CN112750568A - Cooperative robot system and external integrated cable thereof - Google Patents
Cooperative robot system and external integrated cable thereof Download PDFInfo
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- CN112750568A CN112750568A CN202011573769.4A CN202011573769A CN112750568A CN 112750568 A CN112750568 A CN 112750568A CN 202011573769 A CN202011573769 A CN 202011573769A CN 112750568 A CN112750568 A CN 112750568A
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- 239000010410 layer Substances 0.000 claims description 49
- 239000011241 protective layer Substances 0.000 claims description 16
- 230000007935 neutral effect Effects 0.000 claims description 8
- 229920000742 Cotton Polymers 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims 2
- 238000000576 coating method Methods 0.000 claims 2
- 238000009413 insulation Methods 0.000 claims 2
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 239000010985 leather Substances 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 239000011247 coating layer Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000004698 Polyethylene Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 229920001903 high density polyethylene Polymers 0.000 description 1
- 239000004700 high-density polyethylene Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B9/00—Power cables
- H01B9/003—Power cables including electrical control or communication wires
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B11/00—Communication cables or conductors
- H01B11/02—Cables with twisted pairs or quads
- H01B11/06—Cables with twisted pairs or quads with means for reducing effects of electromagnetic or electrostatic disturbances, e.g. screens
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B7/00—Insulated conductors or cables characterised by their form
- H01B7/17—Protection against damage caused by external factors, e.g. sheaths or armouring
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B9/00—Power cables
- H01B9/02—Power cables with screens or conductive layers, e.g. for avoiding large potential gradients
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an external integrated cable of a cooperative robot system, which is used for electrically connecting a robot body and a control cabinet. The invention is beneficial to simplifying the structure of the connecting cable between the robot body and the control cabinet and enhancing the anti-interference performance. In addition, the invention also discloses a cooperative robot system which comprises the external integrated cable.
Description
Technical Field
The invention relates to the technical field of cooperative robot systems, in particular to a cooperative robot system and an external integrated cable thereof.
Background
The existing cooperative robot system generally comprises a control cabinet and a robot body, the control cabinet is connected with the robot body through two cables to control movement and monitor movement, the two cables are respectively a power cable and an encoder cable, U, V, W three-phase wires and a contracting brake wire of each joint motor are arranged in the power cable, the encoder cable is provided with an encoder wire and a battery wire of each joint driving part, and the two cables enable the robot system to occupy more space and are not beneficial to being installed on a movable micro platform. Simultaneously, the inside cable of encoder cable of current cooperation robot system is thinner, leads to the encoder cable to split under the exogenic action very easily when water joint is not hard up.
Disclosure of Invention
The present invention is directed to a cooperative robot system and an external integrated cable thereof, so as to solve the technical problems of the background art.
In order to achieve the above object, the present invention provides an external integrated cable of a cooperative robot system, the external integrated cable being used for electrically connecting a robot body and a control cabinet, the external integrated cable comprising a body including an outer shielding skin and a first communication line, a first power line and a first filling medium located in the outer shielding skin, the first communication line including an inner shielding skin and a first receiving line, a first transmitting line and a second filling medium located in the inner shielding skin.
The two ends of the body are provided with first connecting heads, and each first connecting head is provided with a power interface connected with the first power line and a communication interface connected with the first communication line.
The inner shielding skin comprises a first protective layer, a first shielding layer and a first wrapping layer which are arranged from outside to inside, and two ends of the first shielding layer are wrapped on the shell of the communication interface.
The first power lines are divided into two groups, and each group of the first power lines comprises a first live line and a first zero line.
The first live wire and the first zero wire respectively comprise a first lead and a first insulating layer coated on the first lead.
The first receiving wire and the first transmitting wire respectively comprise a coating layer and two wire bodies positioned in the coating layer, and the two wire bodies are arranged in a twisted pair state.
The wire body comprises a second lead and a second insulating layer coated on the second lead.
Wherein the external integrated cable further comprises a reserve wire positioned within the outer shield sheath, the reserve wire comprising an inner sheath and a second receive wire, a second transmit wire, and a third fill medium positioned within the inner sheath.
The second receiving line and the second transmitting line respectively comprise a third conducting wire and a third insulating layer coated on the third conducting wire.
Wherein the inner skin comprises a second protective layer and a second wrapping layer arranged from outside to inside.
Wherein the first filling medium is cotton thread or tissue paper.
The outer shielding leather comprises a third protective layer, a second shielding layer and a third wrapping layer which are arranged from outside to inside.
The invention further provides a cooperative robot system, which comprises a robot body, a control cabinet and the external integrated cable, wherein the robot body is provided with an encoder board, a power board and a first control board, the control cabinet is internally provided with a second control board, a safety board and an energy feedback board, the external integrated cable is electrically connected with the robot body and the control cabinet respectively, the external integrated cable comprises a body and first connecting heads positioned at two ends of the body, the body comprises an external shielding skin, and a first communication line, a first power line and a first filling medium which are positioned in the external shielding skin, the first connecting heads are heavy-load connecting heads, and the heavy-load connecting heads are provided with a power module connected with the first power line and a communication interface connected with the first communication line.
The robot body further comprises an internal integrated cable connected with each joint driving component, the internal integrated cable comprises a fourth protective layer and is located a second power line and a second communication line in the fourth protective layer, the second power line comprises two second live wires and a second zero line, the two ends of the second live wire and the second zero line are respectively provided with a second connector, and the two ends of the second communication line are respectively provided with a third connector.
The internal integrated cable further comprises a conductive layer coated on the second communication line, and fourth connectors are arranged at two ends of the conductive layer.
Wherein, the second communication line is super gentle single core line.
According to the external integrated cable of the cooperative robot system, provided by the embodiment of the invention, only one first communication wire and one first power wire are arranged, so that the structure of the external integrated cable is simplified, and the space occupied by the external integrated cable is favorably reduced. Meanwhile, the outer shielding skin and the inner shielding skin are respectively arranged, so that the anti-interference performance is favorably enhanced.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of an externally integrated cable of a cooperative robotic system of the present invention;
FIG. 2 is a cross-sectional structural view of the body shown in FIG. 1;
FIG. 3 is a schematic diagram of the first firing line shown in FIG. 2;
FIG. 4 is a schematic diagram of the first receiving line shown in FIG. 2;
figure 5 is a schematic structural view of the wire body shown in figure 4;
FIG. 6 is a schematic structural diagram of another embodiment of an externally integrated cable of the cooperative robotic system of the present invention;
FIG. 7 is a schematic diagram of the structure of the second receive line shown in FIG. 6;
FIG. 8 is a schematic structural diagram of a collaborative robotic system according to the present invention;
fig. 9 is a schematic structural view of an internal integrated cable of the robot body shown in fig. 8.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
The invention provides an external integrated cable of a cooperative robot system, which is used for electrically connecting a robot body and a control cabinet, as shown in fig. 1 and fig. 2, the external integrated cable comprises a body 1000, the body 1000 comprises an outer shielding skin 1100, and a first communication wire 1200, a first power wire 1300 and a first filling medium 1400 which are positioned in the outer shielding skin 1100, and the first communication wire 1200 comprises an inner shielding skin 1210, and a first receiving wire 1220, a first transmitting wire 1230 and a second filling medium 1240 which are positioned in the inner shielding skin 1210.
In this embodiment, because the circuit board that is used for controlling joint drive part in with the switch board moves to inside the robot body, simplified the cable kind between switch board and the robot body, and use EtherCAT communication protocol or CAN communication protocol to communicate simultaneously, then only need between switch board and the robot body one or two standard net twines and a power line CAN, simplified the structure of outside integrated cable greatly.
Specifically, the body 1000 is a cable with a predetermined length, and the body 1000 includes an outer shielding sheath 1100, and a first communication wire 1200, a first power wire 1300 and a first filling medium 1400 which are located in the outer shielding sheath 1100. The first communication line 1200 may be an existing network line, the first power line 1300 may be a cable with two-phase voltage, and the first filling medium 1400 may fill a cavity portion of the outer shielding sheath 1100, so as to facilitate the body 1000 to be circular, and the first filling medium 1400 may be an existing cotton line or tissue paper.
Meanwhile, it is preferable that the first communication wire 1200 includes an inner shield sheath 1210, and a first receiving wire 1220, a first transmitting wire 1230 and a second filling medium 1240 which are positioned in the inner shield sheath 1210. The first receiving line 1220 and the first transmitting line 1230 may be implemented by using the existing mesh structure, and the second filling medium fills the cavity portion inside the inner shield 1210.
In this embodiment, only one first communication line 1200 and one first power line 1300 are provided, so that the structure of the external integrated cable is simplified, and the space occupied by the external integrated cable is reduced. Meanwhile, the outer shielding leather 1100 and the inner shielding leather 1210 are respectively arranged, so that the anti-interference performance is favorably enhanced.
In a preferred embodiment, as shown in fig. 1, it is preferable that the first connection heads 2000 are disposed at both ends of the main body 1000, the first connection heads 2000 are preferably heavy-duty connection heads, and the heavy-duty connection heads have power interfaces 2100 and communication module interfaces 2200 thereon, and the specific form may be that single cores in the first communication lines 1200 are respectively connected with single interfaces in the communication interfaces 2200 in a one-to-one correspondence manner, and single cores in the first power lines 1300 are respectively connected with single interfaces in the power interfaces 2100 in a one-to-one correspondence manner. In this embodiment, the two ends of the first communication line 1200 and the first power line 1300 are integrated on a heavy-duty connector respectively, so that the control cabinet and the robot body can be conveniently plugged, and the phenomenon that the cable is broken due to looseness of the plug can be avoided.
In a preferred embodiment, as shown in fig. 2, the inner shielding sheath 1210 includes a first protective layer 1211, a first shielding layer 1212 and a first wrapping layer 1213 arranged from outside to inside, and both ends of the first shielding layer 1212 are wrapped on the housing of the communication interface 2200. The first wrapping layer 1213 may be AL or PET, the first shielding layer 1212 may be formed by grouping tinned annealed copper wires, and the first protection layer 1211 may be made of PVC. In this embodiment, the first shielding layer 1212 is wrapped on the housing of the communication interface 2200 (such as an RJ45 connector), so that electromagnetic interference at the heavy-duty connector is solved, and meanwhile, interference at other positions is effectively guided back to the ground end of the control cabinet through the RJ45 connector, thereby improving the anti-interference capability of the cooperative robot system.
In a preferred embodiment, as shown in fig. 2, the first power lines 1300 are preferably two sets, each set of the first power lines 1300 includes a first live line 1310 and a first neutral line 1320, and two sets of power lines are provided, so that the two sets of power lines connected in parallel can be used for shunting, which is beneficial to prolonging the service life of the power lines. At this time, two first live wires 1310 and two first neutral wires 1320 are sequentially arranged adjacently in the circumferential direction of the first communication wire 1200.
In a preferred embodiment, as shown in fig. 3, the first live wire 1310 and the first neutral wire 1320 are preferably identical in structure, and the first live wire 1310 is specifically described herein, and the first live wire 1310 includes a first conductive wire 1311 and a first insulating layer 1312 coated on the first conductive wire 1311. The first conductive wire 1311 is preferably 18AWG, and the first insulating layer 1312 is preferably made of a heat-resistant PVC material.
In a preferred embodiment, as shown in fig. 4, the first receiving line 1220 and the first transmitting line 1230 have the same structure, and the first receiving line 1220 is specifically described as the first receiving line 1220, the first receiving line 1220 includes a covering layer 1222 and two wire bodies 1221 located inside the covering layer 1222, and the two wire bodies 1221 are arranged in a twisted pair state. In this case, the second filling medium 1240 may be made of cotton thread or tissue paper, and the covering layer 1222 may be made of PCV material.
In a preferred embodiment, as shown in fig. 5, the wire body 1221 includes a second conductive wire 1223 and a second insulating layer 1224 covering the second conductive wire 1223. The wire 1221 is 22AWG, and the second insulating layer 1224 is made of HDPE.
In a preferred embodiment, as shown in fig. 6, the external integrated cable preferably further comprises a spare wire 1500 positioned within the outer shielding sheath 1100, the spare wire 1500 comprising an inner sheath 1510 and a second receiving wire 1520, a second transmitting wire 1530 and a third filling medium 1540 positioned within the inner sheath 1510. The spare wire 1500 may be used for a user-defined port, that is, a general I/O board is disposed in the control cabinet, the spare wire 1500 is electrically connected to the general I/O board in the control cabinet and a control board in the robot body, and the third filling medium 1540 may be made of an existing cotton thread or tissue paper. At this time, the heavy-duty connector should further have an interface for connecting the spare wire 1500, and the specific form may be arranged with reference to the first communication wire 1200. At this time, the external integrated cable may be arranged in a manner that the first communication line 1200 and the spare line 1500 are arranged at the middle position of the outer shielding sheath 1100 in an up-down state, and the first live line 1310 and the first neutral line 1320 are arranged at two sides of the first communication line 1200 and the spare line 1500, respectively, in an opposite manner.
As shown in fig. 7, the second receiving line 1520 and the second transmitting line 1530 have the same structure, and here, the second receiving line 1520 is taken as an example for description, and the second receiving line 1520 includes a third conductive wire 1521 and a third insulating layer 1522 coated on the third conductive wire 1521. The specification of the third conductive wire 1521 is preferably 24AWG, and the third insulating layer 1522 is a foamed PE material. At this time, the gauge of the second wire 1223 in the wire body 1221 is preferably 26 AWG.
In a preferred embodiment, as shown in FIG. 6, the inner skin 1510 preferably comprises a second protective layer 1511 and a second wrapping layer 1512 disposed from the outside to the inside. The second wrapping band layer 1512 is made of AL or PET, and the second protection layer 1511 is made of PVC.
In a preferred embodiment, as shown in fig. 2, the outer shielding sheath 1100 preferably includes a third protective layer 1110, a second shielding layer 1120, and a third wrapping layer 1130 disposed from the outside to the inside. Among them, AL or PET is preferably used as the third tape layer 1130, a tin-plated annealed copper wire is preferably used as the second shield layer 1120, and a heat-resistant flexible PVC material is preferably used as the third protective layer 1110.
The present invention further provides a cooperative robot system, as shown in fig. 8, the cooperative robot system includes a robot body 1, a control cabinet 2 and an external integrated cable 3 in the above embodiment, the robot body 1 has an encoder board, a power board and a first control board, the control cabinet 2 has a second control board, a safety board and an energy feedback board therein, the external integrated cable 3 is electrically connected to the robot body 1 and the control cabinet 2, respectively, the specific structure of the external integrated cable 3 refers to the above embodiment, and the cooperative robot system adopts all technical solutions of all the above embodiments, so that the cooperative robot system at least has all the beneficial effects brought by the technical solutions of the above embodiments, and no further description is given here. At this time, a power module on a first connecting head of the external integrated cable 3 connected with the robot body 1 is electrically connected with the power board, and a communication interface is electrically connected with the first control board; the power module on the first connector that external integration cable 3 and switch board 2 are connected is connected with presenting the ability board electricity and being connected, and communication interface is connected with the second control panel electricity. Meanwhile, the first control board is electrically connected with the encoder board, the second control board is electrically connected with the general I/O board, and the general I/O board is electrically connected with the mounting board.
In this embodiment, because the drive plates and the control panels of the joints of the original robot body 1 in the control cabinet 2 are moved into the robot body 1, the size of the control cabinet 2 is greatly reduced.
In a preferred embodiment, as shown in fig. 9, preferably, the robot body 1 further includes an internal integrated cable 4 for connecting each joint driving component, the internal integrated cable 4 includes a fourth protective layer 401, and a second power line 402 and a second communication line 403 which are located in the fourth protective layer 401, the second power line 402 includes two second live wires 4021 and two second neutral wires 4022, and both ends of the second live wires 4021 and the second neutral wires 4022 are provided with second connectors 4023, and both ends of the second communication line 403 are provided with third connectors 4031. Preferably, the fourth protection layer 401 is made of a heat shrinkable tube, the second live wire 4021 and the second zero wire 4022 are arranged with reference to the first live wire and the first zero wire, the second communication wire 403 is arranged with reference to the first communication wire, the second connector 4023 is a plug terminal, and the third connector 4031 is a crystal head. At this time, it is preferable that the second communication wire 403 is an ultra-flexible single wire, thereby contributing to increase in the service life of the inter-integrated cable 4.
In a preferred embodiment, as shown in fig. 9, the inter-integrated cable 4 further includes a conductive layer 404 covering the second communication line 403, and both ends of the conductive layer 404 are provided with fourth connectors 4041. Preferably, the conductive layer 404 is made of conductive cloth, and the fourth connector 4041 may be a plug terminal or a socket terminal.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.
Claims (16)
1. An external integrated cable of a cooperative robotic system for electrically connecting a robot body and a control cabinet, the external integrated cable comprising a body including an outer shielding skin and a first communication line, a first power line and a first filling medium located within the outer shielding skin, the first communication line comprising an inner shielding skin and a first receiving line, a first transmitting line and a second filling medium located within the inner shielding skin.
2. The externally integrated cable of claim 1, wherein a first connector is disposed at each end of the body, the first connector having a power interface connected to the first power line and a communication interface connected to the first communication line.
3. The external integrated cable of claim 2, wherein the inner shielding sheath comprises a first protective layer, a first shielding layer and a first wrapping layer arranged from outside to inside, and both ends of the first shielding layer are wrapped on the outer shell of the communication interface.
4. The externally integrated cable of claim 1, wherein the first power lines are in two groups, each group of the first power lines comprising a first live line and a first neutral line.
5. The externally integrated cable of claim 4, wherein the first hot and neutral wires each comprise a first wire and a first insulating layer coated over the first wire.
6. The external integrated cable of claim 1, wherein the first receiving wire and the first transmitting wire each comprise a coating and two wire bodies within the coating, and the two wire bodies are arranged in a twisted pair.
7. The external integrated cable of claim 6, wherein the wire body comprises a second wire and a second insulation layer covering the second wire.
8. The externally integrated cable of claim 1, further comprising a reserve wire positioned within the outer shield sheath, the reserve wire including an inner sheath and a second receive wire, a second transmit wire, and a third fill medium positioned within the inner sheath.
9. The external integrated cable of claim 8, wherein the second receive line and the second transmit line each comprise a third conductive wire and a third insulation layer coated over the third conductive wire.
10. The external integrated cable of claim 8, wherein the inner skin comprises a second protective layer and a second wrapping layer arranged from outside to inside.
11. The externally integrated cable of claim 1, wherein the first filling medium is cotton thread or tissue paper.
12. The externally integrated cable of claim 1, wherein the outer shielding sheath comprises a third protective layer, a second shielding layer, and a third tape layer arranged from outside to inside.
13. A cooperative robotic system comprising a robot body having thereon an encoder board, a power board and a first control board, a control cabinet having therein a second control board, a safety board and an energy feed board, and an external integrated cable as claimed in any one of claims 1 to 12, the external integrated cable being electrically connected to the robot body and the control cabinet, respectively.
14. The cooperative robotic system as claimed in claim 13, wherein the robot body further comprises an internal integrated cable connecting each joint driving component, the internal integrated cable comprises a fourth protective layer and a second power line and a second communication line in the fourth protective layer, the second power line comprises two second live wires and two second zero lines, the two ends of the second live wire and the two ends of the second zero line are both provided with second connectors, and the two ends of the second communication line are both provided with third connectors.
15. The cooperative robotic system as claimed in claim 14, wherein the inter-integrated cable further comprises a conductive layer coated on the second communication line, and both ends of the conductive layer are provided with fourth connectors.
16. The collaborative robotic system of claim 15, wherein the second communication line is a super-flexible single-core line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011573769.4A CN112750568A (en) | 2020-12-25 | 2020-12-25 | Cooperative robot system and external integrated cable thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011573769.4A CN112750568A (en) | 2020-12-25 | 2020-12-25 | Cooperative robot system and external integrated cable thereof |
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| CN112750568A true CN112750568A (en) | 2021-05-04 |
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| CN202011573769.4A Pending CN112750568A (en) | 2020-12-25 | 2020-12-25 | Cooperative robot system and external integrated cable thereof |
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| CN212031966U (en) * | 2020-03-27 | 2020-11-27 | 广东拓斯达科技股份有限公司 | Driving and controlling integrated control device for four-axis robot |
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Application publication date: 20210504 |