CN106737866A - A kind of cable restraint device suitable for robotic actuator - Google Patents
A kind of cable restraint device suitable for robotic actuator Download PDFInfo
- Publication number
- CN106737866A CN106737866A CN201710018692.6A CN201710018692A CN106737866A CN 106737866 A CN106737866 A CN 106737866A CN 201710018692 A CN201710018692 A CN 201710018692A CN 106737866 A CN106737866 A CN 106737866A
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- China
- Prior art keywords
- ring
- cable
- semi
- fixed seat
- groove
- 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.)
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Classifications
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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
Abstract
The invention provides a kind of cable restraint device suitable for robotic actuator, including：Upper semi-ring；Lower semi-ring, upper semi-ring is identical with the radius of lower semi-ring, and upper semi-ring is spliced into complete annulus with lower semi-ring, and lower semi-ring is fixedly connected with the two ends of upper semi-ring；Cable fixed seat, the cable fixed seat is arc structure, some axially arranged circular arc fixed seat grooves are provided with the inwall of cable fixed seat, some upper half ring grooves corresponding with fixed seat groove are provided with the outer wall of upper semi-ring, fixed seat groove is spliced into the cable hole for fixed cable with upper half ring groove, and the cable fixed seat is affixed with upper semi-ring.While the invention makes cable and robot keep closer distance, it is to avoid the problems such as during use because interfering caused by cable attitude.
Description
Technical field
The invention belongs to layout techniques field, more particularly, to a kind of cable constraint suitable for robotic actuator
Device.
Background technology
At present in addition to spray robot, most of industrial robot installs cable method using outside, is especially installing
, it is necessary in robot forearm upper fixed line cable when needing the end effector of connection cables.Generally, in robot forearm
It is upper that cable support is installed to fix bellows, cable is entangled using bellows, but this kind of method is needed in fixed seat to actuator
Between reserve cable more long and the end effector is carried out spinning movement by a relatively large margin, and cable location state can not
Control, when the end effector anglec of rotation is smaller or in non-rotation status, cable can not be wrapped on forearm, but with
Robot pose is arbitrarily hung on forearm, sagging more, if cable material is harder, can indefinite direction and attitude to overhanging
Go out, easily cause and interfere in motion process, the problems such as touching workpiece surface.
The content of the invention
In view of this, the invention is directed to a kind of cable restraint device suitable for robotic actuator, to solve
The certainly routing problem of cable.
To reach above-mentioned purpose, what the technical scheme of the invention was realized in：
A kind of cable restraint device suitable for robotic actuator, it is characterised in that including：
Upper semi-ring；Lower semi-ring, upper semi-ring is identical with the radius of lower semi-ring, and upper semi-ring is spliced into complete circle with lower semi-ring
Ring, lower semi-ring is fixedly connected with the two ends of upper semi-ring；Cable fixed seat, the cable fixed seat is arc structure, and cable is fixed
Some axially arranged circular arc fixed seat grooves are provided with the inwall of seat, are provided with the outer wall of upper semi-ring some and fixed
The corresponding upper half ring groove of seat groove, fixed seat groove is spliced into the cable hole for fixed cable with upper half ring groove, described
Cable fixed seat is affixed with upper semi-ring.
Further, the lower semi-ring is respectively semi-circular shape structure with upper semi-ring.
Further, the lower semi-ring is bolted to connection respectively with the two ends of upper semi-ring, near the lower half at two ends
The counterbore for accommodating bolt head of indent is respectively arranged with the lateral wall of ring, the two ends of lower semi-ring are respectively arranged with simultaneously
Through the two ends of lower semi-ring and the lower semi-ring through hole of counterbore, the end of the upper semi-ring relative with lower semi-ring is respectively arranged with and lower half
The corresponding screwed hole of ring through hole, the key of bolt is stretched into inside screwed hole after sequentially passing through counterbore, lower semi-ring through hole.
Further, upper semi-ring and lower half ring group into complete annulus internal diameter slightly larger than for installing cable constraint dress
The external diameter of the robotic actuator put.
Further, the two ends of the cable fixed seat are bolted to connection with upper semi-ring respectively.
Further, the quantity of the fixed seat groove and upper half ring groove is respectively five, fixed seat groove and upper half
Ring groove is uniformly equally spaced respectively.
Relative to prior art, a kind of cable restraint device tool suitable for robotic actuator described in the invention
There is following advantage：
(1) while the invention makes cable keep closer distance with robot, it is to avoid because of cable appearance during use
The problems such as interfering caused by state；
(2) the invention simple structure, it is easy to use, improve the safety of production and the quality of product.
Brief description of the drawings
The accompanying drawing for constituting the part of the invention is used for providing further understanding the invention, present invention wound
The schematic description and description made does not constitute the improper restriction to the invention for explaining the invention.
In accompanying drawing：
Fig. 1 is the dimensional structure diagram of the invention embodiment；
Fig. 2 is the front view of the invention embodiment；
Fig. 3 is the service condition stereogram of the invention embodiment.
Description of reference numerals：
The upper semi-rings of 1-；11- upper half ring grooves；Semi-ring under 2-；21- counterbores；3- cable fixed seats；31- fixed seat grooves.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the invention can
To be mutually combined.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the invention and simplifies description, rather than instruction
Or imply that the device or element of meaning with specific orientation, with specific azimuth configuration and operation, therefore must not be understood that
It is the limitation to the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In the description of the invention, unless separately
It is described, " multiple " is meant that two or more.
, it is necessary to explanation, unless otherwise clearly defined and limited, term " is pacified in the description of the invention
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
Can be two connections of element internal.For the ordinary skill in the art, can be by concrete condition understanding
State concrete meaning of the term in the invention.
Describe the invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1 to Figure 3, a kind of cable restraint device suitable for robotic actuator, including：Upper semi-ring 1, lower half
Ring 2 and cable fixed seat 3.Upper semi-ring 1 is semicircle circular ring structure.Lower semi-ring 2 is also semicircle circular ring structure, upper semi-ring 1 with
The radius of lower semi-ring 2 is identical, and thickness is identical.Upper semi-ring 1 is spliced into complete annulus with lower semi-ring 2.Cable fixed seat 3 is circular arc
Structure, the arc length of the arc length less than upper semi-ring 1 of cable fixed seat 3.It is provided with the inwall of cable fixed seat 3 some
Axially arranged circular arc fixed seat groove 31, be provided with the outer wall of upper semi-ring 1 it is some it is corresponding with fixed seat groove 31 on
Half ring groove 11, fixed seat groove 31 is spliced into the cable hole for fixed cable with upper half ring groove 11.Cable fixed seat 3
Two ends are bolted to connection with upper semi-ring 1 respectively, and bolt is dormant bolt.Lower semi-ring 2 leads to respectively with the two ends of upper semi-ring 1
Bolt is crossed to be fixedly connected, near two ends lower semi-ring 2 lateral wall on be respectively arranged with indent for accommodating bolt head
Counterbore 21, the two ends of lower semi-ring 2 are respectively arranged with lower semi-ring through hole simultaneously through the two ends of lower semi-ring 2 and counterbore 21, with
The end of the relative upper semi-ring 1 of semi-ring 2 is respectively arranged with screwed hole corresponding with lower semi-ring through hole, and the key of bolt is sequentially passed through
Stretched into inside screwed hole after counterbore 21, lower semi-ring through hole.Fixed seat groove 31 is respectively five with the quantity of upper half ring groove 11,
Fixed seat groove 31 and upper half ring groove 11 are uniformly equally spaced respectively.
As shown in figure 3, the internal diameter of complete annulus that upper semi-ring 1 is constituted with lower semi-ring 2 is slightly larger than for installing cable about
The external diameter of the robotic actuator of bundle device.So cable restraint device can be rotated on cylindrical actuator.
Uniform machinery human arm or actuator can optionally use multigroup this cable restraint device, by end effector
Cable fix after, end effector rotate when, cable can drive cable restraint device to rotate or move on robot arm
It is dynamic.And cable fix positional distance robot arm axle center be relatively fixed, so cable do not deviate by it is far, while avoiding
Wire rod abrasion.When the end effector not anglec of rotation, cable constrains in robot arm by each group cable restraint device
Around, free length of cable is shorter, robot motion's interference situation is reduced to minimum.End effector rotates to maximum angle
When, multigroup slip ring is rotated can be made cable rule and uniformly be wrapped on robot arm, then reach wiring lengths most short.
The slip ring of the invention provides a kind of device that cable state is constrained with end effector attitude, by cable
Robot arm peripheral location is constrained in, is made cable sagging or outreach is reduced, reduced robot and produced because cable is more long
Raw movement interference or the phenomenon on cable collision other parts surface, production safety and product quality have certain guarantee.
The invention is equally applicable to cylindric part outside to be needed to arrange the structure of pipeline, without individually increasing cable
Guide elements, part is directly made required size as required, the quantity of cable hole, set are arranged according to number of lines
Enter cylindric part and be capable of achieving simple cable arrangement.
The preferred embodiment of the invention is the foregoing is only, creation is not intended to limit the invention, it is all at this
Within the spirit and principle of innovation and creation, any modification, equivalent substitution and improvements made etc. should be included in the invention
Protection domain within.
Claims (6)
1. a kind of cable restraint device suitable for robotic actuator, it is characterised in that including：
Upper semi-ring (1)；
Lower semi-ring (2), upper semi-ring (1) is identical with the radius of lower semi-ring (2), and upper semi-ring (1) is spliced into complete with lower semi-ring (2)
Annulus, lower semi-ring (2) is fixedly connected with the two ends of upper semi-ring (1)；
Cable fixed seat (3), the cable fixed seat (3) is arc structure, is provided with the inwall of cable fixed seat (3) some
Axially arranged circular arc fixed seat groove (31), it is some right with fixed seat groove (31) to be provided with the outer wall of upper semi-ring (1)
The upper half ring groove (11) answered, fixed seat groove (31) is spliced into the cable hole for fixed cable with upper half ring groove (11),
The cable fixed seat (3) is affixed with upper semi-ring (1).
2. the cable restraint device suitable for robotic actuator according to claim 1, it is characterised in that：The lower half
Ring (2) is bolted to connection respectively with the two ends of upper semi-ring (1), on the lateral wall of the lower semi-ring (2) at two ends respectively
The counterbore (21) for accommodating bolt head of indent is provided with, the two ends of lower semi-ring (2) are respectively arranged with simultaneously through lower half
The two ends of ring (2) and the lower semi-ring through hole of counterbore (21), the end of the upper semi-ring (1) relative with lower semi-ring (2) is respectively arranged with
Screwed hole corresponding with lower semi-ring through hole, the key of bolt is stretched into screwed hole after sequentially passing through counterbore (21), lower semi-ring through hole
Portion.
3. the cable restraint device suitable for robotic actuator according to claim 1, it is characterised in that：The lower half
Ring (2) is respectively semi-circular shape structure with upper semi-ring (1).
4. the cable restraint device suitable for robotic actuator according to claim 1, it is characterised in that：Upper semi-ring
(1) internal diameter of the complete annulus constituted with lower semi-ring (2) is slightly larger than the robotic actuator for installing cable restraint device
External diameter.
5. the cable restraint device suitable for robotic actuator according to claim 1, it is characterised in that：The cable
The two ends of fixed seat (3) are bolted to connection with upper semi-ring (1) respectively.
6. the cable restraint device suitable for robotic actuator according to claim 1, it is characterised in that：The fixation
Seat groove (31) is respectively five with the quantity of upper half ring groove (11), and fixed seat groove (31) and upper half ring groove (11) are respectively
Uniformly it is equally spaced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018692.6A CN106737866A (en) | 2017-01-10 | 2017-01-10 | A kind of cable restraint device suitable for robotic actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018692.6A CN106737866A (en) | 2017-01-10 | 2017-01-10 | A kind of cable restraint device suitable for robotic actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737866A true CN106737866A (en) | 2017-05-31 |
Family
ID=58949272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710018692.6A Pending CN106737866A (en) | 2017-01-10 | 2017-01-10 | A kind of cable restraint device suitable for robotic actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737866A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160433A (en) * | 2017-06-05 | 2017-09-15 | 上海发那科机器人有限公司 | A kind of line protecting apparatus |
| CN108870276A (en) * | 2018-09-11 | 2018-11-23 | 台山鸿隆光电科技有限公司 | A kind of LED light and its control method |
| CN109093547A (en) * | 2018-09-29 | 2018-12-28 | 中联精工（天津）有限公司 | A kind of speed changer fixture part |
| CN110450173A (en) * | 2019-07-31 | 2019-11-15 | 安徽佳乐建设机械有限公司 | A kind of mining wet shot trolley mechanical arm |
| CN110879582A (en) * | 2019-12-20 | 2020-03-13 | 大连理工大学 | Time-lag sampling system anti-saturation control method with actuator symmetric saturation constraint |
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| JPH05220689A (en) * | 1991-02-05 | 1993-08-31 | Fanuc Ltd | Cable guide device for industrial robot |
| EP1029638A1 (en) * | 1999-02-19 | 2000-08-23 | KUKA Roboter GmbH | Robot member with a support for hoses |
| JP2002166386A (en) * | 2000-12-04 | 2002-06-11 | Honda Motor Co Ltd | Cable guiding device for robot |
| US6431018B1 (en) * | 1999-09-09 | 2002-08-13 | Fanuc Ltd. | Guide device for wiring member and/or piping member and robot with guide device |
| CN102013647A (en) * | 2010-10-28 | 2011-04-13 | 北京航空航天大学 | Rapid detachable cable fixing piece |
| KR20120134739A (en) * | 2011-06-03 | 2012-12-12 | 삼성중공업 주식회사 | Cable protection structure and wind turbine having the same |
| CN206510068U (en) * | 2017-01-10 | 2017-09-22 | 清华大学天津高端装备研究院 | A kind of cable restraint device suitable for robotic actuator |
-
2017
- 2017-01-10 CN CN201710018692.6A patent/CN106737866A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05220689A (en) * | 1991-02-05 | 1993-08-31 | Fanuc Ltd | Cable guide device for industrial robot |
| EP1029638A1 (en) * | 1999-02-19 | 2000-08-23 | KUKA Roboter GmbH | Robot member with a support for hoses |
| US6431018B1 (en) * | 1999-09-09 | 2002-08-13 | Fanuc Ltd. | Guide device for wiring member and/or piping member and robot with guide device |
| JP2002166386A (en) * | 2000-12-04 | 2002-06-11 | Honda Motor Co Ltd | Cable guiding device for robot |
| CN102013647A (en) * | 2010-10-28 | 2011-04-13 | 北京航空航天大学 | Rapid detachable cable fixing piece |
| KR20120134739A (en) * | 2011-06-03 | 2012-12-12 | 삼성중공업 주식회사 | Cable protection structure and wind turbine having the same |
| CN206510068U (en) * | 2017-01-10 | 2017-09-22 | 清华大学天津高端装备研究院 | A kind of cable restraint device suitable for robotic actuator |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160433A (en) * | 2017-06-05 | 2017-09-15 | 上海发那科机器人有限公司 | A kind of line protecting apparatus |
| CN107160433B (en) * | 2017-06-05 | 2023-09-12 | 上海发那科机器人有限公司 | Pipeline protection device |
| CN108870276A (en) * | 2018-09-11 | 2018-11-23 | 台山鸿隆光电科技有限公司 | A kind of LED light and its control method |
| CN109093547A (en) * | 2018-09-29 | 2018-12-28 | 中联精工（天津）有限公司 | A kind of speed changer fixture part |
| CN109093547B (en) * | 2018-09-29 | 2023-07-21 | 大川精工(朝阳)有限公司 | Transmission fixture |
| CN110450173A (en) * | 2019-07-31 | 2019-11-15 | 安徽佳乐建设机械有限公司 | A kind of mining wet shot trolley mechanical arm |
| CN110879582A (en) * | 2019-12-20 | 2020-03-13 | 大连理工大学 | Time-lag sampling system anti-saturation control method with actuator symmetric saturation constraint |
| CN110879582B (en) * | 2019-12-20 | 2020-11-03 | 大连理工大学 | Time-lag sampling system anti-saturation control method with actuator symmetric saturation constraint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170607 Address after: 300300 Dongli Lake Resort, Dongli District, Tianjin Applicant after: TSINGHUA UNIVERSITY TIANJIN HIGH-END EQUIPMENT RESEARCH INSTITUTE Applicant after: Tsinghua University Address before: 300300 Dongli Lake Resort, Dongli District, Tianjin Applicant before: TSINGHUA UNIVERSITY TIANJIN HIGH-END EQUIPMENT RESEARCH INSTITUTE |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180326 Address after: 300300 Tianjin Huaming street Dongli Huaming Road No. 36 Building No. 2 Applicant after: Qingyan co creation robot (Tianjin) Co., Ltd. Address before: 300300 Dongli Lake Resort, Dongli District, Tianjin Applicant before: TSINGHUA UNIVERSITY TIANJIN HIGH-END EQUIPMENT RESEARCH INSTITUTE Applicant before: Tsinghua University |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |