CN108436966A - A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot - Google Patents
A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot Download PDFInfo
- Publication number
- CN108436966A CN108436966A CN201810229421.XA CN201810229421A CN108436966A CN 108436966 A CN108436966 A CN 108436966A CN 201810229421 A CN201810229421 A CN 201810229421A CN 108436966 A CN108436966 A CN 108436966A
- Authority
- CN
- China
- Prior art keywords
- electric wire
- protection
- guide ring
- wire
- industrial robot
- 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
- 230000007704 transition Effects 0.000 title claims abstract description 21
- 238000005266 casting Methods 0.000 claims abstract description 32
- 238000009434 installation Methods 0.000 claims description 11
- 239000011241 protective layer Substances 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000001050 lubricating effect Effects 0.000 abstract description 2
- 238000005461 lubrication Methods 0.000 abstract description 2
- 238000005452 bending Methods 0.000 description 10
- 239000003638 chemical reducing agent Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000001681 protective effect Effects 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 230000002917 arthritic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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 present invention relates to a kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot; component is protected including crossing line guidance set, crossing line; cross line guidance set be installed on inlet wire in preceding casting, cross line protection component be installed on outlet in the cable-through hole of rear casting；The electric wire for being arranged in line guidance set was directed at line protection component and was pierced by, and crosses the constraint of line guidance set and wears wire thicknesses in the inner and can be pierced by from line protection component is crossed.The present invention is directed to the robot of interior cabling form, and using the structure of " cross line and protect component+high flex (with protective layer)+mistake line guidance set ", duplicate protection is carried out to electric wire; consider joint transmission lubricating requirement; it is compact-sized small and exquisite, the glossy smooth wire of additional lubrication is not needed, failure risk is reduced; increase wire twist distance; facilitate circuit to fix, effectively improve wire twist reliability, wiring is more time saving and energy saving; it is simple convenient, reduce the operative skill requirement to personnel.
Description
Technical field
The present invention relates to industrial robot fields, more specifically to a kind of same shaft rotation of interior cabling industrial robot
Diarthrodial protection of transition wire.
Background technology
Six-joint robot mechanical arm cabling form, including two kinds of forms of outer cabling and interior cabling.Wherein, interior cabling form
Robot is neat and artistic, small, is suitable for numerous assembly producing lines, but interior cabling difficulty is big, it is desirable that high.In the prior art,
The joint base member of the robot of interior cabling form and third joint mostly use greatly " protective case+multiple twin loose wire " or directly use
" band protective layer high flexibility+lubricating oil ".The first structure is high to twisted-pair feeder and anti-interference requirement, and the high flexibility of second of structure is protected
Sheath is easy to wear, and the service life is not grown, later stage working service trouble.If using other more complicated form, route protection machine
Structure volume is big, impracticable.
In order to minimize arthritic volume technology require and existing standard harmonic speed reducer intermediate cable-through hole it is straight
The internal wiring in situations such as diameter is little, joint base member and third joint almost takes cable-through hole space, is easy to touch line
Hole inner wall, and the cable-through hole of harmonic wave speed reducing machine is speed reducer wave producer endoporus, that is, run at high speed component.Robot circuit is in mistake
Certain angle can be reversed in string holes with articulation or swing.Based on safety standard, it is desirable that electric wire cannot centainly contact high speed
The wave producer endoporus of operating, otherwise electric wiring epidermis is easy breakage, or even causes short circuit；Or circuits mask layer is damaged,
Signal interference is caused, robot control correctness and stability are influenced.
Based on the above situation, show that electric wire must be fixed at cable-through hole both ends.Common fixed form is cable-through hole both ends
There is panel to lash circuit, but lash position and the situations such as arch upward there are bending, unavoidable circuit touches endoporus, especially rear
For the endoporus of casting towards in the position of preceding casting, electric wire relative torsion angle is maximum, is easiest to cause to touch, and rubs.
And with the fixed form of the prior art, it is touched to alleviate, technology when being lashed to electric wire requires high, difficulty
Greatly, it needs to consume a large amount of assembly times.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of saving line layout times, reduce difficulty,
Cabling reliability is improved, the protection of transition wire for rotating coaxially joint of the interior cabling industrial robot in circuit service life is improved.
Technical scheme is as follows：
A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot, including cross line guidance set, mistake
Line protect component, cross line guidance set be installed on inlet wire in preceding casting, cross line protection component be installed on outlet in rear casting
In the cable-through hole of part；Be arranged in line guidance set electric wire be aligned line protection component be pierced by, cross line guidance set constraint wears
If wire thicknesses in the inner can be pierced by from line protection component is crossed.
Preferably, it includes guide ring to cross line guidance set, it includes electric wire conduit, guide ring alignment to cross line protection component
Electric wire conduit；The internal diameter of guide ring is less than electric wire conduit.
Preferably, electric wire conduit is arranged concentrically in an axial direction with guide ring.
Preferably, it further includes supporting sleeve to cross line protection component, support is set between electric wire conduit and cable-through hole.
Preferably, the top of supporting sleeve is outwardly extending interior locating ring, the top of electric wire conduit is to extend outwardly
Outer positioning ring, supporting sleeve is limited in the aperture position of cable-through hole by interior locating ring, and electric wire conduit is limited by outer positioning ring
On interior locating ring.
Preferably, the cable-through hole in rear casting is extended at the both ends of electric wire conduit.
Preferably, guide ring is provided with fracture.
Preferably, it further includes supporting rack to cross line guidance set, guide ring by supporting rack be installed on inlet wire in preceding casting
In part；Supporting rack includes mounting portion and interconnecting piece, and guide ring is set in the mounting hole of interconnecting piece, and mounting portion is used for supporting rack
It is fixed on installation site；Mounting portion is the panel for being provided with mounting hole, and the side wall of guide ring opens up the notch being inwardly recessed, and is oriented to
Ring is installed on by notch in mounting hole.
Preferably, mounting portion includes the tablet for being provided with several binding holes, it is set to tablet end and connects with interconnecting piece
Supporting rack is fixed on installation site by the riser connect by tablet.
Preferably, motor and guide ring are separately positioned on the both sides of riser, the connecting terminal of motor with riser is incorgruous sets
It sets；The casting position opposite with the connecting terminal of motor is provided with removable cover board.
Beneficial effects of the present invention are as follows：
The protection of transition wire for rotating coaxially joint of interior cabling industrial robot of the present invention crosses line guidance set
Include the guide ring provided with fracture, guide ring is rocked in easy disassembly when safeguarding, limit can be removed out of mounting hole, not influence to tear open
Dress is safeguarded, replaces line loop operation, and the operating time is not increased.And the setting of fracture so that guide ring does not cause electromagnet phenomenon, no
Influence signal transmission control.The supporting rack of separate structure destroys field circuit, does not generate electromagnet phenomenon, is not passed to robot signal
Defeated control has an impact.
The internal diameter of guide ring is less than electric wire conduit, also certainly less than the endoporus of speed reducer, and guide ring and wire protective
Set is arranged concentrically, then is more than the diameter of bore of speed reducer without having to worry about line diameters when joint of robot connects up, supporting rack makes
Circuit lashes turning bending and arches upward endoporus of the position far from speed reducer, also just solve circuit bending and arch upward and touch the interior of rotation
The influence in hole effectively reduces circuit and lashes difficulty, greatly alleviate the workload of wiring, improves circuit reliability, safety
Property.
It is provided with cable-through hole on mounting portion, electric wire can be bundled on mounting portion by tied silk, further fix electric wire.
The Position Design in binding hole, tell people to carry out orders electric wire after guide ring passes through, can extend to near vertical tablet, and lash solid
It is fixed, and in the range of guide ring limits at a distance from panel, most firm harness is obtained, torsional deformation is minimum.It is more when implementation
The binding hole of row can be respectively used to difference and lash different types of electric wire, such as forceful electric power, light current, control signal, tracheae, be convenient for area
Divide identification and management service.And lashing electric wire close to tablet end as possible, then pass through guide ring to be carried out with plate in electric wire
Connection, electric wire are more deposited in close to one end of plate；When needing to safeguard, removes plate and pull out, the electric wire energy of accumulation
More surpluses are enough provided, and are not easy to pull the position lashed, ensure the fixed stability of electric wire.
In the present invention, by the connecting terminal of motor and the incorgruous setting of riser, then facilitates and safeguarded by removable cover board, nothing
More dismantlement works need to be carried out, are conveniently operated, working efficiency is improved, prevents from damaging other normal components in operating process,
Extend the service life of each component, reduces overall cost.
The implementation for crossing line guidance set increases in identical casting space between inlet wire bending end and outlet bending end
Distance, under the identical articulation angle of part of path lashed by both ends, the angle of electric wire relative torsion is just small, reduce electric wire
Large angle torsion, protection electric wire improve the electric wire service life repeatedly in normal operation.It is provided with cable-through hole on mounting portion, passes through bundle
Electric wire can be bundled on mounting portion by silk, further fix electric wire.
The protection of transition wire is directed to the robot of interior cabling form, using " line protects component+high flex (band excessively
Protective layer)+cross line guidance set " structure, duplicate protection is carried out to electric wire, considers joint transmission lubricating requirement, structure
It is compact small and exquisite, the glossy smooth wire of additional lubrication is not needed, failure risk is reduced, wire twist distance is increased, circuit is facilitated to fix,
Wire twist reliability is effectively improved, wiring is more time saving and energy saving, simple convenient, reduces the operative skill requirement to personnel.
Description of the drawings
Fig. 1 is the sectional view that protection of transition wire is implemented on joint base member；
Fig. 2 is the sectional view that protection of transition wire is implemented on third joint；
Fig. 3 was the structural schematic diagram of line guidance set；
Fig. 4 is the structural schematic diagram of supporting rack；
Fig. 5 was the structural schematic diagram that line guidance set is implemented on joint base member；
Fig. 6 is the Structure explosion diagram for crossing line guidance set in Fig. 5；
Fig. 7 was the structural schematic diagram that line guidance set is implemented on third joint；
Fig. 8 is the Structure explosion diagram for crossing line guidance set in Fig. 7；
Fig. 9 is the structural schematic diagram of joint base member (removable cover board is not shown)；
Figure 10 is the three-dimensional cutaway view (casting portion is cut away) in third joint；
In figure：10 be guide ring, and 101 be fracture, and 11 be notch, and 20 be supporting rack, and 201 be support component, and 21 be installation
Portion, 211 be tablet, and 212 be riser, and 213 be wing plate, and 22 be mounting hole, and 23 be interconnecting piece, and 231 be connection component, and 232 be to connect
Arm is connect, 24 be operation notch, and 25 be binding hole, and 30 be electric wire conduit, and 31 be outer positioning ring, and 32 be supporting sleeve, and 33 be default
Position ring, 40 be in preceding casting, and 41 be in rear casting, and 50 be motor, and 51 be connecting terminal.
Specific implementation mode
The present invention is further described in detail with reference to the accompanying drawings and embodiments.
The present invention provides one to solve the problems, such as interior cabling six-joint robot joint base member and third joint cabling difficulty
The protection of transition wire for rotating coaxially joint of kind interior cabling industrial robot, improves cabling reliability, improves the circuit service life, again
The line layout time is saved, wiring difficulty is reduced.
As shown in Figure 1 and Figure 2, the protection of transition wire for rotating coaxially joint of interior cabling industrial robot included that line is led
To component, cross line protect component, cross line guidance set be installed on inlet wire in preceding casting 40, cross line protection component be installed on out
Line in the cable-through hole of rear casting 41；Be arranged in line guidance set electric wire be aligned line protection component be pierced by, cross line lead
Wire thicknesses in the inner are worn to component constraint to be pierced by from line protection component is crossed.Line guidance set is crossed to pass through to electric wire
The constraint in direction and size ensures that electric wire is not in contact friction with casting during the work time.In the present invention, crosses line and be oriented to
Component includes guide ring 10, and it includes electric wire conduit 30 to cross line protection component, and the guide ring 10 for crossing line guidance set is directed at electric wire
Protective case 30；The internal diameter of guide ring 10 is less than electric wire conduit 30.
The internal diameter of electric wire conduit 30 is effectively less than the endoporus of speed reducer, then when the internal diameter and wire protective of guide ring 10
Set 30 is when having diameter difference, when joint of robot connect up, without the concern for wire thicknesses size whether more than speed reducer endoporus,
When electric wire fills up guide ring 10 and can not be further added by, it is necessarily also less than the internal diameter of electric wire conduit 30, again smaller than speed reducer
Diameter of bore.Supporting rack 20 also just solves line so that circuit lashes turning bending and arches upward endoporus of the position far from speed reducer
Road bending is arched upward the influence of the endoporus for touching rotation, is effectively reduced circuit and is lashed difficulty, greatly alleviates the work of wiring
Amount improves circuit reliability, safety.
In order to further ensure that endoporus of the electric wire in guide ring 10 far from speed reducer, electric wire conduit 30 and guide ring 10
It is arranged concentrically in an axial direction, prevents from touching caused by due to missing.
It further includes supporting sleeve 32 to cross line protection component, and supporting sleeve 32 is arranged between electric wire conduit 30 and cable-through hole.Branch
Support set 32 and electric wire conduit 30 are mounted on robot casting, separate the wave producer and circuit to run at high speed, effective protection
Electric wire, fitted seal design is compact-sized, does not influence joint of robot transmission and requires.When using the high flex with protective layer,
Electric wire itself increases by one layer of protection.Meanwhile the setting of line guidance set is crossed, increase circuit and reverse effective distance, reduces circuit and prick
Bundle requires, while not influencing line upkeep operation convenience demand, is greatly improved the circuit service life, is wanted to robot high reliability
Decisive role is sought.
In order to preferably make supporting sleeve 32, electric wire conduit 30 be installed on casting, in the present embodiment, the top of supporting sleeve 32
Portion is outwardly extending interior locating ring 33, and the top of electric wire conduit 30 is outwardly extending outer positioning ring 31, and supporting sleeve 32 is logical
The aperture position that interior locating ring 33 is limited in cable-through hole is crossed, electric wire conduit 30 is limited in interior locating ring 33 by outer positioning ring 31
On.
And electric wire is contacted with casting or the wave producer to run at high speed in order to prevent, the both ends of electric wire conduit 30 extend
Go out the cable-through hole in rear casting 41, can preferably make electric wire far from casting or wave producer, effectively further separate electric wire
With casting or wave producer.
As shown in Figure 3, Figure 4, it includes guide ring 10, supporting rack 20 to cross line guidance set, and guide ring 10 is provided with fracture
101, the setting of fracture 101 is for facilitating electric wire to be packed into guide ring 10, in use, turning round guide ring 10 in the position of fracture 101
Song is broken into two with one's hands, and fracture 101 is made to become larger, and electric wire is packed into from the fracture 101 to become larger in guide ring 10.Supporting rack 20 include mounting portion 21 with
Interconnecting piece 23, guide ring 10 are set in the mounting hole 22 of interconnecting piece 23, and mounting portion 21 is used to supporting rack 20 being fixed on installation
Position.When wiring, electric wire is passed through from guide ring 10, and the hunting range of electric wire is limited by guide ring 10, passes through supporting rack 20
Positioning action, with guide ring 10 coordinate, limit the integral position of electric wire.
In the present embodiment, guide ring 10 and mounting portion 21 are to be caught in embedded connection type, and mounting portion 21 is to be provided with peace
The panel in hole 22 is filled, the side wall of guide ring 10 opens up the notch 11 being inwardly recessed, and guide ring 10 is installed on installation by notch 11
In hole 22.The mounting portion 21 of slab structure more saves space hold, provides more cabling space.Interconnecting piece 23 can be according to implementation
Position carry out structural adjustment, realize connection with wiring step down effect.As shown in Figure 3, Figure 4, it is implemented on joint base member
With third joint, the structure of interconnecting piece 23 is embodied as different shapes to match specific position and casting structure.
In order to facilitate dismounting, flexible guide ring 10 is removed or is packed into out of mounting hole 22 by elastic deformation.It leads
Also ensure that guide ring 10 there can be enough elastic deformations to the fracture 101 of ring 10.When being safeguarded, it need not will support
Frame 20 removes, and directly carries out disassembling operations to guide ring 10, simplifies step, easy to operate, saves the time.
In order to further realize the fast and easy of dismounting, the link position of mounting portion 21 and interconnecting piece 23 offers operation and lacks
Mouth 24, operation notch 24 are communicated with mounting hole 22.When needing to remove guide ring 10, then by guide ring 10 from 22 direction of mounting hole
It operates notch 24 to pull, under the squeezing action of mounting hole 22, guide ring 10 deforms, and is detached from from mounting hole 22, completes dismounting behaviour
Make.
In order to ensure the stability of supporting rack 20, supporting rack 20 can be embodied as metal material.And it is led when electric wire is threaded through
Into ring 10, it is equal to and is threaded through in mounting hole 22, then uses the supporting rack 20 of metal material to will produce certain electromagnet phenomenon,
Influence robot control signal transmission and control.The generation of electromagnet phenomenon in order to prevent overcomes signal interference, split structure
Supporting rack 20, destroys field circuit, even if electric wire does not generate electromagnet phenomenon if being threaded through in mounting hole 22, does not influence machine
People's control signal transmission and control.And the setting of the fracture 101 of guide ring 10, show but also guide ring 10 does not generate electromagnetism
As not influencing robot control signal transmission and control.When it is implemented, guide ring 10 can also use nonmetallic materials system
At further preventing the generation of electromagnet phenomenon.
When being implemented on joint base member, as shown in Figure 5, Figure 6, supporting rack 20 is split structure, including two branch
Support component 201 surrounds mounting hole 22 after 201 assembly of support component.In the present embodiment, supporting rack 20 includes two symmetrical branch
Support component 201, i.e. supporting rack 20 are embodied as symmetrical structure, and symmetrical two support components 201 are divided into along symmetry axis；Support group
Part 201 include the mounting portion 21 of half, half interconnecting piece 23.When dismounting, two support components 201 dismount respectively.
Mounting portion 21 includes being provided with the tablet 211 in several binding holes 25, be set to 211 end of tablet and with interconnecting piece 23
Supporting rack is fixed on installation site by the riser 212 of connection by tablet 211.211 structure of tablet can make supporting rack 20 more stable
Ground is fixed on casting, and electric wire can be bundled on mounting portion 21 by tied silk, further fix electric wire.
It in order to make electric wire after guide ring 10, and lashes when on tablet 211, in rotation process, electric wire is formed
Less torsion is arched upward, and in the present embodiment, is defined to the distance of guide ring 10 to tablet 211, be limited to guide ring 10 with
The distance of tablet 211 is slightly larger than the diameter of guide ring 10, in order to which thickness when electric wire being made to fill full guide ring 10 is just
It can pass through between guide ring 10 and tablet 211, i.e., electric wire lashes when on tablet 211, and there are thin between guide ring 10
Small gap, without being in direct contact.Meanwhile the distance near row's binding hole 25 of riser 212 to riser 212 is big
In the diameter of guide ring 10, it is less than the distance at the center of circle to 23 edge of interconnecting piece of guide ring 10.And as possible close to tablet 211
End lashes electric wire, then is attached electric wire with plate across guide ring 10, and electric wire is more deposited in one close to plate
End；It when needing to safeguard, removes plate and pulls out, the electric wire of accumulation is capable of providing more surpluses, and is not easy to pull bundle
The position of bundle ensures the fixed stability of electric wire.
In the present embodiment, electric wire or worker are scratched in operating process in order to prevent, the edge of interconnecting piece 23 is circular arc, circular arc
Concentric circles is formed with guide ring 10, then the value near the distance in row's binding hole 25 of riser 212 to riser 212 is to be oriented to
The diameter of ring 10 is between the diameter of circular arc.
The diameter of guide ring 10 determines the thickness of harness to a certain extent, then in order to reach more preferably advantageous effect, leads
Guide ring is also followed to ring 10 to the distance of tablet 211, near the distance of row's binding hole 25 to a riser 212 of riser 212
10 diameter carries out corresponding adjustment, obtains the product of various different size models.
When being implemented on third joint, as shown in Figure 7, Figure 8, supporting rack 20 includes two connection components, 231, installations
Portion 21 surrounds mounting hole 22 after 231 assembly of connection component.In the present embodiment, two 231 symmetrical configurations of connection component are installed
Portion 21 is separate structure with interconnecting piece 23, and interconnecting piece 23 is divided into symmetrical connection component 231 along symmetry axis.Connection component 231
Include the interconnecting piece 23 of half, connection component 231 is provided with linking arm 232, is used for the fixed installation of connection component 231.It tears open
When dress, two connection components 231 dismount respectively.
Mounting portion 21 includes the tablet 211 for being provided with several binding holes 25, and supporting rack 20 is fixed on peace by tablet 211
Holding position.Slab construction can be such that supporting rack 20 is more stably mounted on casting, and electric wire can be bundled in installation by tied silk
In portion 21, electric wire is further fixed.In order to be adapted to the structure in third joint, mounting portion 21 further, further include be set to it is flat
The wing plate 213 of 211 side of plate offers several binding holes 25 on wing plate 213.The mounting portion 21 of the present embodiment, passes through tablet 211
Coordinate with the binding hole 25 of wing plate 213, the binding bundled fixed at the electric wire both ends for bending.
The implementation for crossing line guidance set increases in identical casting space between inlet wire bending end and outlet bending end
Distance, under the identical articulation angle of part of path lashed by both ends, the angle of electric wire relative torsion is just small, reduce electric wire
Large angle torsion, protection electric wire improve the electric wire service life repeatedly in normal operation.
For convenience to the attended operation of motor 50, motor 50 is separately positioned on the both sides of riser, motor 50 with guide ring
Connecting terminal 51 and the incorgruous setting of riser；As shown in Figure 9, Figure 10.The casting position opposite with the connecting terminal 51 of motor 50
It is provided with removable cover board.By the connecting terminal 51 of motor 50 and the incorgruous setting of riser, when safeguarding, it is only necessary to removable cover board is removed,
The connecting terminal 51 of motor 50 is visible state, is located at operable position, can directly carry out attended operation, without carrying out more
More dismantlement works, such as removed line guidance set, electric wire.
Above-described embodiment is intended merely to illustrate the present invention, and is not used as limitation of the invention.As long as according to this hair
Bright technical spirit is changed above-described embodiment, modification etc. will all be fallen in the scope of the claims of the present invention.
Claims (10)
1. a kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot, which is characterized in that led including crossing line
To component, cross line protect component, cross line guidance set be installed on inlet wire in preceding casting, cross line protection component be installed on outlet
In the cable-through hole of rear casting；Be arranged in line guidance set electric wire be aligned line protection component be pierced by, cross line guiding group
Part constraint wears wire thicknesses in the inner and can be pierced by from line protection component is crossed.
2. the protection of transition wire for rotating coaxially joint of interior cabling industrial robot according to claim 1, feature
It is, it includes guide ring to cross line guidance set, and it includes electric wire conduit to cross line protection component, and guide ring is directed at electric wire conduit；
The internal diameter of guide ring is less than electric wire conduit.
3. the protection of transition wire for rotating coaxially joint of interior cabling industrial robot according to claim 2, feature
It is, electric wire conduit is arranged concentrically in an axial direction with guide ring.
4. the protection of transition wire for rotating coaxially joint of interior cabling industrial robot according to claim 3, feature
It is, it further includes supporting sleeve to cross line protection component, and support is set between electric wire conduit and cable-through hole.
5. the protection of transition wire for rotating coaxially joint of interior cabling industrial robot according to claim 4, feature
It is, the top of supporting sleeve is outwardly extending interior locating ring, and the top of electric wire conduit is outwardly extending outer positioning ring, branch
Support set is limited in the aperture position of cable-through hole by interior locating ring, and electric wire conduit is limited in interior locating ring by outer positioning ring
On.
6. the protection of transition wire for rotating coaxially joint of interior cabling industrial robot according to claim 5, feature
It is, the cable-through hole in rear casting is extended at the both ends of electric wire conduit.
7. the line protection of crossing for rotating coaxially joint according to claim 2 to 6 any one of them interior cabling industrial robot fills
It sets, which is characterized in that guide ring is provided with fracture.
8. the protection of transition wire for rotating coaxially joint of interior cabling industrial robot according to claim 7, feature
Be, it further includes supporting rack to cross line guidance set, guide ring by supporting rack be installed on inlet wire in preceding casting；Supporting rack packet
Mounting portion and interconnecting piece are included, guide ring is set in the mounting hole of interconnecting piece, and mounting portion is used to supporting rack being fixed on installation position
It sets；Mounting portion is the panel for being provided with mounting hole, and the side wall of guide ring opens up the notch being inwardly recessed, and guide ring passes through notch card
In mounting hole.
9. the protection of transition wire for rotating coaxially joint of interior cabling industrial robot according to claim 8, feature
It is, mounting portion includes the tablet for being provided with several binding holes, and the riser for being set to tablet end and being connect with interconnecting piece passes through
Supporting rack is fixed on installation site by tablet.
10. the protection of transition wire for rotating coaxially joint of interior cabling industrial robot according to claim 9, feature
It is, motor is separately positioned on the both sides of riser, connecting terminal and the incorgruous setting of riser of motor with guide ring；Casting and motor
The opposite position of connecting terminal be provided with removable cover board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810229421.XA CN108436966A (en) | 2018-03-20 | 2018-03-20 | A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810229421.XA CN108436966A (en) | 2018-03-20 | 2018-03-20 | A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108436966A true CN108436966A (en) | 2018-08-24 |
Family
ID=63195343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810229421.XA Pending CN108436966A (en) | 2018-03-20 | 2018-03-20 | A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108436966A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397267A (en) * | 2018-12-13 | 2019-03-01 | 南京熊猫电子股份有限公司 | Industrial robot compact pedestal and its cable method for arranging |
| CN110871459A (en) * | 2019-11-30 | 2020-03-10 | 北京思灵机器人科技有限责任公司 | Cable guide structure and have its modularization robot |
| CN112008760A (en) * | 2020-08-18 | 2020-12-01 | 深圳市汇川技术股份有限公司 | Cable ligature structure and robot |
| CN113771085A (en) * | 2021-11-01 | 2021-12-10 | 伯朗特机器人股份有限公司 | Industrial robot joint structure |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994009949A1 (en) * | 1992-10-28 | 1994-05-11 | Fanuc Ltd | Industrial robot having joints using a hollow reduction gear |
| CN102136713A (en) * | 2009-12-01 | 2011-07-27 | 库卡罗伯特有限公司 | Conduit protection device for an industrial robot and industrial robot with such a conduit protection device |
| CN102463571A (en) * | 2010-11-04 | 2012-05-23 | 株式会社安川电机 | Robot wrist structure and robot |
| CN103166153A (en) * | 2011-12-09 | 2013-06-19 | 海洋王照明科技股份有限公司 | Wire bushing |
| CN103158158A (en) * | 2011-12-09 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| JP2015168037A (en) * | 2014-03-07 | 2015-09-28 | 三菱電機株式会社 | Robot joint structure and robot device |
| CN106313102A (en) * | 2016-10-18 | 2017-01-11 | 深圳市优必选科技有限公司 | Protection structure for wires passing through steering engine of robot |
| CN106737583A (en) * | 2016-12-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | The steering wheel Wiring structure and humanoid robot of humanoid robot |
| DE102016203361A1 (en) * | 2016-03-01 | 2017-09-07 | Kuka Roboter Gmbh | Industrial robot with a protective sleeve |
| CN107571282A (en) * | 2017-09-13 | 2018-01-12 | 深圳市卓博机器人有限公司 | Revolute mechanism and without dead angle rotary machine people |
| CN208005718U (en) * | 2018-03-20 | 2018-10-26 | 厦门宏发工业机器人有限公司 | A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot |
-
2018
- 2018-03-20 CN CN201810229421.XA patent/CN108436966A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994009949A1 (en) * | 1992-10-28 | 1994-05-11 | Fanuc Ltd | Industrial robot having joints using a hollow reduction gear |
| CN102136713A (en) * | 2009-12-01 | 2011-07-27 | 库卡罗伯特有限公司 | Conduit protection device for an industrial robot and industrial robot with such a conduit protection device |
| CN102463571A (en) * | 2010-11-04 | 2012-05-23 | 株式会社安川电机 | Robot wrist structure and robot |
| CN103166153A (en) * | 2011-12-09 | 2013-06-19 | 海洋王照明科技股份有限公司 | Wire bushing |
| CN103158158A (en) * | 2011-12-09 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| JP2015168037A (en) * | 2014-03-07 | 2015-09-28 | 三菱電機株式会社 | Robot joint structure and robot device |
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| DE102016203361A1 (en) * | 2016-03-01 | 2017-09-07 | Kuka Roboter Gmbh | Industrial robot with a protective sleeve |
| CN106313102A (en) * | 2016-10-18 | 2017-01-11 | 深圳市优必选科技有限公司 | Protection structure for wires passing through steering engine of robot |
| CN106737583A (en) * | 2016-12-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | The steering wheel Wiring structure and humanoid robot of humanoid robot |
| CN107571282A (en) * | 2017-09-13 | 2018-01-12 | 深圳市卓博机器人有限公司 | Revolute mechanism and without dead angle rotary machine people |
| CN208005718U (en) * | 2018-03-20 | 2018-10-26 | 厦门宏发工业机器人有限公司 | A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397267A (en) * | 2018-12-13 | 2019-03-01 | 南京熊猫电子股份有限公司 | Industrial robot compact pedestal and its cable method for arranging |
| CN110871459A (en) * | 2019-11-30 | 2020-03-10 | 北京思灵机器人科技有限责任公司 | Cable guide structure and have its modularization robot |
| CN112008760A (en) * | 2020-08-18 | 2020-12-01 | 深圳市汇川技术股份有限公司 | Cable ligature structure and robot |
| CN113771085A (en) * | 2021-11-01 | 2021-12-10 | 伯朗特机器人股份有限公司 | Industrial robot joint structure |
| CN113771085B (en) * | 2021-11-01 | 2023-01-31 | 伯朗特机器人股份有限公司 | Industrial robot joint structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208005718U (en) | A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot | |
| CN108436966A (en) | A kind of protection of transition wire for rotating coaxially joint of interior cabling industrial robot | |
| CN208231835U (en) | It is a kind of to cross line guidance set | |
| CN208270824U (en) | A kind of antiwind connecton layout for optical cable installation | |
| CN108436971A (en) | It is a kind of to cross line guidance set | |
| CN205862876U (en) | A kind of complex communication signal cable | |
| CN103062506A (en) | Coating conveying pipe clamp for coating machine | |
| CN204341581U (en) | A kind of LED box | |
| CN207218758U (en) | A kind of wearable flexible mobile phone | |
| CN208890242U (en) | A kind of excessively curved protector of cable | |
| CN209491526U (en) | A kind of display screen door body machining platform | |
| CN209435596U (en) | A kind of internet of things control host convenient for arranging route | |
| CN207896606U (en) | A kind of network layout reason line box for computer | |
| CN201282310Y (en) | Transferring tube for wiring | |
| CN204340928U (en) | A kind of wire harness fixing support | |
| CN208539474U (en) | A kind of universal cordage protective cover | |
| CN205233233U (en) | Fishing tackle connecting device | |
| CN205937198U (en) | A installing support for pipeline fan | |
| CN204945919U (en) | A kind of computing machine control line divides to device | |
| CN209958143U (en) | Non-adhesive prestressed steel strand opening and closing device | |
| CN103104749A (en) | Cable fixing device for numerically controlled lathe | |
| CN109491818A (en) | A kind of storage device failure positioning device | |
| CN209113938U (en) | A kind of tapping opening driver drilling rod drill bushing mechanism | |
| CN212751665U (en) | Auxiliary protector is worn to establish by communication cable | |
| CN209387944U (en) | A kind of buttock line slot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |