CN105299142A - Robot cable drag chain - Google Patents
Robot cable drag chain Download PDFInfo
- Publication number
- CN105299142A CN105299142A CN201510867503.3A CN201510867503A CN105299142A CN 105299142 A CN105299142 A CN 105299142A CN 201510867503 A CN201510867503 A CN 201510867503A CN 105299142 A CN105299142 A CN 105299142A
- Authority
- CN
- China
- Prior art keywords
- joint
- hole
- described left
- drag chain
- chain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Pivots And Pivotal Connections (AREA)
Abstract
The invention discloses a robot cable drag chain. A left ring part, a left ring part, a right ring part and a right ring part of outer parts of adjacent two single chain knot sets form spherical fit, and inner parts of adjacent two single chain knot sets form spherical fit, so that adjacent two single chain knot sets relatively rotate by taking a length direction of the cable drag chain as an axis, and therefore, torsion of the robot cable drag chain is realized; the plurality of adjacent single chain knot sets are buckled and cascaded in an up-down pairwise mode to form the drag chain; after being split left and right, the plurality of cascaded single chain knot sets form a left chain knot cascaded set and a right chain knot cascaded set; meanwhile, adjacent two drag chains relatively swing in a plane parallel to the axis of the robot cable drag chain with respect to a center of sphere of a connecting base body, so that bending of the robot cable drag chain is realized; and a robot cable penetrates into an upper cable hole and a lower cable hole, so that the cable abrasion is reduced, the service life is prolonged, and requirements of high-freedom working environments for penetrating the robot cable and the like are met.
Description
Technical field
The present invention relates to a kind of drag chain, be specifically related to a kind of robot cable drag chain.
Background technique
The wiring of R&D and production enterprise of present robot is multifarious, pay attention to control system and MECHANISM PRECISION, often ignore the nerve of robot motion---the transmission of power and signal, after robot work certain hour, because cable directly penetrates robot arm, often there is misoperation in aging and well damage, cause very large loss, and its reason unexpectedly majority be that transmission fault causes.Also have and cable is penetrated in drag chain, again drag chain and robot arm are fixed, the program serves protective action really to cable, but due to adopt drag chain realize bidimensional action only, and the action of robot is three dimensions substantially, there is the nonsynchronous problem of the action of the action of cable and robot arm equally.
Summary of the invention
The object of this invention is to provide a kind of robot cable drag chain, the left circle portion of the outside of two adjacent chain links and left circle portion, right circle portion and right circle portion form mating spherical surfaces, the inside composition mating spherical surfaces of two adjacent chain links, to make between two adjacent chain links with the length direction of cable drag chain as axis relatively rotates, thus realize the torsion of cable drag chain, to connect centre of sphere opposing oscillatory in the plane of the axis being parallel with cable drag chain of matrix between two simultaneously adjacent drag chains, thus realize the bending of cable drag chain, and it is bending can be any direction, thus meet the multi-freedom degree needs of cable drag chain, to overcome prior art above shortcomings.
The object of the invention is to be achieved through the following technical solutions:
Robot cable drag chain, comprise the multiple single link set that the length direction along described cable drag chain is connected in series successively, wherein: multiple adjacent single link set interlocks between two to be up and down connected in series and is connected, form drag chain, left chain link serial connection group and right chain link serial connection group is set to after spliting about the single link set of multiple serial connection
Single link set described in each includes a left chain link, a right chain link is connected ball group with one, described connection ball group comprises spherical connection matrix, extend ball joint and the spacing preiection of described connection matrix, described left chain link comprises the left circle portion that left joint is fixedly connected with described left joint, described connection ball group is fixedly connected with described left joint by described ball joint, described left joint is being provided with and the described left inside sphere being connected matrix mating spherical surfaces away from the side that described ball joint is fixedly connected with, described right chain link comprises the right circle portion that right joint is fixedly connected with described right joint, described right joint is provided with and the described right inside sphere being connected matrix mating spherical surfaces,
Left chain link and the right chain link of single link set described in each all can split;
The inside composition mating spherical surfaces of two adjacent single link set, to make between two adjacent single link set with the length direction of described robot cable drag chain as axis relatively rotates, thus realize the torsion of robot cable drag chain, with the centre of sphere connecting matrix opposing oscillatory in the plane of the axis being parallel with robot cable drag chain between two simultaneously adjacent described drag chains, thus realize bending of robot cable drag chain;
Described left circle portion and described right circle portion are the loop being symmetricly set on the described connection matrix left and right sides, the inwall mating spherical surfaces of the outer wall of the upper end in described left circle portion and the lower end in described left circle portion, or, the outer wall mating spherical surfaces of the inwall of the upper end in described left circle portion and the lower end in described left circle portion;
Left auxiliary hole one, left auxiliary hole two and right auxiliary hole one that described left joint is identical with the length direction described right joint being respectively equipped with axial and described cable drag chain, right auxiliary hole two;
Preferably, described left joint fastens with described right joint and is connected;
Further, the buckling end of described left joint is provided with the left buckling part to the direction extending end away from described left circle portion, described left buckling part is provided with and fastens projection, the buckling end of described right joint is provided with the right buckling part that described left buckling part coordinates to retrain described left joint relative to the degrees of freedom of described right joint in the plane vertical with the length direction of described left joint, described right joint offers the fastening through hole with described fastening male cooperation, the end of described right joint is provided with chamfering, be beneficial to described right buckling part and described left buckling part cooperation.
Further, the inclined-plane that described fastening throws one's back out from described left circle portion is inserting surface, and the inclined-plane that described fastening projection points to described left circle portion is the face of extracting, and extracts the length in face described in the length of described inserting surface is greater than.
Preferably, the described left joint forming described left inside sphere is provided with left limit through hole towards the side in described left circle portion, the described right joint forming described right inside sphere is provided with right limit through hole towards the side in described right circle portion, described connection matrix towards described left joint side and be respectively equipped with the spacing preiection coordinated with described left limit through hole and described right limit via clearance towards the side of described right joint.
Preferably, the top forming the described left joint of described left inside sphere is provided with left yielding through hole, form the top of the right joint of described right sphere is provided with right yielding through hole, after described left chain link and described right chain link fasten, described left yielding through hole with between described ball joint, described right yielding through hole with all leave between described ball joint for described be connected that ball group rotates relative to described left chain link and described right chain link first make a concession space.
Further, the cross sectional area of described left joint is becoming large gradually from described left circle portion to the end of the described left joint forming described left sphere; The cross sectional area of described right joint is becoming large gradually from described right circle portion to the end of the described right joint forming described right sphere.
Further, described upper threading hole and described underpass hole are symmetricly set on both sides, the front and back sector space formed after described left joint and right joint fasten, before be upper threading hole, after be underpass hole.
Further, the shape of cross section of described upper threading hole is fan-shaped, and the shape of cross section of described left auxiliary hole two is circular; Correspondingly, the shape of cross section in described underpass hole is fan-shaped, and the shape of cross section of described right auxiliary hole two is circular.
Beneficial effect of the present invention is;
The left circle portion of the outside of two adjacent single link set and left circle portion, right circle portion and right circle portion form mating spherical surfaces, the inside composition mating spherical surfaces of two adjacent single link set, to make between adjacent single link set with the length direction of cable drag chain as axis relatively rotates, thus realize the torsion of cable drag chain, to connect centre of sphere opposing oscillatory in the plane of the axis being parallel with cable drag chain of matrix between two simultaneously adjacent drag chains, thus realize the bending of described cable drag chain, and it is bending can be any direction, thus meet the multi-freedom degree needs of described cable drag chain,
Robot cable is penetrated upper threading hole and underpass hole, decrease the wearing and tearing of robot cable, extend its working life; The convenient installation of adjacent link set, dismounting, left joint and right joint are conveniently installed, are dismantled, the convenient operation such as cable wiring manufacture, maintenance changing robot cable, the design can increase and decrease robot cable at any time when connecting up and put into quantity, and does not need to dismantle this product.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in below describing is only embodiments of the invention, for those of ordinary skills, under the prerequisite not paying creative work, other embodiment and accompanying drawing thereof can also be obtained according to these accompanying drawing illustrated embodiments.
(in each figure, same section label is consistent)
Fig. 1 is the stereochemical structure overall schematic of the design;
Fig. 2 is the left chain link serial connection group of the design and the perspective view of right chain link serial connection assembling and dismantling open state;
Fig. 3 is the perspective view at a visual angle of single link set in the design;
Fig. 4 is the perspective view at the another visual angle of single link set in the design;
Fig. 5 is the left chain link of single link set in the design and the structural representation of right chain link disassembled state;
Fig. 6 is the close-up schematic view of region Z in Fig. 5;
Fig. 7 is the perspective view at a visual angle of the left chain link of single link set in the design;
Fig. 8 is the perspective view at the another visual angle of the right chain link of single link set in the design;
In figure:
100. left chain link serial connection groups, 110. left circle portions, 111. left limit boss, 120. left joints, 121. left inside spheres, 122. left buckling parts,, 123. fasten projection, 1231. inserting surfaces, 1232. extract face, 124. left limit through holes, 125. left yielding through holes, 126. left auxiliary holes one, 127. left auxiliary holes two
200. right chain link serial connection groups, 210. right circle portions, 211. right limit boss, 220. right joints, 221. right inside spheres, 222. right buckling parts, 223. fasten through hole, 224. right limit through holes, 225. right yielding through holes, the right auxiliary hole two of 226. right auxiliary hole one, 227.,
300. connect ball group, and 310. connect matrix, 320. ball joints, 330. spacing preiections,
Threading hole on 400., 401. underpass holes.
Embodiment
Preferred implementation
As Figure 1-Figure 8, robot cable drag chain, comprises multiple link set that the length direction along described cable drag chain is connected in series successively, wherein: after spliting about described multiple link set, be set to left chain link serial connection group and right chain link serial connection group,
Each single link set includes a left chain link, a right chain link is connected ball group with one, connect ball group comprise spherical connection matrix and extend the ball joint and two, left and right spacing preiection that are connected matrix, left chain link comprises the left circle portion that left joint is fixedly connected with described left joint, described connection ball group is fixedly connected with described left joint by described ball joint, described left joint is being provided with and the described left inside sphere being connected matrix mating spherical surfaces away from the side that described ball joint is fixedly connected with, described right chain link comprises the right circle portion that right joint is fixedly connected with described right joint, described right joint is provided with and the described right inside sphere being connected matrix mating spherical surfaces,
Left joint is removably connected with described right joint, convenient installation;
Described left circle portion and described right circle portion are the loop being symmetricly set on the described connection matrix left and right sides, the inwall mating spherical surfaces of the outer wall of the upper end in described left circle portion and the lower end in described left circle portion, or, the outer wall mating spherical surfaces of the inwall of the upper end in described left circle portion and the lower end in described left circle portion;
Left auxiliary hole one, left auxiliary hole two and right auxiliary hole one that described left joint is identical with the length direction described right joint being respectively equipped with axial and described cable drag chain, right auxiliary hole two;
Formed before and after after left joint and right joint fasten fan-shaped on wear cable hole and underpass cable hole;
During serial connection, the left circle portion of the outside of two adjacent single link set and left limit boss, right circle portion and right limit boss form mating spherical surfaces, the inside composition mating spherical surfaces of two adjacent single link set, to make between two adjacent single link set with the length direction of described cable drag chain as axis relatively rotates, thus realize the torsion of cable drag chain, simultaneously, to connect centre of sphere opposing oscillatory in the plane of the axis being parallel with described cable drag chain of matrix between the drag chain of adjacent two single link set serial connections formation, thus realize the bending of described cable drag chain, and it is bending can be any direction, thus meet the multi-freedom degree needs of described cable drag chain.
Left joint and right joint fasten, and facilitate installing/dismounting, the Placement of fastening ensures that the connection of left chain link and right chain link is reliable.
The buckling end of left joint is provided with the left buckling part to the direction extending end away from described left circle portion, described left buckling part is provided with and fastens projection, the buckling end of described right joint is provided with the right buckling part that described left buckling part coordinates to retrain described left joint relative to the degrees of freedom of described right joint in the plane vertical with the length direction of described left joint, described right joint offers the fastening through hole with described fastening male cooperation, the end of described right joint is provided with chamfering, is beneficial to described right buckling part and described left buckling part cooperation.
By being fastened of left buckling part and right buckling part, with the degrees of freedom of both constraints in the plane vertical with the length direction of joint, by fasten projection with fasten through hole coordinate to retrain between left buckling part and right buckling part along fastens projection length direction move, thus, left chain link and right chain link is made to connect as one structure, the end of right buckling part arranges chamfering, is beneficial to the assembling of left buckling part and right buckling part.
Fastening the inclined-plane thrown one's back out from left circle portion is inserting surface, fastening the protruding inclined-plane pointing to left circle portion is the face of extracting, the length of described inserting surface is greater than the length in the face of extracting, when left buckling part coordinates with right buckling part, the angle of inserting surface is little, easy insertion, the two can be assembled by less power, when pulled, the length of extracting face is less than the length of inserting surface, accordingly, the angle of extracting between face and left buckling part is large, need just can extract by power when being greater than insertion, thus meet easily install while prevent misoperation or affect left joint by vibrations operating environment and right joint departs from, thus ensure normal operation of the present invention.
The left joint forming left inside sphere is provided with left limit through hole towards the side in left circle portion, the right joint forming right inside sphere is provided with right limit through hole towards the side in right circle portion, connects matrix towards the side of left joint be respectively equipped with the spacing preiection coordinated with left limit through hole and right limit via clearance towards the side of right joint.
Gap between spacing preiection and left limit through hole, gap between spacing preiection and right limit through hole form second and make a concession space, to provide the requisite space of spacing preiection with connecting when matrix rotates, when spacing preiection props up the wall forming left limit through hole and/or right limit through hole, connect matrix to stop operating, thus complete connecting the spacing of matrix, that is, by the bending restriction of described cable drag chain within the specific limits, described cable drag chain overbending is prevented.
When described cable drag chain overbending, spacing preiection is subject to being formed the extruding that the inwall extruding of left limit through hole or spacing preiection are subject to the inwall forming right limit projection, spacing preiection is by shearing stress, easily cut off, cut off to prevent spacing preiection, left limit boss and the right limit boss of ring-type are set in the intermediate portion (middle part of respective length direction) of the outer wall in left circle portion and right circle portion, when at least one that described cable drag chain bends to spacing preiection and left limit through hole and right limit through hole compresses, the bottom in adjacent left circle portion pushes against the upper limb of left limit boss, thus make with spacing preiection jointly stressed, preventing spacing preiection from being actuated next joint adjacent during plane of shear, product is passive curves, with the effect that this extends working life of the present invention and reaches limited curva.
The top forming the left joint of left inside sphere is provided with left yielding through hole, form the top of the right joint of right sphere is provided with right yielding through hole, after described left chain link and right chain link fasten, left yielding through hole with between ball joint, right yielding through hole first makes a concession space for what be connected that matrix phase rotates for left chain link and right chain link with all leaving between ball joint.Connect ball matrix phase adjacent left joint and right joint are rotated, improve freedom of movement of the present invention, meet the working environment needs of high-freedom degree.
The cross sectional area of left joint is becoming large gradually from left circle portion to the end of the left joint forming described left sphere; The cross sectional area of right joint is becoming large gradually from right circle portion to the end of the right joint forming right sphere.Left auxiliary hole one, left auxiliary hole two, right auxiliary hole one, right auxiliary hole two are the through hole by this setting, reduce the volume and weight of left joint and right joint, decrease the use of material, have saved manufacture cost.
Upper threading hole is symmetricly set on underpass hole the both sides being connected ball group, meets the needs of the threading cable respectively in the front and back of left joint and right joint.
The shape of cross section of upper threading hole is fan-shaped, and correspondingly, the shape of cross section in underpass hole is fan-shaped, all can penetrate cable or tracheae in upper threading hole and underpass hole, increases the cable number that the present invention can wear; Inner ball surface with holes is formed after left inside sphere and right inside sphere fasten; The junction plane of left inside sphere and right inside sphere is cutting vertically, left-right asymmetry; Junction plane has certain displacement in inner ball surface direction to the right; This setting can ensure that left chain link is when being combined through series connection without the one direction of more piece when right chain link, is not easy to disconnect.
These are only preferred embodiment of the present invention, do not limit practical range of the present invention, the change in the concept that the present invention discloses, modification, replacement, be all encompassed in the scope of the present invention.
Claims (9)
1. a robot cable drag chain, it is characterized in that, comprise the multiple single link set that the length direction along described cable drag chain is connected in series successively, wherein: multiple adjacent single link set interlocks between two to be up and down connected in series and is connected, form drag chain, left chain link serial connection group and right chain link serial connection group is set to after spliting about the single link set of multiple serial connection
Single link set described in each includes a left chain link, a right chain link is connected ball group with one, described connection ball group comprises spherical connection matrix, extend ball joint and the spacing preiection of described connection matrix, described left chain link comprises the left circle portion that left joint is fixedly connected with described left joint, described connection ball group is fixedly connected with described left joint by described ball joint, described left joint is being provided with and the described left inside sphere being connected matrix mating spherical surfaces away from the side that described ball joint is fixedly connected with, described right chain link comprises the right circle portion that right joint is fixedly connected with described right joint, described right joint is provided with and the described right inside sphere being connected matrix mating spherical surfaces,
Left chain link and the right chain link of single link set described in each all can split; The inside composition mating spherical surfaces of two adjacent single link set, with the centre of sphere connecting matrix opposing oscillatory in the plane of the axis being parallel with robot cable drag chain between two adjacent described drag chains;
Left auxiliary hole one, left auxiliary hole two and right auxiliary hole one that described left joint is identical with the length direction described right joint being respectively equipped with axial and described cable drag chain, right auxiliary hole two.
2. robot according to claim 1 cable drag chain, is characterized in that, described left joint fastens with described right joint and is connected.
3. robot according to claim 2 cable drag chain, it is characterized in that, the buckling end of described left joint is provided with the left buckling part to the direction extending end away from described left circle portion, described left buckling part is provided with and fastens projection, the buckling end of described right joint is provided with the right buckling part that described left buckling part coordinates to retrain described left joint relative to the degrees of freedom of described right joint in the plane vertical with the length direction of described left joint, described right joint offers the fastening through hole with described fastening male cooperation, the end of described right joint is provided with chamfering, be beneficial to described right buckling part and described left buckling part cooperation.
4. robot according to claim 3 cable drag chain, it is characterized in that, the inclined-plane that described fastening throws one's back out from described left circle portion is inserting surface, and the inclined-plane that described fastening projection points to described left circle portion is the face of extracting, and extracts the length in face described in the length of described inserting surface is greater than.
5. robot according to claim 1 cable drag chain, it is characterized in that, the described left joint forming described left inside sphere is provided with left limit through hole towards the side in described left circle portion, the described right joint forming described right inside sphere is provided with right limit through hole towards the side in described right circle portion, described connection matrix towards described left joint side and be respectively equipped with the spacing preiection coordinated with described left limit through hole and described right limit via clearance towards the side of described right joint.
6. robot according to claim 1 cable drag chain, it is characterized in that, the top forming the described left joint of described left inside sphere is provided with left yielding through hole, form the top of the right joint of described right sphere is provided with right yielding through hole, after described left chain link and described right chain link fasten, described left yielding through hole with between described ball joint, described right yielding through hole with all leave between described ball joint for described be connected that ball group rotates relative to described left chain link and described right chain link first make a concession space.
7. the robot cable drag chain according to any one of claim 1-6, is characterized in that, the cross sectional area of described left joint is becoming large gradually from described left circle portion to the end of the described left joint forming described left sphere; The cross sectional area of described right joint is becoming large gradually from described right circle portion to the end of the described right joint forming described right sphere.
8. robot according to claim 7 cable drag chain, it is characterized in that, described upper threading hole and described underpass hole are symmetricly set on both sides, the front and back sector space formed after described left joint and right joint fasten, before be upper threading hole, after be underpass hole.
9. robot according to claim 8 cable drag chain, it is characterized in that, the shape of cross section of described upper threading hole is fan-shaped, the shape of cross section of described left auxiliary hole two is circular, correspondingly, the shape of cross section in described underpass hole is fan-shaped, and the shape of cross section of described right auxiliary hole two is circular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510867503.3A CN105299142A (en) | 2015-11-21 | 2015-11-21 | Robot cable drag chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510867503.3A CN105299142A (en) | 2015-11-21 | 2015-11-21 | Robot cable drag chain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105299142A true CN105299142A (en) | 2016-02-03 |
Family
ID=55196762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510867503.3A Pending CN105299142A (en) | 2015-11-21 | 2015-11-21 | Robot cable drag chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105299142A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109154360A (en) * | 2016-05-12 | 2019-01-04 | 芬达尔托有限责任公司 | Radial type Energy Chain |
| TWI675158B (en) * | 2017-11-06 | 2019-10-21 | 日商國盛化學股份有限公司 | Cable protection device |
| CN110953300A (en) * | 2018-09-27 | 2020-04-03 | 周口师范学院 | Cable drag chain |
| CN112952727A (en) * | 2021-02-07 | 2021-06-11 | 中国科学院合肥物质科学研究院 | Large-capacity rotary drag chain |
| CN116111545A (en) * | 2023-03-29 | 2023-05-12 | 吉林省华域智能自动化有限公司 | Cable torsion fatigue eliminating mechanism of actuating mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012013496A1 (en) * | 2010-07-30 | 2012-02-02 | Kabelschlepp Gmbh | Line-routing device with a ball-cable connection |
| CN102449866A (en) * | 2009-04-16 | 2012-05-09 | Igus有限公司 | Cable guide |
| CN203130910U (en) * | 2013-04-11 | 2013-08-14 | 浙江金福隆机床附件有限公司 | Plastic drag chain |
| CN204186880U (en) * | 2014-09-28 | 2015-03-04 | 浙江金福隆机床附件有限公司 | Novel universal drag chain |
| CN205244246U (en) * | 2015-11-21 | 2016-05-18 | 绵阳伦奇机器人有限公司 | Robot cable tow chain |
-
2015
- 2015-11-21 CN CN201510867503.3A patent/CN105299142A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102449866A (en) * | 2009-04-16 | 2012-05-09 | Igus有限公司 | Cable guide |
| WO2012013496A1 (en) * | 2010-07-30 | 2012-02-02 | Kabelschlepp Gmbh | Line-routing device with a ball-cable connection |
| CN203130910U (en) * | 2013-04-11 | 2013-08-14 | 浙江金福隆机床附件有限公司 | Plastic drag chain |
| CN204186880U (en) * | 2014-09-28 | 2015-03-04 | 浙江金福隆机床附件有限公司 | Novel universal drag chain |
| CN205244246U (en) * | 2015-11-21 | 2016-05-18 | 绵阳伦奇机器人有限公司 | Robot cable tow chain |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109154360A (en) * | 2016-05-12 | 2019-01-04 | 芬达尔托有限责任公司 | Radial type Energy Chain |
| TWI675158B (en) * | 2017-11-06 | 2019-10-21 | 日商國盛化學股份有限公司 | Cable protection device |
| CN110953300A (en) * | 2018-09-27 | 2020-04-03 | 周口师范学院 | Cable drag chain |
| CN112952727A (en) * | 2021-02-07 | 2021-06-11 | 中国科学院合肥物质科学研究院 | Large-capacity rotary drag chain |
| CN116111545A (en) * | 2023-03-29 | 2023-05-12 | 吉林省华域智能自动化有限公司 | Cable torsion fatigue eliminating mechanism of actuating mechanism |
| CN116111545B (en) * | 2023-03-29 | 2023-06-13 | 吉林省华域智能自动化有限公司 | Cable torsion fatigue eliminating mechanism of actuating mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105299142A (en) | Robot cable drag chain | |
| CN105313141B (en) | A kind of robot cable drag chain | |
| CN205244246U (en) | Robot cable tow chain | |
| CN103362217B (en) | Pivoting support and use the steel structure node articulated structure of this bearing | |
| CN102213092A (en) | Coal mining machine for coal wall mining | |
| CN205063120U (en) | Three -dimensional swivel connected coupler is used to abnormal shape curtain | |
| CN210739117U (en) | Hinge point connecting mechanism | |
| CN110953300A (en) | Cable drag chain | |
| CN205595525U (en) | Movable secretly adorns terminal box | |
| CN105201113A (en) | Three-dimensional rotating connector for special-shaped curtain wall | |
| CN205012640U (en) | Connecting elements suitable for diversified installation of scaffold | |
| CN101114763A (en) | Prefabricated cable combined bank-pipe | |
| CN103363083B (en) | A kind of large-scale wind electricity gear-box planet carrier | |
| CN201420899Y (en) | Combined hook | |
| CN205503865U (en) | Robot tow chain | |
| CN205184811U (en) | Robot cable tow chain | |
| CN212202982U (en) | Plastic drag chain plate | |
| CN206947911U (en) | A kind of new submarine cable bending restrictor | |
| CN102705329B (en) | Hinge pin, hinge pin mounting structure and concrete pumping equipment | |
| CN207436274U (en) | Assembled architecture is without positioning metal connector | |
| CN202990907U (en) | Easily-disassembled blade drill rod | |
| CN201623990U (en) | Rice transplanter transmission power output shaft and rear transmission shaft connecting device | |
| CN204025313U (en) | A kind of cultivation box hinge | |
| CN203770527U (en) | Steel pintle chain with function of preventing rotation at joints | |
| CN103423379B (en) | Convex-ball-hinged type joint chain |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160203 |