Mechanical arm cable anti-winding device and mechanical arm

Abstract

The present disclosure relates to a mechanical arm cable anti-winding device and a mechanical arm, the anti-winding device comprising a connecting disc and a clamping piece, the connecting disc being fixedly connected in the inner cavity of the mechanical arm and being capable of rotating relative to the mechanical arm, the clamping piece being provided with a plurality of clamping pieces, being arranged along the circumference of the connecting disc, being connected with the connecting disc at one end, and extending to the inner wall of the mechanical arm along the radial direction of the connecting disc at the other end, and being surrounded by the inner wall of the mechanical arm to form a clamping hole for placing the cable. The mechanical arm cable anti-winding device of the present disclosure is provided with the clamping piece, so that the end of the clamping piece can form a clamping hole for placing the cable between the inner wall of the mechanical arm. When the cable is about to be wound or has been wound, the clamping piece can be driven to rotate by the connecting disc, and the cable can be driven to rotate by the clamping piece, thereby avoiding the winding of the cable and untwisting the wound cable, and preventing the mechanical arm from malfunctioning due to the damage of the cable.

Description

Technical Field

[0001] This disclosure relates to the field of robotic arm technology, and more specifically, to a robotic arm cable anti-tangling device, and a robotic arm using the robotic arm cable anti-tangling device. Background Technology

[0002] The robotic arm usually needs to be powered by cables to supply power to the mechanical claws and other structures at the front end of the robotic arm. When the robotic arm needs to rotate continuously or make complex posture changes, the cables inside the robotic arm are prone to jamming or tangling due to increased torque and continuous pulling. In related technologies, the robotic arm usually needs to be disassembled and repaired, which is time-consuming and labor-intensive. Utility Model Content

[0003] The purpose of this disclosure is to provide a cable anti-entanglement device for robotic arms, which can effectively prevent cables in robotic arms from becoming entangled.

[0004] To achieve the above objectives, this disclosure provides a device for preventing the cable from becoming entangled in a robotic arm, comprising: A connecting plate, which is fixedly connected to the inner cavity of the robotic arm, is configured to rotate relative to the robotic arm; Multiple snap-fit ​​components are provided and arranged circumferentially along the connecting disk. One end of each snap-fit ​​component is connected to the connecting disk, and the other end extends radially along the connecting disk to the inner wall of the robotic arm to form a snap-fit ​​hole with the inner wall of the robotic arm. The snap-fit ​​hole is used to place a cable and allow the cable to rotate with the snap-fit ​​component.

[0005] Optionally, the snap-fit ​​component includes a connecting post and a snap-fit ​​connector. One end of the connecting post is connected to the connecting disk, and the other end extends radially along the connecting disk and is provided with the snap-fit ​​connector. The snap-fit ​​connector is U-shaped, with its closed end connected to the connecting post and its open end abutting against the inner wall of the robotic arm, thus forming the snap-fit ​​hole.

[0006] Optionally, it also includes an adjustment member for adjusting the distance between the end of the snap-fit ​​member and the inner wall of the robotic arm.

[0007] Optionally, the adjusting component includes a slide rail and a limiting component. The number of slide rails is the same as the number of snap-fit ​​components. One end of the slide rail is connected to the connecting plate, and the other end extends radially along the connecting plate. The snap-fit ​​component is located in the slide rail and can slide relative to the slide rail to adjust the distance between the end of the snap-fit ​​component and the inner wall of the robotic arm. The limiting component is used to restrict the position of the snap-fit ​​component in the slide rail.

[0008] Optionally, the adjusting component further includes an adjusting turntable, a track, and a slider. The adjusting turntable is concentrically arranged with the connecting plate and can rotate relative to the connecting plate along its own axis. The track is located on the adjusting turntable and has the same number as the snap-fit ​​components. The slider is connected to the snap-fit ​​component and is located in the track. The track is configured to rotate with the adjusting turntable so that the snap-fit ​​component can slide relative to the slide rail via the slider.

[0009] Optionally, the adjusting turntable includes a first gear and a second gear. The first gear is concentrically arranged with the connecting plate and can rotate relative to the connecting plate along its own axis. The second gear is connected to the connecting plate and meshes with the first gear to drive the first gear to rotate relative to the connecting plate. The limiting member includes a limiting pin, which is used to limit the rotation of the second gear.

[0010] Optionally, the connecting plate includes a power component, which is fixedly connected to the inner cavity of the robotic arm, and the driving end is connected to the connecting plate to drive the connecting plate to rotate relative to the robotic arm. It also includes a tension sensor and a controller. The tension sensor is used to detect the tension on the cable and transmit it to the controller. The controller is used to control the power component according to the tension.

[0011] Optionally, it also includes a connecting ring, the outer ring of which is fixedly connected to the inner wall of the robotic arm, the connecting disk being concentrically arranged with the connecting ring and located in the connecting ring, and the end of the snap-fit ​​extending to the inner ring of the connecting ring to form the snap-fit ​​hole.

[0012] Optionally, the inner wall of the connecting ring is provided with an annular groove, the end of the snap-fit ​​member is provided with a mating member, the mating member can be inserted into the groove and rotate relative to the groove, and the snap-fit ​​member is covered with an insulating layer.

[0013] A second aspect of this disclosure also provides a robotic arm, including the robotic arm cable anti-tangle device and the robotic arm body described in the above embodiments. A connecting platform is provided in the inner cavity of the robotic arm body, and the connecting platform is used to install the robotic arm cable anti-tangle device.

[0014] The advantages of this disclosure through the above technical solution are as follows: The anti-tangling device for robotic arm cables of this disclosure is provided with a snap-fit ​​component, so that the end of the snap-fit ​​component can form a snap-fit ​​hole for placing the cable between it and the inner wall of the robotic arm. When the cable is about to tangle or has already tangled, the snap-fit ​​component can be rotated by the connecting plate, and then the cable can be rotated by the snap-fit ​​component, thereby preventing the cable from tangling and untangling the tangled cable, preventing the robotic arm from malfunctioning due to cable damage.

[0015] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the anti-tangle device for robotic arm cables provided in an exemplary embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of the anti-tangle device for robotic arm cables provided in another exemplary embodiment of this disclosure; Figure 3 This is a schematic diagram of the anti-tangle device for robotic arm cables provided in an exemplary embodiment of this disclosure from another angle; Figure 4 This is a schematic diagram of the structure of the anti-tangle device for robotic arm cables provided in an exemplary embodiment of this disclosure, installed in the robotic arm; Figure 5 This is a schematic diagram of the structure of the robotic arm provided in an exemplary embodiment of this disclosure; Figure 6 This is a schematic diagram of the tension sensor and controller in the robotic arm cable anti-tangling device provided in an exemplary embodiment of this disclosure.

[0017] Explanation of reference numerals in the attached figures 1-Connecting plate; 11-Power component; 12-Tension sensor; 13-Controller; 2-Snap-fit ​​component; 21-Snap-fit ​​hole; 22-Connecting column; 23-Snap-fit ​​connector; 24-Matching component; 3-Adjusting component; 31-Slide rail; 32-Limiting component; 321-Limiting pin; 33-Adjusting turntable; 331-First gear; 332-Second gear; 34-Railway; 35-Slider; 4-Connecting ring; 41-Groove; 5-Mechanical arm body; 51-Connecting platform. Detailed Implementation

[0018] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0019] In this disclosure, unless otherwise stated, directional terms such as "upper," "lower," "higher," "lower," "top," and "bottom" generally refer to the orientation of the corresponding component or structure in the direction of gravity. "Inner" and "outer" refer to the inner and outer contours of the corresponding component. Furthermore, it should be noted that terms such as "first" and "second" are used to distinguish one element from another and do not indicate sequence or importance. Additionally, in the description with reference to the accompanying drawings, the same reference numerals in different drawings denote the same element. The above definitions are for explanation and illustration only and should not be construed as limiting this disclosure.

[0020] This disclosure relates to an anti-tangle device for robotic arm cables, which can effectively prevent the cables in the robotic arm from becoming entangled and damaged. See [link to relevant documentation]. Figure 1 and Figure 3 The disclosed anti-tangle device for robotic arm cables includes a connecting plate 1 and a clamping member 2. The connecting plate 1 is fixedly connected to the inner cavity of the robotic arm and can rotate relative to the robotic arm. The connection between the connecting plate 1 and the robotic arm can be fixed by setting a connecting post in the robotic arm or by directly connecting to a structure built into the robotic arm. Multiple clamping members 2 are provided and arranged circumferentially along the connecting plate 1. The arrangement can be uniformly arranged circumferentially. When connecting, one end of the clamping member 2 is connected to the connecting plate 1, and the other end extends radially along the connecting plate 1 to the inner wall of the robotic arm, so that the second end of the clamping member 2 can form a clamping hole 21 with the inner wall of the robotic arm. The clamping hole 21 can hold the cable, so that when the clamping member 2 rotates with the connecting plate 1, it can drive the cable located therein to rotate with the connecting plate 1 through the clamping hole 21. This can promptly move the cable when it is about to become entangled in the robotic arm to avoid entanglement, and after the cable becomes entangled, it can move the cable to untangle the cable and prevent damage to the cable.

[0021] The robotic arm cable of this disclosure is provided with a snap-fit ​​member 2, which allows the end of the snap-fit ​​member 2 to form a snap-fit ​​hole 21 for placing the cable between it and the inner wall of the robotic arm. When the cable is about to get tangled or has already gotten tangled, the snap-fit ​​member 2 can be rotated by the connecting plate 1, and then the cable can be rotated by the snap-fit ​​member 2. This can prevent the cable from getting tangled and can also untangle the tangled cable, preventing the robotic arm from malfunctioning due to cable damage.

[0022] In some embodiments of this disclosure, see Figure 1 and Figure 3The snap-fit ​​component 2 includes a connecting post 22 and a snap-fit ​​connector 23. The connecting post 22 can be cylindrical or square, with one end fixed to the connecting plate 1 and the other end extending radially towards the inner wall of the robotic arm. The snap-fit ​​connector 23 is U-shaped, with its closed end connected to the end of the connecting post 22 that is not connected to the connecting plate 1, and its open end facing the inner wall of the robotic arm, so that the snap-fit ​​connector 23 can form a snap-fit ​​hole 21 between itself and the inner wall of the robotic arm. Of course, in other embodiments, the shape of the snap-fit ​​connector 23 can also be of other types, specifically determined according to the shape of the cable. Since the general shape of a cable is cylindrical, a U-shaped snap-fit ​​connector 23 can easily form a snap-fit ​​hole 21 for placing a circular cable.

[0023] In some embodiments of this disclosure, see Figure 1 and Figure 3 The anti-tangle device for robotic arm cables disclosed herein also includes an adjusting member 3, which can adjust the distance between the end of the snap-fit ​​member 2 and the inner wall of the robotic arm, thereby allowing the size of the snap-fit ​​hole 21 to be changed to accommodate cables in different types of robotic arms.

[0024] Specifically, see Figure 1 and Figure 3 The adjusting component 3 includes a slide 31 and a limiting component 32. The number of slides 31 is the same as the number of locking components 2. One end is connected to the connecting plate 1, and the other end extends radially along the connecting plate 1. The locking component 2 is located in the slide 31 and can slide relative to the slide 31. When it is necessary to adjust the size of the locking hole 21, the locking component 2 located in the slide 31 can be slid. For example, when it is necessary to enlarge the locking hole 21, the locking component 2 can be slid to move the locking component 2 away from the inner wall of the robotic arm, increasing the distance between the end of the locking component 2 and the inner wall of the robotic arm, thereby enlarging the locking hole 21. When it is necessary to reduce the size of the locking hole 21, the locking component 2 can be slid to move the locking component 2 closer to the inner wall of the robotic arm to complete the adjustment. The limiting member 32 can restrict the position of the snap-fit ​​member 2 in the slide 31. After the snap-fit ​​member 2 is adjusted, its position in the slide 31 can be restricted by the limiting member 32. The limiting member 32 may include bolts and threaded holes respectively provided on the slide 31 and the snap-fit ​​member 2, or other limiting structures known to those skilled in the art, which will not be described in detail here.

[0025] In some embodiments of this disclosure, see Figure 2 and Figure 3The adjusting component 3 also includes an adjusting turntable 33, a track 34, and a slider 35. The adjusting turntable 33 is concentrically arranged with the connecting plate 1 and can rotate relative to the connecting plate 1 along its own axis. The track 34 is located on the adjusting turntable 33 and has the same number as the snap-fit ​​component 2. The number of sliders 35 is also the same as the snap-fit ​​component 2. They are located in the track 34 and connected to the snap-fit ​​component 2. When the adjusting turntable 33 rotates, the track 34 also rotates synchronously with the adjusting turntable 33. However, since the snap-fit ​​component 2 is fixedly connected to the connecting plate 1, the slider 35 connected to the snap-fit ​​component 2 will not rotate with the track 34. Instead, it will move relative to the track 34 under the drive of the track 34, thereby causing the snap-fit ​​component 2 connected to the slider 35 to slide relative to the slide rail 31. The shape of the track 34 can be arc-shaped to avoid the slider 35 getting stuck in the track 34 and to further limit the sliding direction of the slider 35 in the track 34. By setting multiple tracks 34 and multiple sliders 35 to adjust the position of the locking parts 2, the synchronous adjustment of multiple locking parts 2 can be completed. When the number of locking parts 2 is set to be large, the adjustment time of the locking parts 2 can be effectively shortened.

[0026] In some embodiments of this disclosure, see Figure 2 and Figure 3 The adjusting turntable 33 includes a first gear 331 and a second gear 332. The first gear 331 is concentrically arranged with the connecting plate 1 and can rotate relative to the connecting plate 1 along its own axis. The track 34 is also located on the first gear 331. The second gear 332 meshes with the first gear 331 and can be rotatably connected to the inner cavity of the robotic arm or to the connecting plate 1. The second gear 332 can drive the first gear 331 to rotate relative to the connecting plate 1 along its own axis. Since the number of teeth of the gear is more precise, the adjustment of the distance of the locking member 2 can be more accurate, so that the size of the locking hole 21 is more suitable for the cable. The limiting member 32 includes a limiting pin 321, which can be detachably inserted into the teeth of the second gear 332 to limit the rotation of the second gear 332 and the first gear 331, thereby limiting the locking member 2 from continuing to slide along the slide 31 and ensuring the stability of the locking member 2.

[0027] In some embodiments of this disclosure, see Figure 2 and Figure 3 The connecting plate 1 includes a power component 11, which is fixedly connected to the inner cavity of the robotic arm. The connection method can be that a separate connecting component is set in the inner cavity of the robotic arm, or it can be directly fixedly connected to the inner wall of the robotic arm. The power component 11 can be a conventional component such as a motor. The drive end is connected to the connecting plate 1, thereby driving the connecting plate 1 to rotate relative to the robotic arm to complete the adjustment of the cable position and avoid cable failure.

[0028] In some embodiments of this disclosure, see Figure 6 The robotic arm cable anti-tangling device disclosed herein also includes a tension sensor 12 and a controller 13. The tension sensor 12 is a conventional sensor capable of sensing tension, thereby detecting the tension on the cable. When the tension on the cable gradually increases, the information can be transmitted to the controller 13. The controller 13 can be a conventional component such as a contactor. When it receives the information from the tension sensor 12 that the cable is under increasing tension, it will activate the power component 11 to drive the connecting plate 1 to rotate, thereby adjusting the cable position and preventing the cable from tangling.

[0029] In some embodiments of this disclosure, see Figure 2 and Figure 3 The robotic arm anti-entanglement device disclosed herein also includes a connecting ring 4. The outer ring of the connecting ring 4 can be fixedly connected to the inner wall of the robotic arm. The fixed connection can be achieved through bolt connection or snap-fit ​​connection, or other connection methods known to those skilled in the art. The connecting ring 4 is concentrically arranged with the connecting disk 1 and located within the connecting ring 4. The end of the snap-fit ​​member 2 extends to the connecting ring 4 and forms a snap-fit ​​hole 21 between the inner rings of the connecting ring 4. By setting the connecting ring 4, the connecting ring 4 and the connecting disk 1 can be formed as a whole, which is more convenient for disassembly and installation, and also facilitates accurate adjustment of the distance between the snap-fit ​​member 2 and the inner ring of the connecting ring 4.

[0030] In some embodiments of this disclosure, see Figure 2 and Figure 3 An annular groove 41 is provided on the inner wall of the connecting ring 4, and a mating part 24 is provided at the end of the snap-fit ​​part 2. The mating part 24 can be inserted into the groove 41 and move relative to the groove 41, thereby preventing the snap-fit ​​part 2 from deviating during rotation and ensuring the stability of the snap-fit ​​part 2 during rotation. The groove 41 and the mating part 24 can be rectangular grooves and rectangular blocks, respectively. When the mating part 24 is set on the snap-fit ​​connector 23 on the snap-fit ​​part 2, the rectangular mating part 24 can be located at both ends of the open end of the U-shaped snap-fit ​​connector 23, thereby ensuring the stability of the snap-fit ​​connector 23 during rotation.

[0031] In some embodiments of this disclosure, an insulating layer is provided on the outer surface of the snap-fit ​​2. The insulating layer can be made of rubber, resin, etc. By providing an insulating layer on the outer surface of the snap-fit ​​2, the risk of electric shock to workers when adjusting the position of the snap-fit ​​2 can be effectively avoided, thus effectively protecting the safety of workers.

[0032] When using the robotic arm cable anti-entanglement device disclosed herein, the distance between the clamping member 2 and the inner ring of the connecting ring 4 can be adjusted according to the size of the cable in the robotic arm. This adjustment can be made by directly sliding the clamping member 2 in the slide rail 31 or by adjusting the turntable 33. After adjustment, the position of the clamping member 2 can be restricted by the limiting member 32 to ensure that the size of the clamping hole 21 matches the size of the cable. Then, the robotic arm begins operation. During operation, when the cable in the robotic arm is about to become entangled, or has already become entangled, the power unit 11 can be activated to rotate the connecting plate 1. The connecting plate 1 then rotates the clamping member 2 connected to it, ultimately rotating the cable in the clamping hole 21 to prevent entanglement or to untangle any already entangled cables.

[0033] A second aspect of this disclosure also provides a robotic arm, including the robotic arm cable anti-tangling device described in the above embodiments and the robotic arm body 5, see [link to previous document]. Figure 4 and Figure 5 The robotic arm body 5 is provided with a connecting platform 51, which can be located at the center of the robotic arm body 5. The connecting platform 51 is used to connect the robotic arm anti-entanglement device, for example, the connecting plate 1 can be connected to the connecting platform 51. By setting the robotic arm anti-entanglement device of this disclosure, when the cable in the robotic arm body 5 is about to become entangled, or when the cable is already entangled, the connecting plate 1 can drive the clamping member 2 to rotate, and then the clamping member 2 can drive the cable to rotate, thereby preventing the cable from becoming entangled and untangling the entangled cable, preventing the robotic arm from malfunctioning due to cable damage.

[0034] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0035] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0036] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A device for preventing the cable from becoming entangled in a robotic arm, characterized in that, include: A connecting plate, which is fixedly connected to the inner cavity of the robotic arm, is configured to rotate relative to the robotic arm; Multiple snap-fit ​​components are provided and arranged circumferentially along the connecting disk. One end of each snap-fit ​​component is connected to the connecting disk, and the other end extends radially along the connecting disk to the inner wall of the robotic arm to form a snap-fit ​​hole with the inner wall of the robotic arm. The snap-fit ​​hole is used to place a cable and allow the cable to rotate with the snap-fit ​​component.

2. The anti-tangle device for robotic arm cables according to claim 1, characterized in that, The snap-fit ​​component includes a connecting post and a snap-fit ​​connector. One end of the connecting post is connected to the connecting disk, and the other end extends radially along the connecting disk and is provided with the snap-fit ​​connector. The snap-fit ​​connector is U-shaped, with its closed end connected to the connecting post and its open end abutting against the inner wall of the robotic arm, forming the snap-fit ​​hole.

3. The anti-tangle device for robotic arm cables according to claim 1, characterized in that, It also includes an adjustment component for adjusting the distance between the end of the snap-fit ​​component and the inner wall of the robotic arm.

4. The anti-tangle device for robotic arm cables according to claim 3, characterized in that, The adjusting component includes a slide and a limiting component. The number of slides is the same as the number of snap-fit ​​components. One end of the slide is connected to the connecting plate, and the other end extends radially along the connecting plate. The snap-fit ​​component is located in the slide and can slide relative to the slide to adjust the distance between the end of the snap-fit ​​component and the inner wall of the robotic arm. The limiting component is used to restrict the position of the snap-fit ​​component in the slide.

5. The anti-tangle device for robotic arm cables according to claim 4, characterized in that, The adjusting component also includes an adjusting turntable, a track, and a slider. The adjusting turntable is concentrically arranged with the connecting plate and can rotate relative to the connecting plate along its own axis. The track is located on the adjusting turntable and has the same number as the snap-fit ​​components. The slider is connected to the snap-fit ​​component and is located in the track. The track is configured to rotate with the adjusting turntable so that the snap-fit ​​component can slide relative to the slide rail via the slider.

6. The anti-tangle device for robotic arm cables according to claim 5, characterized in that, The adjusting turntable includes a first gear and a second gear. The first gear is concentrically arranged with the connecting plate and can rotate relative to the connecting plate along its own axis. The second gear is connected to the connecting plate and meshes with the first gear to drive the first gear to rotate relative to the connecting plate. The limiting member includes a limiting pin, which is used to limit the rotation of the second gear.

7. The anti-tangle device for robotic arm cables according to claim 1, characterized in that, The connecting plate includes a power component, which is fixedly connected to the inner cavity of the robotic arm. The driving end is connected to the connecting plate and is used to drive the connecting plate to rotate relative to the robotic arm. It also includes a tension sensor and a controller. The tension sensor is used to detect the tension on the cable and transmit it to the controller. The controller is used to control the power component according to the tension.

8. The anti-tangle device for robotic arm cables according to claim 1, characterized in that, It also includes a connecting ring, the outer ring of which is fixedly connected to the inner wall of the robotic arm, the connecting disk being concentrically arranged with the connecting ring and located within the connecting ring, and the end of the snap-fit ​​extending to the inner ring of the connecting ring to form the snap-fit ​​hole.

9. The anti-tangle device for robotic arm cables according to claim 8, characterized in that, The inner wall of the connecting ring is provided with an annular groove, and the end of the snap-fit ​​member is provided with a mating member. The mating member can be inserted into the groove and rotate relative to the groove. The snap-fit ​​member is covered with an insulating layer.

10. A robotic arm, characterized in that, include: The robotic arm cable anti-winding device and robotic arm body according to any one of claims 1-9, wherein a connecting platform is provided in the inner cavity of the robotic arm body, and the connecting platform is used to install the robotic arm cable anti-winding device.

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