CN112757341A - Cable fixing assembly for robot - Google Patents
Cable fixing assembly for robot Download PDFInfo
- Publication number
- CN112757341A CN112757341A CN202110025420.5A CN202110025420A CN112757341A CN 112757341 A CN112757341 A CN 112757341A CN 202110025420 A CN202110025420 A CN 202110025420A CN 112757341 A CN112757341 A CN 112757341A
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- China
- Prior art keywords
- robot
- cable
- fixing
- fixing assembly
- component
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- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 9
- 239000004677 Nylon Substances 0.000 claims description 6
- 229920001778 nylon Polymers 0.000 claims description 6
- 229910001339 C alloy Inorganic materials 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a cable fixing assembly for a robot, which comprises a cable penetrating from a robot base to a first part of the robot, and a fixing part connected with the first part of the robot and used for fixing the cable fixing assembly and the cable on the robot together; the fastening component is used for symmetrically arranging the cable on the fixed component along the center line of the first robot component and forcing the cable to rotate relative to the robot base along the first robot component; the cable is provided with at least a first cable body and a second cable body, wherein the first cable body and the second cable body are provided with at least six specific cable cores and a centrally arranged gas pipe. Compared with the prior art, the invention can effectively protect the robot cable, prevent the cable from being worn, improve the reliability of the robot and reduce the maintenance cost.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a cable fixing assembly for a robot.
Background
The robot cable is an important component part of the robot and directly influences the service life of the robot, the universal six-axis industrial robot is particularly suitable for a fully-sealed robot, the robot cable is arranged in a robot body, the cable enters the robot body from a base, and the cable at the position comprises cables of first to sixth axes of the six-joint robot.
Aiming at the situation that the operating frequency and the motion range of the first joint of the six-joint robot in an application field are higher than those of other shafts, if the robot cable at the position is not reasonably fixed, the cable is damaged due to long-term torsion, and further faults such as alarm, halt and the like of the robot are caused.
Disclosure of Invention
In order to solve the technical problem, the invention provides a cable fixing assembly for a robot.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a cable fixing assembly for a robot comprises a cable penetrating from a robot base into a first part of the robot, and further comprises:
the fixing component is connected with the first component of the robot and is used for fixing the cable fixing component and the cable on the robot together;
the fastening component is used for symmetrically arranging the cable on the fixed component along the center line of the first robot component and forcing the cable to rotate relative to the robot base along the first robot component;
the cable is provided with at least a first cable body and a second cable body, wherein the first cable body and the second cable body are provided with at least six specific cable cores and a centrally arranged gas pipe.
Furthermore, the fixing part is a fixing seat, a first mounting surface and a first guide surface which are matched with the first part of the robot are arranged on the fixing seat, a first counter sink used for connecting the fixing seat with the first part of the robot is arranged on the first mounting surface, and a threaded hole connected with the fastening part is arranged on the first guide surface.
Furthermore, the fastening part is a clamping part with a sector-shaped outer side surface, and a second countersunk hole matched with the threaded hole is formed in the sector-shaped outer side surface.
Furthermore, be equipped with two symmetrical arrangement's first semicircle orifice on the fixing base, be equipped with two second semicircle orifices the same with two first semicircle orifices on the clamping piece, two first semicircle orifices constitute two cylindrical holes after corresponding with two second semicircle orifices and being connected, first line body, second line body are from two cylindrical downthehole correspondences and pass.
Furthermore, each first semicircular hole and each second semicircular hole are at least internally provided with one strip-shaped boss arranged along the axial direction.
Further, the fixing seat and the clamping piece are made of nylon materials.
Further, the fixed part is two first supports, the second support that are L type and symmetric distribution on the first part of robot, all be equipped with on first support, the second support have the second spigot surface of certain contained angle with the central line of the first part of robot, with the first part complex second installation face of robot.
Furthermore, at least three groups of notches which are symmetrically distributed and matched with the fastening part are arranged on the second guide surfaces of the first bracket and the second bracket.
Further, the fastening component is a fixing band, and the fixing band sequentially penetrates through the notches of the first support and the second support so as to correspondingly fix the first line body and the second line body on the first support and the second support.
Further, the first support and the second support are made of low-carbon alloy steel materials, and the fixing belt is made of nylon materials.
The invention has the beneficial effects that:
compared with the prior art, the invention can effectively protect the robot cable, prevent the cable from being worn, improve the reliability of the robot and reduce the maintenance cost.
Drawings
The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a schematic three-dimensional structure of a robot according to the present invention;
FIG. 2 is a schematic view of a cable fixing assembly mounted to a first member in accordance with a first embodiment of the present invention;
FIG. 3 is a schematic three-dimensional view of a cable fixing assembly and a cable installation according to a first embodiment of the present invention;
FIG. 4 is an exploded view of a cable fixing assembly according to a first embodiment of the present invention;
FIG. 5 is a schematic view of a cable fixing assembly mounted to a first member in accordance with a second embodiment of the present invention;
FIG. 6 is a cross-sectional view of a cable fixing assembly and cable installation in accordance with a second embodiment of the present invention;
fig. 7 is a cross-sectional view of a cable fixing assembly according to a second embodiment of the present invention.
In the figure: 1. a robot; 11. a robot base; 12. a first component of a robot; 121. a sector hole; 124. a motor; 124a, a motor connector; 13. a first wire passing sleeve; 14. a robot boom; 15. a second wire passing sleeve; 16. a gear case; 17. a robot forearm; 18. a wrist; 2. a cable; 21. a first umbilical member; 22. a second umbilical member; 23. an air tube; 24. a power line; 25. encoding lines; 3. a fixing member; 31. a fixed seat; 31a, a first mounting surface; 311. a strip-shaped boss; 312. a first guide surface; 313. a concave notch; 314. a first counterbore; 316. a threaded hole; 32. a cylindrical bore; 32a, a first semicircular hole; 32b, a second semicircular hole; 34. a first bracket; 35. a second bracket; 35a, a second mounting surface; 351. a second guide surface; 351a, a notch; 4. a fastening member; 41. a clamping member; 412. a sector; 413. a second counterbore; 42. and (7) fixing the belt.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the embodiments.
As shown in fig. 1, the present invention is applied to a robot 1, and the robot 1 to which the present invention is applied is a six-axis multi-joint robot, and is composed of a robot base 11, a robot first member 12, a robot large arm 14, a gear box 16, a robot small arm 17, and a robot wrist 18. The robot first part 12 can rotate around the axis of the first joint, the robot big arm 14 is rotatably mounted on the robot first part 12, and the interior of the robot big arm 14 is of a hollow structure; still install first line cover 13 of crossing on the first part 12 of robot, the big arm 14 of robot can be rotatory around the first axis of crossing line cover 13, the upside of the big arm 14 of robot is equipped with the second and crosses line cover 15, the second is crossed line cover 15 and is installed on gear box 16, gear box 16 drives the second and crosses the line cover 15 and rotate around the last axis of the big arm 14 of robot, the front end at gear box 16 is installed to little arm 17 of robot, little arm 17 of robot can rotate around the axis of gear box 16, the front end at little arm 17 of robot is installed with rotatable mode to robot wrist 18.
The robot first part 12 comprises a fan-shaped hole 121, a motor 124 and a motor joint 124 a.
The invention is a cable fixing assembly for a robot, comprising a cable 2 penetrating from a robot base 11 into a robot first component 12, and further comprising:
the fixing component 3 is connected with the first robot component 12 and is used for fixing the cable fixing component and the cable 2 on the robot together;
a fastening part 4 for symmetrically arranging the cable 2 on the fixed part 3 along the center line of the robot first part 12 and forcing the cable 2 to rotate relative to the robot base 11 following the robot first part 12;
the cable 2 is provided with at least a first cable body 21 and a second cable body 22, wherein the first cable body 21 and the second cable body 22 comprise at least six cable cores and a centrally arranged gas pipe 23.
The first and second umbilical members 21 and 22 extend from the robot base 11 through the fan-shaped holes 121 into the first robot part 12 along the rotation axis parallel to the first joint, and are fixed in the robot base 11 and the first robot part 12.
The wire cores in the first and second umbilical members 21 and 22 may be a power wire 24 and a coding wire 25.
Specifically, the fixing member 3 and the fastening member 4 according to the present invention have two embodiments.
The first embodiment is as follows: as shown in fig. 2-4.
The fixing component 3 is a fixing seat 31, a first mounting surface 31a and a first guide surface 312 which are matched with the first robot component 12 are arranged on the fixing seat 31, a first countersunk hole 314 used for connecting the fixing seat 31 and the first robot component 12 is formed in the first mounting surface 31a, and a threaded hole 316 connected with the fastening component 4 is formed in the first guide surface 312.
The first counter bore 314 is used to place a screw therein to prevent the screw from being exposed. The first guide surface 312 is disposed in the fan-shaped hole 121, and the fixed seat 31 is fixed to the first robot part 12 through the first mounting surface 31 a. A concave notch 313 is added on the outer side of the fixed seat 31, and the concave notch 313 is used for preventing the fixed seat 31 from interfering with the motor joint 124a on the motor 124.
As a further improvement of the present invention, the fastening component 4 is a clamping component 41 with an outer side surface being a sector 412, and the sector 412 is provided with a second countersunk hole 413 matched with the threaded hole 316.
The second countersunk hole 413 is used for placing a screw therein to prevent the clamping member 41 from interfering with the sector hole 121 after being connected and installed with the fixing base 31.
As a further improvement of the present invention, two first semicircular holes 32a are symmetrically arranged on the fixing base 31, two second semicircular holes 32b identical to the two first semicircular holes 32a are arranged on the clamping member 41, the two first semicircular holes 32a and the two second semicircular holes 32b are correspondingly connected to form two cylindrical holes 32, and the first umbilical member 21 and the second umbilical member 22 correspondingly penetrate through the two cylindrical holes 32.
The diameter of the two cylindrical holes 32 is required to be smaller than the diameter of the first and second umbilical members 21, 22.
As a further improvement of the present invention, at least one strip-shaped boss 311 arranged along the axial direction is provided in each of the first semicircular hole 32a and the second semicircular hole 32 b. The bar-shaped bosses 311 serve to prevent the first and second umbilical members 21 and 22 disposed in the cylindrical hole 32 from moving axially.
As a further improvement of the present invention, the fixing seat 31 and the clamping member 41 are made of nylon material. The fixing seat 31 and the clamping member 41 may also be made of polyurethane or polytetrafluoroethylene.
Example two: as shown in fig. 5-7.
The fixed part 3 is two L-shaped first brackets 34 and two L-shaped second brackets 35 which are symmetrically distributed on the first part 12 of the robot, and the first brackets 34 and the second brackets 35 are respectively provided with a second guide surface 351 which has a certain included angle with the central line of the first part 12 of the robot and a second mounting surface 35a which is matched with the first part 12 of the robot.
The included angle between the second guide surface 351 on the first bracket 34 and the second bracket 35 and the central line of the first part 12 of the robot is 15 degrees, so as to maintain the outgoing line direction of the first line body 21 and the second line body 22.
The width of the second guide surface 351 of the first and second brackets 34, 35 is required to be larger than the diameter of the first and second umbilical members 21, 22.
As a further improvement of the present invention, at least three sets of notches 351a are provided on the second guide surfaces 351 of the first bracket 34 and the second bracket 35, which are symmetrically distributed and are matched with the fastening member 4.
As a further improvement of the present invention, the fastening member 4 is a fastening strap 42, and the fastening strap 42 sequentially passes through the notches 351a of the first bracket 34 and the second bracket 35 to fasten the first umbilical member 21 and the second umbilical member 22 to the first bracket 34 and the second bracket 35.
The fixing straps 42 are fastened in the notches 351a of the first and second brackets 34 and 35, and the number of the fixing straps 42 is the same as that of the notches 351 a.
As a further improvement of the present invention, the first bracket 34 and the second bracket 35 are made of a low carbon alloy steel material, and the fixing band 42 is made of a nylon material. Since the cable 2 has a certain impact force during operation, the first and second brackets 34 and 35 are required to have a certain hardness. The purpose of the fixing band 42 is to prevent damage to the cable 2.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A cable fixing assembly for a robot, comprising a cable (2) penetrating from a robot base (11) into a first part (12) of the robot, characterized in that: further comprising:
the fixing component (3) is connected with the first component (12) of the robot and is used for fixing the cable fixing component and the cable (2) on the robot together;
a fastening part (4) for symmetrically arranging the cable (2) on the fixed part (3) along the centre line of the first part (12) of the robot and forcing the cable (2) to follow the first part (12) of the robot to rotate relative to the robot base (11);
the cable (2) is at least provided with a first cable body (21) and a second cable body (22), wherein the first cable body (21) and the second cable body (22) comprise at least six specific cable cores and a centrally arranged air pipe (23).
2. The cable fixing assembly for a robot of claim 1, wherein: the fixing part (3) is a fixing seat (31), a first mounting surface (31a) matched with a first robot part (12) and a first guide surface (312) are arranged on the fixing seat (31), a first counter sink hole (314) used for connecting the fixing seat (31) with the first robot part (12) is formed in the first mounting surface (31a), and a threaded hole (316) connected with a fastening part (4) is formed in the first guide surface (312).
3. The cable fixing assembly for a robot of claim 2, wherein: the fastening part (4) is a clamping piece (41) with the outer side surface being a sector (412), and a second countersunk hole (413) matched with the threaded hole (316) is formed in the sector (412).
4. The cable fixing assembly for a robot of claim 3, wherein: be equipped with two symmetrical arrangement's first semicircle hole (32a) on fixing base (31), be equipped with two second semicircle holes (32b) the same with two first semicircle holes (32a) on clamping piece (41), constitute two cylindrical holes (32) after two first semicircle holes (32a) correspond with two second semicircle holes (32b) and are connected, first line body (21), second line body (22) correspond from two cylindrical holes (32) and pass.
5. The cable fixing assembly for a robot of claim 4, wherein: at least one strip-shaped boss (311) arranged along the axial direction is arranged in each first semicircular hole (32a) and each second semicircular hole (32 b).
6. The cable fixing assembly for a robot of claim 4, wherein: the fixing seat (31) and the clamping piece (41) are made of nylon materials.
7. The cable fixing assembly for a robot of claim 1, wherein: the fixing part (3) is composed of two first supports (34) and two second supports (35) which are L-shaped and symmetrically distributed on the first part (12) of the robot, and the first supports (34) and the second supports (35) are respectively provided with a second guide surface (351) which has a certain included angle with the center line of the first part (12) of the robot and a second mounting surface (35a) matched with the first part (12) of the robot.
8. The cable fixing assembly for a robot of claim 7, wherein: and at least three groups of notches (351a) which are symmetrically distributed and matched with the fastening part (4) are arranged on the second guide surfaces (351) of the first bracket (34) and the second bracket (35).
9. The cable fixing assembly for a robot of claim 8, wherein: the fastening component (4) is a fixing belt (42), and the fixing belt (42) sequentially penetrates through notches (351a) on the first support (34) and the second support (35) so as to correspondingly fix the first line body (21) and the second line body (22) on the first support (34) and the second support (35).
10. The cable fixing assembly for a robot of claim 9, wherein: the first support (34) and the second support (35) are made of low-carbon alloy steel materials, and the fixing belt (42) is made of nylon materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110025420.5A CN112757341A (en) | 2021-01-08 | 2021-01-08 | Cable fixing assembly for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110025420.5A CN112757341A (en) | 2021-01-08 | 2021-01-08 | Cable fixing assembly for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112757341A true CN112757341A (en) | 2021-05-07 |
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ID=75701043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110025420.5A Pending CN112757341A (en) | 2021-01-08 | 2021-01-08 | Cable fixing assembly for robot |
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| Country | Link |
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| CN (1) | CN112757341A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140013893A1 (en) * | 2012-07-12 | 2014-01-16 | Canon Kabushiki Kaisha | Robot |
| CN203552790U (en) * | 2013-09-22 | 2014-04-16 | 人民电缆集团有限公司 | Novel communication cable for control cabinet |
| CN205081435U (en) * | 2015-10-08 | 2016-03-09 | 上元电力科技有限公司 | High -voltage cable fixing clamp |
| CN208028513U (en) * | 2018-02-28 | 2018-10-30 | 江苏恒铭达航空设备有限公司 | The convenient cable fixed mount of helicopter |
| CN209224100U (en) * | 2018-11-01 | 2019-08-09 | 珠海格力智能装备有限公司 | Cable immobilizing structure and robot with it |
| CN111313352A (en) * | 2020-03-19 | 2020-06-19 | 青岛正为能源科技有限公司 | Cable fixed connection device |
| CN214643785U (en) * | 2021-01-08 | 2021-11-09 | 埃夫特智能装备股份有限公司 | Cable fixing assembly for robot |
-
2021
- 2021-01-08 CN CN202110025420.5A patent/CN112757341A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140013893A1 (en) * | 2012-07-12 | 2014-01-16 | Canon Kabushiki Kaisha | Robot |
| CN203552790U (en) * | 2013-09-22 | 2014-04-16 | 人民电缆集团有限公司 | Novel communication cable for control cabinet |
| CN205081435U (en) * | 2015-10-08 | 2016-03-09 | 上元电力科技有限公司 | High -voltage cable fixing clamp |
| CN208028513U (en) * | 2018-02-28 | 2018-10-30 | 江苏恒铭达航空设备有限公司 | The convenient cable fixed mount of helicopter |
| CN209224100U (en) * | 2018-11-01 | 2019-08-09 | 珠海格力智能装备有限公司 | Cable immobilizing structure and robot with it |
| CN111313352A (en) * | 2020-03-19 | 2020-06-19 | 青岛正为能源科技有限公司 | Cable fixed connection device |
| CN214643785U (en) * | 2021-01-08 | 2021-11-09 | 埃夫特智能装备股份有限公司 | Cable fixing assembly for robot |
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