubing package support for preventing entanglement, comprising a robot tubing package support body, an annular pressure sensor, and a power module, wherein the tubing package support body includes a fixing ring, a sliding mounting seat, and a spring, with limiting seats fixedly mounted at the front and rear ends of the mounting seat, the limiting seats having shaft holes, the spring slidingly sleeved on the outside of a section of the tubing package and located between the inner sides of the two limiting seats, the front and rear portions of the corresponding section of the tubing package slidingly located within the shaft holes of the two limiting seats, a limiting plate fixedly mounted outside the section of the tubing package at the rear end of the spring, the outer diameter of the limiting plate being larger than the inner diameter of the shaft hole of the limiting seat and the outer diameter of the spring, and the sliding mounting seat fixedly mounted on the upper end of the robot arm; characterized in that, It also has a detection circuit and a control circuit; the annular pressure sensor is fixedly installed on the rear side of a limiting seat at the front end, and the front end of the spring is in close contact with the force-bearing surface at the rear end of the pressure sensor; the detection circuit, control circuit, and power module are installed in the component box, and the power output terminal of the power module is electrically connected to the two poles of the battery, the power input terminal of the pressure sensor, the detection circuit, and the control circuit; the signal output terminal of the detection circuit is electrically connected to the power input terminal of the control circuit; and the signal output terminal of the pressure sensor is electrically connected to the signal input terminal of the detection circuit.
2. The robotic pipe bundle support of claim 1, wherein, The inner diameter of the pressure sensor's central hole is smaller than the outer diameter of the spring but larger than the outer diameter of the pipeline casing.
3. The anti-wrap robotic pipe bundle rack of claim 1, wherein, The length of the spring is greater than the distance between the front and rear limit seats of the mounting base.
4. The anti-wrap robotic pipe bundle rack of claim 1, wherein, The detection circuit includes an adjustable resistor, a resistor, and a voltage comparator that are electrically connected. One end of the adjustable resistor is connected to one end of the resistor and the positive signal input terminal of the voltage comparator, and the other end of the resistor is connected to the negative power supply input terminal and the negative signal input terminal of the voltage comparator.
5. The anti-wrap robotic pipe bundle rack of claim 1, wherein, The control circuit includes a thyristor, a relay, and a resistor that are electrically connected. One end of the resistor is connected to the control electrode of the thyristor. The cathode of the thyristor is connected to the positive power input terminal of the relay and the alarm. The negative power input terminal of the alarm is connected to the negative power input terminal of the relay.