Novel rotary variable connection line and robot joint applying same

Abstract

The utility model discloses a novel rotary transformer connecting line and robot joint using same. The novel rotary transformer connecting line comprises: a first connector, a second connector, a plurality of FFC flat cables, a rotating shell and a fixed shell; the first connector is installed on an outer ear seat of the fixed shell; the second connector is installed on an end seat of the rotating shell, and a second inner lead end thereof extends into a containing cavity of a central shaft of the rotating shell; inner winding ends of the plurality of FFC flat cables are laminated and wrapped around the central shaft, and outer winding ends thereof are laminated and reversely wrapped around an inner wall of a base shell of the fixed shell; the inner winding ends and the outer winding ends are equidistantly spaced apart from each other; a head of the inner winding end passes through a wire hole of the central shaft to enter the containing cavity to electrically connect the second inner lead end; a head of the outer winding end passes through a wire hole of the base shell to enter an ear cavity of the outer ear seat to electrically connect a first inner lead end of the first connector; the plurality of FFC flat cables are simultaneously and gradually wound up or laid out by the central shaft. The utility model has the effects of reliable lead transmission and high product service life.

Description

Technical Field

[0001] This utility model relates to the field of electrical connections, and in particular to a novel resolver connection circuit and a robot joint using the same. Background Technology

[0002] The robotics industry is developing rapidly, and rotary joints are a crucial module for robots, such as the lumbar joint connecting the upper and lower limbs. Rotary joints enable rotational movement of the connected parts and contain integrated circuits for transmitting electrical energy or signals. Currently, the cable structure within rotary joints involves the cable suspending inside the joint, with one end connected to the rotating end and the other end directly connected to the fixed end. The problem is that when the robot joint rotates, the cable may be repeatedly and rigidly pulled or twisted, causing damage or even breakage. This reduces the connection and transmission performance, resulting in low reliability and a short product lifespan. Utility Model Content

[0003] To address one or more of the aforementioned problems, this invention provides a novel resolver connection circuit and a robot joint using the same.

[0004] According to one aspect of the present invention, the novel resolver connection circuit includes: a first connector, a second connector, a plurality of FFC cables, a rotating housing, and a fixed housing;

[0005] The first connector is installed at the rear end of the outer ear base of the fixed shell, and its first inner lead end is exposed inside the ear cavity of the outer ear base;

[0006] The second connector is installed at the front end of the end seat at one end of the rotating housing, and its second inner lead end extends into the receiving cavity of the central shaft at the other end of the rotating housing.

[0007] The FFC cables are located in the space enclosed by the fixed shell and the end cap. The inner ends of several FFC cables are stacked and wrapped around the central shaft, while the outer ends are stacked and wrapped around the inner wall of the annular shell of the fixed shell in the opposite direction. The reverse bending sections between the inner and outer ends are equally spaced. The end of the inner end passes through the wire hole of the central shaft into the receiving cavity and is electrically connected to the second inner lead terminal. The end of the outer end passes through the wire hole of the base shell into the ear cavity and is electrically connected to the first inner lead terminal. When the rotating shell rotates in both directions relative to the fixed shell, multiple FFC cables are gradually rolled up or laid out by the central shaft at the same time.

[0008] The advantages of this novel resolver connection circuit are as follows: First, the FFC cable has excellent dynamic bending performance, capable of millions of cycles. Furthermore, the FFC cable in this circuit structure is flexible, effectively preventing cable damage and ensuring excellent conduction and transmission performance, resulting in high reliability and long product lifespan. Second, the structure is simple to connect. Utilizing the cavities of the fixed and rotating shells in the robot joints, along with the wire holes, the product has fewer components, effectively reducing its size. Third, the inner winding end of the FFC cable in this circuit structure is wrapped around the central shaft. It automatically retracts or winds the cable as the central shaft rotates, with uniform and interference-free movements. This also saves on the power source of the circuit structure, further simplifying product components, reducing product size, and lowering costs.

[0009] In some embodiments, a wire fixing plate is also included, which is opposite to the end seat on the left and right. The first through hole of the wire fixing plate is sleeved on the outer peripheral wall of the central shaft. The cavity between the wire fixing plate and the end seat is a winding cavity for placing the FFC cable. The small gap of the inner winding end is located between the inner walls of the two.

[0010] In some implementations, the wire plate is threaded or snapped onto the central shaft;

[0011] When snapped together, the central shaft is fitted into the first through-hole gap, and the axial mounting platform on the inner side wall of the wire plate snaps into the first slot of the central shaft.

[0012] In some embodiments, the central shaft includes a winding segment and a first shoulder integrally disposed outside the winding segment, and the winding segment is provided with a plurality of first slots arranged in a circumferential array.

[0013] The inner sidewall of the wire fixing plate is provided with multiple axial mounting platforms arranged in a circular array.

[0014] The first perforation gap is fitted with the first shaft shoulder and fits against the side wall of the winding segment, and multiple axial mounting platforms are correspondingly connected to the first slot.

[0015] In some embodiments, the axial mounting bracket includes an axial extension arm and a rectangular contact block integrally formed on the inner wall of the end of the axial extension arm, wherein the end of the inner wall of the rectangular contact block is provided with an engagement chamfer.

[0016] The axial extension wall is located at the inlet at the front end of the first slot, and the rectangular contact block enters the slot.

[0017] In some embodiments, a positioning end plate is integrally provided at the center of the inner wall of the end seat, which is opposite to the wire fixing plate. The positioning end plate and the wire fixing plate are located on the left and right sides of the inner winding end.

[0018] In some embodiments, a rectangular or cylindrical receiving cavity is provided at the center of the central shaft, and the wire-passing hole is a rectangular through-hole extending from the head end to the tail end of the central shaft; the end of the inner winding end passes through the wire-passing hole and is welded to the second inner lead end.

[0019] In some embodiments, the fixed housing includes a threaded outer cover plate and a base shell. The annular cover of the outer cover plate and the limiting end wall of the base shell are opposite each other to form an outer winding end receiving cavity, and the lower ends of both form an outer ear seat. The base shell is provided with an inclined notch-shaped through hole, and the end of the outer winding end passes through the through hole to weld the first inner lead end.

[0020] In some embodiments, the first connector includes a first power connection portion and a first signal connection portion, and the second connector includes a second power connection portion and a second signal connection portion.

[0021] According to another aspect of this utility model, a robot joint includes a novel refractive connection circuit comprising any one of the above-mentioned features. Its advantages are: the robot joint has excellent conduction and transmission performance, high reliability, and long product lifespan. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of a novel resolver connection circuit according to one embodiment of the present invention.

[0023] Figure 2 for Figure 1 A three-dimensional exploded view of the novel resolver connection circuit shown;

[0024] Figure 3 for Figure 2 A three-dimensional schematic diagram of the rotating shell and the fixed plate shown.

[0025] Figure 4 for Figure 2 A three-dimensional schematic diagram of the fixed plate shown;

[0026] Figure 5 for Figure 1 The diagram shows a front view of the resolver connection line after the outer cover and wire fixing plate have been removed.

[0027] First connector 1, first inner lead terminal 10, first power connection part 11, first signal connection part 12;

[0028] Second connector 2, second inner lead end 20, second power connection part 21, second signal connection part 22;

[0029] FFC cable 3, inner winding end 31, outer winding end 32, reverse bending section 33;

[0030] Rotating shell 4, end seat 41, positioning end plate 410, central shaft 42, receiving cavity 420, wire hole 421, first slot 422, first shoulder 423, winding segment 424, inlet 425;

[0031] Fixed shell 5, base shell 50, through hole 500, external ear seat 51, ear cavity 510, outer cover plate 52;

[0032] Fixed plate 6, first through hole 61, axial mounting platform 62, rectangular contact block 620, axial extension arm 621, positioning chamfer 622;

[0033] Bearing 7. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to the directions in the accompanying drawings, while the terms "inner" and "outer" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0035] Figures 1 to 5 The diagram schematically illustrates a novel resolver connection circuit according to one embodiment of the present invention. As shown, the novel resolver connection circuit includes: a first connector 1, a second connector 2, several FFC cables 3, a rotating housing 4, and a fixed housing 5;

[0036] The first connector 1 is installed at the rear end of the outer ear base 51 of the fixed shell 5, and its first inner lead end 10 is exposed inside the ear cavity 510 of the outer ear base 51. Preferably, the first connector 1 includes a first power connection part 11 and a first signal connection part 12.

[0037] The second connector 2 is mounted on the front end of the end seat 41 at one end of the rotating housing 4, and its second inner lead end 20 extends into the receiving cavity 420 of the central shaft 42 at the other end of the rotating housing 4. Preferably, the second connector 2 includes a second power connection part 21 and a second signal connection part 22.

[0038] The FFC cable 3 is located in the space surrounded by the fixed shell 5 and the end seat 41. The inner winding ends 31 of several FFC cables 3 are stacked and wrapped around the central shaft 42, and the outer winding ends 32 are stacked and wrapped around the inner wall of the annular inner wall of the base shell 50 of the fixed shell 5. The reverse bending sections 33 between the inner winding ends 31 and the outer winding ends 32 are equally spaced. The end of the inner winding end 31 passes through the wire hole 421 of the central shaft 42 and enters the receiving cavity 420 and is electrically connected to the second inner lead end 20. The end of the outer winding end 32 passes through the wire hole 500 of the base shell 50 and enters the ear cavity 510 and is electrically connected to the first inner lead end 10. When the rotating shell 4 rotates in both directions relative to the fixed shell 5, the multiple FFC cables 3 are gradually rolled up or laid out by the central shaft 42 at the same time.

[0039] The outer end of the central shaft 42 of the rotating shell 4 is rotatably connected to the fixed shell 5 via the bearing 7.

[0040] This novel refractive cable connection is applied to robot joints, employing FFC (flexible flat cable) 3. Multiple FFC cables 3 are arranged with their ends (inner winding end 31, outer winding end 32) overlapping and wrapped together, with a reverse bending section 33 in the middle. The two ends connect to connectors for the fixed and rotating ends. When the joint rotates, the middle section of the FFC cable 3 rewinds or unwinds, increasing the cable on the inner winding end 31 and decreasing or vice versa. During this process, there is no positional change or pulling at the cable ends, thus achieving flexible cable winding and unwinding. Its advantages are: firstly, the FFC cable 3 has excellent dynamic bending performance, enabling… The system boasts several advantages: firstly, it can withstand millions of cycles of bending; secondly, the FFC cable 3 in this circuit structure is flexible, effectively preventing cable damage and ensuring excellent conduction and transmission performance, resulting in high reliability and long product lifespan; thirdly, the structure is simple to connect, utilizing the cavity between the fixed shell 5 and the rotating shell 4 in the robot joint, along with the wire hole, reducing the number of product parts and effectively lowering the product size; and fourthly, the inner winding end 31 of the FFC cable 3 in this circuit structure is wrapped around the central shaft 42, automatically winding or coiling the cable as the central shaft 42 rotates, with unified and interference-free movements, saving the power source of the circuit structure, further simplifying product parts, reducing product size, and lowering costs.

[0041] Furthermore, it also includes a wire fixing plate 6 that is positioned opposite the end seat 41. The first through hole 61 of the wire fixing plate 6 is fitted onto the outer peripheral wall of the central shaft 42. The cavity between the wire fixing plate 6 and the end seat 41 is a winding cavity for placing the FFC cable 3, and a small gap is provided between the inner walls of the two. The beneficial effects are: this arrangement facilitates ensuring the installation position of the FFC cable 3, prevents the cable from falling off, avoids interference caused by cable swaying during movement, and achieves good cable laying and unwinding work.

[0042] Preferably, the wire fixing plate 6 is threadedly connected to or snapped onto the central shaft 42; when snapped, the central shaft 42 is fitted with a gap in the first through hole 61, and the axial mounting platform 62 on the inner sidewall of the wire fixing plate 6 snaps onto the first groove 422 of the central shaft 42. More preferably, the central shaft 42 includes a winding segment 424 and a first shoulder 423 integrally provided outside the winding segment 424, and a plurality of first grooves 422 are arranged in a circumferential array on the winding segment 424; a plurality of axial mounting platforms 62 are arranged in a circumferential array on the inner sidewall of the wire fixing plate 6; the first shoulder 423 is fitted with a gap in the first through hole 61 and fits against the sidewall of the winding segment 424, and the plurality of axial mounting platforms 62 are correspondingly connected to the first grooves 422. Preferably, the axial mounting bracket 62 includes an axial extension arm 621 and a rectangular contact block 620 integrally formed on the inner wall of the end of the axial extension arm 621. The inner wall end of the rectangular contact block 620 is provided with an insertion chamfer 622. The first slot 422 includes a rectangular slot body and an inlet 425 integrally provided at the front end of the slot body. The axial extension wall 621 is located at the inlet 425 and the rectangular contact block 620 enters the slot body. Its beneficial effect is that this arrangement can ensure the high-precision installation of the cable fixing plate 6, thereby ensuring the reliability of the line.

[0043] Furthermore, a positioning end plate 410, which is opposite to the wire fixing plate 6, is integrally provided at the center of the inner wall of the end plate 41. The positioning end plate 410 and the wire fixing plate 6 are fitted together or separated by a small gap on the left and right sides of the inner winding end 31. The beneficial effect of this setting is that it ensures the accuracy of line installation and improves the reliability of line lead connection.

[0044] Preferably, the central shaft 42 has a rectangular or cylindrical receiving cavity 420 at its center, and the wire through hole 421 is a rectangular opening extending from the head end to the tail end of the central shaft 42; the end of the inner winding end 31 passes through the wire through hole 421 and is welded to the second inner lead end 20. The beneficial effect is that this arrangement facilitates the fixed connection of the inner winding end 31 and the second inner lead end 20.

[0045] Preferably, the fixed housing 5 includes an outer cover plate 52 and a base housing 50. The outer cover plate 52 is connected to the side lug of the base housing 50 via a threaded connection. The annular cover of the outer cover plate 52 and the limiting end wall of the base housing 50 form a cavity for receiving the outer winding end 32. The lower convex plate of the outer cover plate 52 and the lower convex seat of the base housing 50 form an outer lug seat 51. At the connection with the lower convex seat, the annular body of the base housing 50 is provided with an inclined notch-shaped through hole 500. The end of the outer winding end 32 passes through the through hole 500 and is welded to the first inner lead end 10. The beneficial effect is that this arrangement facilitates the fixed connection between the outer winding end 32 and the first inner lead end 10.

[0046] Preferably, each power connector 11 includes four pins, each pin is soldered with two FFC cables, and each signal connector 22 includes 12 signal pins, with each set of 6 signal pins soldered with one FFC cable.

[0047] The robot joint includes the aforementioned novel resolver connection circuit. Its advantages are: the robot joint has excellent conduction and transmission performance, high reliability, and long product lifespan.

[0048] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. A novel resolver connection circuit, characterized in that, Includes: a first connector (1), a second connector (2), several FFC cables (3), a rotating housing (4), and a fixed housing (5); The first connector (1) is installed at the rear end of the outer ear seat (51) of the fixed shell (5), and its first inner lead end (10) is exposed in the ear cavity (510) of the outer ear seat (51); The second connector (2) is mounted on the front end of the end seat (41) at one end of the rotating shell (4), and its second inner lead end (20) extends into the receiving cavity (420) of the central shaft (42) at the other end of the rotating shell (4); The FFC cable (3) is located in the space surrounded by the fixed shell (5) and the end seat (41). The inner winding ends (31) of several FFC cables (3) are stacked and wrapped around the central shaft (42), and the outer winding ends (32) are stacked and wrapped around the inner wall of the annular inner wall of the base shell (50) of the fixed shell (5). The reverse bending sections (33) between the inner winding ends (31) and the outer winding ends (32) are equally spaced. The end of the inner winding end (31) passes through the wire hole (421) of the central shaft (42) and enters the receiving cavity (420) and is electrically connected to the second inner lead end (20). The end of the outer winding end (32) passes through the wire hole (500) of the base shell (50) and enters the ear cavity (510) and is electrically connected to the first inner lead end (10). When the rotating shell (4) rotates in both directions relative to the fixed shell (5), multiple FFC cables (3) are gradually rolled up or laid out by the central shaft (42) at the same time.

2. The novel resolver connection circuit according to claim 1, characterized in that, It also includes a wire fixing plate (6) that is opposite to the end seat (41) on the left and right. The first through hole (61) of the wire fixing plate (6) is sleeved on the outer peripheral wall of the central shaft (42). The cavity between the wire fixing plate (6) and the end seat (41) is a winding cavity for placing the FFC cable (3). The small gap of the inner winding end (31) is located between the inner walls of the two.

3. The novel resolver connection circuit according to claim 2, characterized in that, The fixing plate (6) is threaded or snapped onto the central shaft (42); When snapped together, the first through hole (61) gap sleeves the central shaft (42), and the axial mounting platform (62) on the inner side wall of the wire fixing plate (6) snaps into the first slot (422) of the central shaft (42).

4. The novel resolver connection circuit according to claim 3, characterized in that, The central shaft (42) includes a winding segment (424) and a first shoulder (423) integrally disposed outside the winding segment (424). The winding segment (424) is provided with a plurality of first slots (422) arranged in a circumferential array. The inner sidewall of the wire fixing plate (6) is provided with a plurality of axial mounting platforms (62) arranged in a circular array; The first perforation (61) is fitted with the first shoulder (423) and fits against the side wall of the winding segment (424), and the multiple axial mounting platforms (62) are correspondingly connected to the first slot (422).

5. The novel resolver connection circuit according to claim 4, characterized in that, The axial mounting platform (62) includes an axial extension arm (621) and a rectangular contact block (620) integrally formed on the inner wall of the end of the axial extension arm (621). The inner wall of the rectangular contact block (620) is provided with an entry chamfer (622) at the end. The axial extension arm (621) is located at the inlet (425) at the front end of the first slot (422) and the rectangular contact block (620) enters the slot.

6. The novel resolver connection circuit according to claim 5, characterized in that, The center of the inner wall of the end seat (41) is also integrally provided with a positioning end plate (410) opposite to the wire fixing plate (6), and the positioning end plate (410) and the wire fixing plate (6) are located on the left and right sides of the inner winding end (31).

7. The novel resolver connection circuit according to claim 6, characterized in that, The central shaft (42) has a rectangular or cylindrical receiving cavity (420) at its center, and the wire hole (421) is a rectangular opening extending from the head end to the tail end of the central shaft (42); the end of the inner winding end (31) passes through the wire hole (421) and is welded to the second inner lead end (20).

8. The novel resolver connection circuit according to claim 7, characterized in that, The fixed shell (5) includes a threaded outer cover plate (52) and a base shell (50). The annular cover of the outer cover plate (52) and the limiting end wall of the base shell (50) form an outer winding end (32) to accommodate a cavity, and the lower ends of both form an outer ear seat (51). The base shell (50) is provided with an inclined notch-shaped through hole (500), and the end of the outer winding end (32) passes through the through hole (500) to weld the first inner lead end (10).

9. The novel resolver connection circuit according to claim 7, characterized in that, The first connector (1) includes a first power connection part (11) and a first signal connection part (12), and the second connector (2) includes a second power connection part (21) and a second signal connection part (22).

10. A robot joint, characterized in that, Includes the novel resolver connection circuit as described in any one of claims 1 to 9.

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