CN103802135A

CN103802135A - Cable fixing device

Info

Publication number: CN103802135A
Application number: CN201210445422.0A
Authority: CN
Inventors: 温燕修; 陈雷; 张一博; 柴源; 李学威; 边弘晔
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2012-11-08
Filing date: 2012-11-08
Publication date: 2014-05-21

Abstract

The invention discloses a cable fixing device. A cable is fixed on a robot manipulator; the robot manipulator comprises a small arm and a manipulator four-shaft; the cable fixing device comprises a fixed cable clamp support, a rotary structure inner sleeve, a rotary structure outer sleeve, a movable cable clamp support, a movable cable clamp and a four-shaft movable cable clamp support; the fixed cable clamp support is mounted on the small arm; the rotary structure inner sleeve is fixedly clamped on the small arm; the rotary structure outer sleeve is mounted on the rotary structure inner sleeve; the movable cable clamp support is fixedly connected onto the rotary structure outer sleeve; the movable cable clamp and the movable cable clamp support are movably connected; the four-shaft movable cable clamp support is arranged on the manipulator four-shaft. According to the cable fixing device, on one hand, the tension and torsion at the tail end of a cable are reduced and the service life of the cable is prolonged; on the other hand, the cable is integrally fixed to prevent from colliding with peripheral environment.

Description

Cable fixer

Technical field

The present invention relates to a kind of cable fixer, relate in particular to a kind of cable fixer for robot mechanical arm.

Background technology

Robot mechanical arm cable fixing means of the prior art is to utilize the wire clamp support being arranged on robot mechanical arm to be fixed.In the time that four, five, six axles of robot mechanical arm move, cable ends is fixed in wire clamp support, and the remainder of cable moves along with the motion of four, five, six axles.

In prior art, the shortcoming one of robot mechanical arm cable fixing means is that cable ends is subject to pulling force and torsion largely in four, five, six axle motion processes of robot mechanical arm, thereby causes be affected the service life of cable; The 2nd, lack fixingly from wire clamp support to the cable robot mechanical arm five axial region positions, make this part cable easily and surrounding environment generation scratching, thereby affect the range of movement of robot mechanical arm.

Summary of the invention

The present invention is intended to solve above-mentioned problems of the prior art, proposes a kind of cable fixer, comprising: fixing clamper support, rotational structure inner sleeve, rotational structure overcoat, movable wire clamp support, movable wire clamp and the movable wire clamp support of four axles, wherein:

Described fixing clamper support is arranged on described forearm, for one end of fixing described cable; Described rotational structure inner sleeve fixed card is combined on described forearm; Described rotational structure overcoat is arranged in described rotational structure and puts, and can rotate around described rotational structure inner sleeve; Described movable wire clamp support is fixedly connected on described rotational structure and puts outward; Described movable wire clamp is flexibly connected with described movable wire clamp support, can rotate around the connecting portion of described movable wire clamp and described movable wire clamp support, and described cable is through described movable wire clamp; The movable wire clamp support of described four axle is arranged on described manipulator four axle places, is synchronized with the movement with described manipulator four axles, and described cable is through the movable wire clamp support of described four axle.

The cable fixer for robot mechanical arm that the present invention proposes, due at wire clamp support to having added cable fixed part between robot mechanical arm six axial region positions, the motion that simultaneously cable fixed part can random device people manipulator four, five, six axles and corresponding rotation occurs, pulling force and torsion that cable ends is subject to are reduced on the one hand, extend cable service life, fix on the other hand from wire clamp support to the cable robot mechanical arm six axial region positions, prevented cable and surrounding environment generation scratching.

Accompanying drawing explanation

Below in conjunction with accompanying drawing, the present invention is described in detail, wherein:

Fig. 1 is the cable fixer structure chart of one embodiment of the invention;

Fig. 2 is the cable fixer cutaway view of one embodiment of the invention;

Fig. 3 is the cable fixer side view of one embodiment of the invention.

The specific embodiment

Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, only for explaining the present invention, and can not be interpreted as limitation of the present invention.

In description of the invention, term " interior ", " outward ", " longitudinally ", " laterally ", " on ", orientation or the position relationship of the indication such as D score, " top ", " end " be based on orientation shown in the drawings or position relationship, be only the present invention for convenience of description rather than require the present invention with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.

Figure 1 shows that the cable fixer structure chart of one embodiment of the invention.

Robot mechanical arm shown in Fig. 1 comprises forearm 11 and manipulator four axles 14, and cable fixer of the present invention is for being fixed on described robot mechanical arm by described cable 1.

Described cable fixer comprises: fixing clamper support 2, rotational structure inner sleeve 4, rotational structure overcoat 3, movable wire clamp support 5, movable wire clamp 6 and the movable wire clamp support 9 of four axles.

In the present embodiment, described fixing clamper support 2 is arranged on described forearm 11, for one end of fixing described cable 1.

In the present embodiment, described rotational structure inner sleeve 4 is made up of two semicircle barrier parts, can be fastened on described forearm 11.Preferably, can adopt inner sleeve fixture 7 for the rotational structure inner sleeve 4 being fastened on described forearm is fixed, make described rotational structure inner sleeve 4 keep relative static conditions with described forearm 1.

Described rotational structure overcoat 3 is made up of two semicircle barrier parts.Described rotational structure overcoat 3 is arranged in described rotational structure inner sleeve 4, can rotate around described rotational structure inner sleeve 4;

Described movable wire clamp support 5 is fixedly connected on described rotational structure overcoat 3, is synchronized with the movement with described rotational structure overcoat 3.

Cable fixer cutaway view as shown in Figure 2, preferably, described bearing 8 is fixedly mounted on described movable wire clamp support 5, and described movable wire clamp 6 is flexibly connected with described bearing 8, can rotate around described bearing 8.Described cable 1 passes described movable wire clamp 6, and can in described movable wire clamp 6, rotate.

The movable wire clamp support 9 of four axles in Fig. 1 is arranged on described manipulator four axle 14 places.The movable wire clamp support 9 of described four axle is synchronized with the movement with described manipulator four axles, and described cable 1 is through the movable wire clamp support 9 of described four axle.

Figure 3 shows that described cable fixer side view.Described robot mechanical arm also comprises five axles 15 and six axles 16.

Described cable fixer also comprises that cable limits whirligig 10, and described cable limits whirligig 10 and is arranged on described manipulator five axle 15 places, is synchronized with the movement with described manipulator five axles 15, and described cable 1 limits whirligig 10 through described cable.

Introduced all parts and the interconnective relation thereof of the cable fixer of composition one embodiment of the invention above, during below to described robot mechanical arm motion described in the operation principle of cable fixer be described further.

As shown in Figure 1, described robot mechanical arm forearm 11 ends and described robot three shaft portions are fixed, and described cable 1 one end is first fixing by described fixing clamper support 2.This one end that described cable 1 is fixed on described fixing clamper support 2 is called stiff end, and described cable 1 cable that part is passed on the described movable wire clamp 6 on robot forearm 11, the movable wire clamp support 9 of four axles and robot five axles on robot four axles successively except stiff end limits whirligig 10.

In the prior art, arrive in this section of region of robot mechanical arm five axles 15 without rotatable cable limiting device at described fixing clamper support 2, therefore lack constraint for the cable in above-mentioned zone, make this part cable easily and surrounding environment generation scratching, affect on the one hand the motion of robot mechanical arm, reduced on the other hand the service life of described cable.

In the present invention, owing to having added movable wire clamp 6, the movable wire clamp support 9 of four axles and cable to limit whirligig 10 these fixtures at described fixing clamper support 2 in the region between described robot mechanical arm six axle 16 positions, make no matter how described robot mechanical arm moves, part outside described cable 1 contacts with above-mentioned fixture is unlikely to oversize, has effectively prevented described cable 1 and surrounding environment generation scratching.

In the time that described robot mechanical arm four axles 14 rotate, described robot forearm 11 keeps static, and the movable wire clamp support 9 of described four axle rotates with described robot mechanical arm four axles 14 and rotates.In the time that described robot mechanical arm four axles 14 rotate in a certain angular range, described cable 1 is followed the movable wire clamp support 9 of described four axle and is swung, and described movable wire clamp 6 is because the active force of cable 1 rotates around described bearing 8; When the rotation of described robot mechanical arm four axles 14 has exceeded above-mentioned angular range, when described movable wire clamp 6 rotates around described bearing 8, movable wire clamp 6 drives described rotational structure overcoat 3 to rotate around described rotational structure inner sleeve 4 by described movable wire clamp support 5.Than prior art, the setting that movable wire clamp 6, the movable wire clamp support 9 of four axles and cable limit whirligig 10 shared on described fixing clamper support 2 cable suffered pull power, extended the service life of described cable 1.

The cable fixer that the present invention proposes, by added movable wire clamp 6, the movable wire clamp support 9 of four axles, cable to limit the cable fixed parts such as whirligig 10 to region between robot mechanical arm six axle 16 positions at fixing clamper support 2, fix on the whole cable on the one hand, prevented cable and surrounding environment generation scratching; Cable fixed part has movably reduced pulling force and torsion that cable ends is subject on the other hand, has extended cable service life.

Although the present invention is described with reference to current preferred embodiments; but those skilled in the art will be understood that; above-mentioned preferred embodiments is only used for illustrating the present invention; not be used for limiting protection scope of the present invention; any within the spirit and principles in the present invention scope; any modification of doing, equivalent replacement, improvement etc., within all should being included in the scope of the present invention.

Claims

1. a cable fixer, for cable is fixed on to robot mechanical arm, wherein, described robot mechanical arm comprises forearm and manipulator four axles, described cable fixer comprises: fixing clamper support, rotational structure inner sleeve, rotational structure overcoat, movable wire clamp support, movable wire clamp and the movable wire clamp support of four axles, wherein:

Described fixing clamper support is arranged on described forearm, for one end of fixing described cable;

Described rotational structure inner sleeve fixed card is combined on described forearm;

Described rotational structure overcoat is arranged in described rotational structure and puts, and can rotate around described rotational structure inner sleeve;

Described movable wire clamp support is fixedly connected on described rotational structure and puts outward;

Described movable wire clamp is flexibly connected with described movable wire clamp support, and can rotate around the connecting portion of described movable wire clamp and described movable wire clamp support, and described cable is through described movable wire clamp;

The movable wire clamp support of described four axle is fixedly mounted on described manipulator four axle places, is synchronized with the movement with described manipulator four axles, and described cable is through the movable wire clamp support of described four axle.

2. cable fixer as claimed in claim 1, it is characterized in that, described robot mechanical arm also comprises manipulator five axles, described cable fixer also comprises that cable limits whirligig, described cable limits whirligig and is arranged on described manipulator five axle places, be synchronized with the movement with described manipulator five axles, wherein, described cable limits whirligig through described cable.

3. cable fixer as claimed in claim 1, is characterized in that, described cable can rotate in described movable wire clamp.

4. cable fixer as claimed in claim 1, is characterized in that, described rotational structure inner sleeve and described rotational structure overcoat form by two semicircle barrier parts.