CN113146682A - Wire fixing device and robot - Google Patents
Wire fixing device and robot Download PDFInfo
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- CN113146682A CN113146682A CN202110529397.3A CN202110529397A CN113146682A CN 113146682 A CN113146682 A CN 113146682A CN 202110529397 A CN202110529397 A CN 202110529397A CN 113146682 A CN113146682 A CN 113146682A
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- 238000004804 winding Methods 0.000 claims abstract description 144
- 230000000149 penetrating effect Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 210000005069 ears Anatomy 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000739 chaotic effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention provides a wire fixing device and a robot, wherein the wire fixing device comprises: a support frame; a first winding rod; the second winding rod is arranged on the support frame; the telescopic piece group comprises at least one telescopic piece, the at least one telescopic piece is arranged on the support frame, and at least part of the telescopic piece is arranged in a telescopic mode and is connected with the first winding rod, so that the first winding rod is telescopic relative to the support frame. The cable fixing device is applied to the SCARA robot to solve the problem that cables at the small arm of the SCARA robot in the prior art are disordered.
Description
Technical Field
The invention relates to the field of robot equipment, in particular to a wire fixing device and a robot.
Background
In a scara (selective company Assembly Robot) Robot, a large number of cables are included in a small arm, and the small arm includes a power line, a code line, a ground line, and the like.
At present, too many cables are often placed in a mess, which causes great inconvenience in performing maintenance on the small arm of the robot; in addition, partial cable overlength, chaotic placing the cable can cause the phenomenon such as fifty percent discount binding of the cable of overlength, still can cause the friction phenomenon of cable and forearm upper part, and this is unfavorable for the life of cable, and has certain potential safety hazard.
Disclosure of Invention
The invention mainly aims to provide a wire fixing device and a robot, and aims to solve the problem of cable confusion at the small arm of the SCARA robot in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a wire fixing device including: a support frame; a first winding rod; the second winding rod is arranged on the support frame; the telescopic piece group comprises at least one telescopic piece, the at least one telescopic piece is arranged on the support frame, and at least part of the telescopic piece is arranged in a telescopic mode and is connected with the first winding rod, so that the first winding rod is telescopic relative to the support frame.
Further, the telescopic member includes: the shell is connected with the supporting frame; the telescopic rod, telescopic rod telescopically set up in the flexible intracavity that the shell encloses and stretch out from flexible intracavity to be connected with first wire winding pole.
Furthermore, the telescopic piece also comprises a sliding block which is slidably arranged in the telescopic cavity and connected with the telescopic rod so as to drive the telescopic rod to stretch; and/or the telescopic piece further comprises a first limiting part, a second limiting part and an elastic piece, wherein the first limiting part is fixedly arranged on the telescopic rod, and the telescopic rod is movably arranged relative to the second limiting part; the first limiting portion and the second limiting portion are arranged at intervals along the axial direction of the telescopic rod, and the elastic piece is located in the telescopic cavity and arranged between the first limiting portion and the second limiting portion.
Furthermore, the telescopic piece also comprises an operating part, and the operating part is movably arranged on the shell in a penetrating way along the telescopic direction of the telescopic rod and is connected with the telescopic rod so as to drive the telescopic rod to stretch; or the operating part is arranged on the shell in a penetrating way and is in threaded connection with the shell, the operating part is connected with the telescopic rod, and the extension direction of the rotating axis of the operating part is parallel to or the same as the extension direction of the telescopic rod so as to drive the telescopic rod to extend and retract by rotating the operating part; or, the shell includes shell body and the lid with shell body threaded connection, and the operation portion is fixed to be worn to establish on the lid and is connected with the telescopic link, and the extending direction of the axis of rotation of lid is parallel with the flexible direction of telescopic link or the same to when the lid rotates, it is flexible to drive the telescopic link through the operation portion.
Further, the central axis of the first winding rod and the central axis of the second winding rod are parallel.
Furthermore, first wire winding pole is a plurality of, and the extension piece group is the multiunit, and a plurality of first wire winding poles set up with multiunit extension piece group one-to-one.
Furthermore, the number of the first winding rods is two, and the central axes of the two first winding rods are parallel to each other; the two groups of telescopic pieces are respectively arranged corresponding to the two first winding rods one by one; two first wire winding poles stretch out and draw back along first direction and second direction respectively, and first direction and second direction are predetermined contained angle setting.
According to another aspect of the invention, a robot is provided, which comprises the wire fixing device.
The robot further comprises a first mechanical arm, the wire fixing device is arranged on the first mechanical arm, and the wires led out from the parts arranged on the first mechanical arm are divided into a first wire group and a second wire group; the wire body of the first wire body group is wound on the first winding rod, and the wire body of the second wire body group is wound on the second winding rod; and/or the robot also comprises a base and a threading pipe, wherein one end of the threading pipe is connected with the base, and the other end of the threading pipe is arranged on a support frame of the thread fixing device in a penetrating way; the third line body group led out from the machine base is arranged in the threading pipe in a penetrating way.
By applying the technical scheme of the invention, the wire fixing device comprises a support frame, a first wire winding rod, a second wire winding rod and a telescopic group, wherein both the first wire winding rod and the second wire winding rod can be used for winding a wire body; the second winding rod is arranged on the support frame; when the telescopic piece group comprises a telescopic piece, at least part of the telescopic piece is arranged in a telescopic way and is connected with the first winding rod so as to drive the first winding rod to be telescopic, and further the first winding rod is telescopic relative to the support frame; when the extension piece group comprises a plurality of extension pieces, at least part of each extension piece is arranged telescopically, at least part of each extension piece is connected with the first winding rod, the first winding rod is driven to extend and retract together, and therefore the first winding rod is telescopic relative to the support frame. Through making first wire winding pole telescopically set up to when twining the line body of establishing on first wire winding pole and dragging, can make first wire winding pole and twine and establish and keep good cooperation between the line body above that through the flexible degree of adjusting first wire winding pole adaptively, make to twine the line body of establishing on first wire winding pole and be in suitable length, in order to avoid twining the line body of establishing on first wire winding pole and excessively to be dragged and cause certain damage to the line body, and then avoid causing the influence to the life of the line body. Therefore, the problem of disordered placement of the wire body can be solved by using the wire fixing device and winding the wire body on the first wire winding rod and/or the second wire winding rod of the wire fixing device.
In the specific implementation process, the wire fixing device is applied to the SCARA robot, so that cables at the small arm of the SCARA robot are wound on the first wire winding rod and/or the second wire winding rod, the cable at the small arm of the SCARA robot is sorted, and the problem of disorder of the cables at the small arm of the SCARA robot in the prior art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic structural view of a thread-fixing device according to the invention;
fig. 2 shows a schematic view of the internal structure of the telescopic part of the thread-fixing device according to the invention;
fig. 3 shows a schematic structural view of a robot according to the invention.
Wherein the figures include the following reference numerals:
100. a wire fixing device;
10. a support frame; 11. a support plate; 12. a fixing plate;
20. a first winding rod; 30. a second winding rod;
40. a telescoping member; 41. a housing; 411. a telescoping chamber; 412. a housing body; 413. a cover body; 4131. a covering part; 4132. a capping portion; 42. a telescopic rod; 43. an elastic member; 44. a flange portion; 45. a gasket; 46. a slider; 47. an operation section;
50. a connecting plate; 51. hooping; 52. fastening a nut;
200. a robot; 210. a machine base; 220. a threading tube; 230. a first robot arm; 240. a second mechanical arm;
251. a first motor encoding line; 252. a first motor power line; 261. a third motor encoding line; 262. a third motor power line; 271. an energy-saving lamp wire; 272. a switch line; 273. a ground line; 281. a second motor encoding line; 282. a second motor power line; 290. and a third set of lines.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Referring to fig. 1 and 2, the wire fixing device 100 includes a supporting frame 10, a first wire winding rod 20, a second wire winding rod 30, and a telescopic member set, wherein the second wire winding rod 30 is disposed on the supporting frame 10; the telescopic member group comprises at least one telescopic member 40, the at least one telescopic member 40 is arranged on the support frame 10, and at least part of the telescopic member 40 is telescopically arranged and connected with the first winding rod 20, so that the first winding rod 20 can be telescopic relative to the support frame 10.
In the wire fixing device 100 of the present invention, the wire fixing device 100 includes a support frame 10, a first wire winding rod 20, a second wire winding rod 30, and a telescopic group, and both the first wire winding rod 20 and the second wire winding rod 30 can be used for winding a wire body; the second winding rod 30 is arranged on the support frame 10; when the telescopic member group comprises a telescopic member 40, at least a part of the telescopic member 40 is telescopically arranged and connected with the first winding rod 20 so as to drive the first winding rod 20 to stretch, and further the first winding rod 20 can stretch relative to the support frame 10; when the extensible member group includes a plurality of extensible members 40, the equal retractable setting of at least part of each extensible member 40, the at least part of a plurality of extensible members 40 all is connected with first wire winding pole 20 to it is flexible to drive first wire winding pole 20 jointly, and then realizes that first wire winding pole 20 is scalable relative to support frame 10. Through making first wire winding pole 20 telescopically set up to when twining the line body of establishing on first wire winding pole 20 and dragging, can make first wire winding pole 20 and twine and establish and keep good cooperation between the line body above that through the flexible degree of adjusting first wire winding pole 20 adaptively, make to twine the line body of establishing on first wire winding pole 20 and be in suitable length, excessively drag and cause certain damage to the line body in order to avoid twining the line body of establishing on first wire winding pole 20, and then avoid causing the influence to the life of the line body. It can be seen that the problem of disordered placement of wire bodies can be solved by using the wire fixing device 100 and winding the wire bodies on the first winding rod 20 and/or the second winding rod 30 of the wire fixing device 100.
In the specific implementation process, the wire fixing device 100 is applied to the SCARA robot, so that cables at the small arm of the SCARA robot are wound on the first wire winding rod 20 and/or the second wire winding rod 30, the cable at the small arm of the SCARA robot is sorted, and the problem of cable disorder at the small arm of the SCARA robot in the prior art is solved.
Alternatively, the expansion and contraction direction of the first winding rod 20 is perpendicular to the axial direction thereof.
Alternatively, the second winding rod 30 is fixedly disposed on the supporting bracket 10.
In the present application, the specific structure of each telescopic member 40 is as follows:
in the embodiment, the telescopic member 40 comprises a housing 41 and a telescopic rod 42, wherein the housing 41 is connected with the support frame 10; the telescopic rod 42 is telescopically arranged in a telescopic cavity 411 surrounded by the housing 41 and extends out of the telescopic cavity 411 to be connected with the first winding rod 20, namely, the telescopic rod 42 is made to stretch to drive the first winding rod 20 to stretch.
Specifically, the telescopic rod 42 is fixedly sleeved on the first winding rod 20.
Specifically, the telescopic member 40 further comprises a sliding block 46, and the sliding block 46 is slidably disposed in the telescopic cavity 411 and connected with the telescopic rod 42, so as to drive the telescopic rod 42 to extend and retract by sliding the sliding block 46 to and fro. Wherein, the sliding block 46 slides along the inner wall of the telescopic cavity 411, and the sliding direction of the sliding block 46 is the same as or parallel to the telescopic direction of the telescopic rod 42.
Specifically, the extensible member 40 further includes an operating portion 47, and the operating portion 47 is connected to the extensible rod 42 to extend and retract the extensible rod 42 by operating the operating portion 47. Wherein, one end of the telescopic rod 42 extends out from the telescopic cavity 411, and the other end of the telescopic rod 42 is connected with the operation part 47.
More specifically, the operating portion 47 is connected to the slider 46, and the slider 46 is reciprocally slid by operating the operating portion 47; namely, the operation section 47 is connected to the telescopic rod 42 via the slider 46.
More specifically, the slider 46 is provided with a first groove in which the operating portion 47 is inserted; the slider 46 is provided with a second groove, and the telescopic rod 42 is inserted into the second groove.
Specifically, part of the body of the operating portion 47 protrudes from the telescopic chamber 411, and the part of the body of the operating portion 47 protruding from the telescopic chamber 411 functions as an operating portion.
Alternatively, the housing 41 has a cylindrical structure, and a part of the body of the operating portion 47 and the telescopic rod 42 respectively protrude from both ends of the housing 41.
In the present embodiment, the housing 41 includes a housing body 412 and a cover 413 covering the housing body 412, and the housing body 412 and the cover 413 enclose a telescopic cavity 411.
Specifically, a part of the body of the operation portion 47 extends from the cover 413, and the extendable rod 42 extends from the case body 412.
In the present embodiment, the first engagement manner of the operation portion 47 and the housing 41 is: the operation unit 47 is inserted into the housing 41 so as to be movable in the extending and retracting direction of the extensible rod 42, and the slider 46 is reciprocated and slid by moving the operation unit 47 in the extending and retracting direction of the extensible rod 42, thereby extending and retracting the extensible rod 42.
In the present embodiment, the second engagement manner of the operation portion 47 and the housing 41 is: the operating portion 47 is inserted into the housing 41 and is screwed to the housing 41, and the extending direction of the rotation axis of the operating portion 47 is parallel to or the same as the extending and retracting direction of the telescopic rod 42, so that the slider 46 is reciprocated and slid by rotating the operating portion 47, and the telescopic rod 42 is extended and retracted. Alternatively, the operating portion 47 is a bolt or a screw.
In the present embodiment, the third engagement manner of the operation portion 47 and the housing 41 is: the shell body 412 is in threaded connection with the cover body 413, the operating part 47 is fixedly arranged on the cover body 413 in a penetrating mode and is connected with the telescopic rod 42, and the extending direction of the rotating axis of the cover body 413 is parallel to or the same as the extending direction of the telescopic rod 42, so that when the cover body 413 rotates relative to the shell body 412, the telescopic rod 42 can be driven to extend and retract through the operating part 47; in the specific implementation process, the operation portion 47 is rotated to enable the operation portion 47 to drive the cover 413 to rotate, and then the cover 413 drives the operation portion 47 to move along the extending direction of the telescopic rod 42, so as to drive the telescopic rod 42 to extend and retract. Alternatively, the operating portion 47 is a bolt or a screw.
Specifically, the cover 413 includes a cover portion 4131 and a cover attachment portion 4132 connected to each other, at least a portion of the cover attachment portion 4132 is located inside the case body 412, and an outer wall of the cover attachment portion 4132 and an inner wall of the case body 412 are screwed; the cover 4131 is located outside the case body 412.
Specifically, the cover 413 is a columnar structure; the covering portion 4131 and the covering portion 4132 are both columnar, and the outer circumference of the cross section of the covering portion 4131 perpendicular to the extending direction of the lid 413 is larger than the outer circumference of the cross section of the covering portion 4132 perpendicular to the extending direction of the lid 413; the extending direction of the cover 413 is parallel to or the same as the extending and retracting direction of the telescopic rod 42.
In this embodiment, the telescopic member 40 further includes a first limiting portion, a second limiting portion and an elastic member 43, the first limiting portion is fixedly disposed on the telescopic rod 42, and the telescopic rod 42 is movably disposed relative to the second limiting portion; the first limiting part and the second limiting part are arranged at intervals along the axial direction of the telescopic rod 42, and the elastic piece 43 is positioned in the telescopic cavity 411 and arranged between the first limiting part and the second limiting part; make elastic member 43 provide certain power or resistance to the flexible of telescopic link 42 through setting up elastic member 43, and then can realize that telescopic link 42's single flexible volume is less to the realization is to the flexible fine setting effect of first wire winding pole 20.
The elastic member 43 abuts against the second stopper.
Optionally, the elastic member 43 is a spring or an elastic sleeve, and the elastic member 43 is sleeved on the telescopic rod 42.
Alternatively, the telescopic rod 42 is provided with a flange portion 44, and the flange portion 44 forms the first stopper portion.
Optionally, the telescopic member 40 further includes a gasket 45 fixedly disposed in the telescopic cavity 411, and the gasket 45 forms the second limiting portion; the telescopic rod 42 is telescopically inserted on the gasket 45. Alternatively, a part of the body of the housing 41 forms the second stopper.
Optionally, the first limiting part is located at one end of the telescopic rod 42 close to the sliding block 46 and/or the operating part 47; the second limit portion is disposed near the extending end of the telescopic rod 42.
In the present embodiment, the central axis of the first winding rod 20 and the central axis of the second winding rod 30 are parallel.
In the present embodiment, the supporting frame 10 includes a fixing plate 12 and two supporting plates 11 disposed oppositely, and both the two supporting plates 11 are fixedly disposed on the fixing plate 12; wherein, the fixing plate 12 and the two supporting plates 11 are of an integrally formed structure.
Specifically, the second wire winding rod 30 is threaded on the two support plates 11.
In particular, the set of telescopic elements comprises two telescopic elements 40, the two telescopic elements 40 being respectively connected to the two support plates 11.
Specifically, the wire fixing device 100 further includes two connecting plates 50, and the two connecting plates 50 are respectively connected with the two support plates 11; the two telescopic members 40 are respectively connected with the two connecting plates 50, so that each telescopic member 40 is connected with the corresponding supporting plate 11 through the corresponding connecting plate 50, and each connecting plate 50 plays a role in fixing and supporting the corresponding telescopic member 40.
Specifically, the wire fixing device 100 further includes two anchor ears 51, and the two anchor ears 51 are disposed in one-to-one correspondence with the two expansion pieces 40 and in one-to-one correspondence with the two connecting plates 50, so as to fixedly connect the corresponding expansion piece 40 and the corresponding connecting plate 50 through each anchor ear 51.
Specifically, the second winding rod 30 is disposed through the two connecting plates 50, the wire fixing device 100 further includes two fastening nuts 52, the two fastening nuts 52 are disposed in one-to-one correspondence with the two supporting plates 11 and in one-to-one correspondence with the two connecting plates 50, and each supporting plate 11 is located between the corresponding connecting plate 50 and the corresponding fastening nut 52, so that the corresponding connecting plate 50, the corresponding supporting plate 11, and the second winding rod 30 are relatively fixed by screwing each fastening nut 52 onto the second winding rod 30. Wherein, two fastening nuts 52 are respectively located at both ends of the second winding rod 30.
In this embodiment, the first winding rods 20 are multiple, the telescopic members are multiple groups, and the first winding rods 20 and the telescopic members are arranged in one-to-one correspondence.
Alternatively, two hoops 51 are arranged in pairs, the hoops 51 are in multiple pairs, and the multiple pairs of hoops 51 are arranged in one-to-one correspondence with the multiple sets of extensible members, so that the two hoops 51 of each pair of hoops 51 are arranged in one-to-one correspondence with the two extensible members 40 of the corresponding set of extensible members. The two telescopic members 40 of each group of telescopic members are arranged in one-to-one correspondence with the two support plates 11, and the two telescopic members 40 of each group of telescopic members are arranged in one-to-one correspondence with the two connecting plates 50.
Alternatively, the central axes of the plurality of first winding rods 20 are all parallel.
For example, there are two first winding rods 20, and the central axes of the two first winding rods 20 are parallel to each other; the two groups of telescopic pieces are respectively arranged corresponding to the two first winding rods 20 one by one; the two first wire winding rods 20 are respectively telescopic along a first direction and a second direction, and the first direction and the second direction are arranged at a preset included angle, so that the mutual interference between a wire body wound on the first wire winding rod 20 and a wire body wound on the second wire winding rod 30 is avoided.
Optionally, the predetermined included angle is an obtuse angle.
Optionally, the second winding rod 30 is disposed between the two first winding rods 20.
The invention further provides a robot 200, as shown in fig. 1 to 3, the robot 200 includes the wire fixing device 100. The wire fixing device 100 is used, so that later maintenance and cable maintenance of the robot 200 are convenient, the cable can be protected, and potential safety hazards are reduced. Optionally, the robot 200 is a SCARA robot.
Specifically, the robot 200 further includes a first robot arm 230, the wire fixing device 100 is disposed on the first robot arm 230, and wires led out from components disposed on the first robot arm 230 are divided into a first wire group and a second wire group; the wire of the first wire group is wound on the first winding rod 20, and the wire of the second wire group is wound on the second winding rod 30. Optionally, the first robot arm 230 is a forearm of a SCARA robot.
Optionally, when the first wire body groups are multiple groups, each group of the first wire body groups is disposed corresponding to one first winding rod 20.
When the cable sorting device is used specifically, the cables of the robot 200 can be classified and wound, so that the cable sorting effect of the robot 200 is further improved, and the cables are maintained more conveniently in the later period; moreover, the phenomenon of folding the cables of the robot 200 in half is avoided, the service life of the cables of the robot 200 is prolonged, and the potential safety hazard of damage of the cables of the robot 200 is reduced.
Optionally, the first mechanical arm 230 is provided with three motors, which are a first motor, a second motor and a third motor respectively; the first motor is arranged close to one of the two first winding rods 20, and a first motor coding wire 251 and a first motor power wire 252 led out from the first motor form a first wire body group; the third motor is arranged close to the other first winding rod 20 of the two first winding rods 20, and a third motor coding wire 261, a third motor power wire 262, an energy-saving lamp wire 271 and a switch wire 272 which are led out from the third motor form another group of first wire body groups; the two first thread groups are respectively wound on the two first winding rods 20. The second motor is arranged close to the second winding rod 30, and a second motor code line 281, a second motor power line 282 and a second motor grounding line 273 led out from the second motor form a second wire group.
Specifically, the support stand 10 is disposed on the first robot arm 230, i.e., the fixed plate 12 is disposed on the first robot arm 230.
Specifically, the robot 200 further comprises a base 210 and a threading pipe 220, wherein one end of the threading pipe 220 is connected with the base 210, and the other end of the threading pipe 220 is arranged on the support frame 10 of the thread fixing device 100 in a penetrating manner; the third wire body 290 led out from the machine base 210 is inserted into the threading pipe 220.
Optionally, the conduit 220 is a bellows.
Specifically, the first robot arm 230 is connected to the base 210; further, the robot 200 further includes a second robot arm 240, and the second robot arm 240 is connected to the base 210 and to the first robot arm 230.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
in the wire fixing device 100 of the present invention, the wire fixing device 100 includes a support frame 10, a first wire winding rod 20, a second wire winding rod 30, and a telescopic group, and both the first wire winding rod 20 and the second wire winding rod 30 can be used for winding a wire body; the second winding rod 30 is arranged on the support frame 10; when the telescopic member group comprises a telescopic member 40, at least a part of the telescopic member 40 is telescopically arranged and connected with the first winding rod 20 so as to drive the first winding rod 20 to stretch, and further the first winding rod 20 can stretch relative to the support frame 10; when the extensible member group includes a plurality of extensible members 40, the equal retractable setting of at least part of each extensible member 40, the at least part of a plurality of extensible members 40 all is connected with first wire winding pole 20 to it is flexible to drive first wire winding pole 20 jointly, and then realizes that first wire winding pole 20 is scalable relative to support frame 10. Through making first wire winding pole 20 telescopically set up to when twining the line body of establishing on first wire winding pole 20 and dragging, can make first wire winding pole 20 and twine and establish and keep good cooperation between the line body above that through the flexible degree of adjusting first wire winding pole 20 adaptively, make to twine the line body of establishing on first wire winding pole 20 and be in suitable length, excessively drag and cause certain damage to the line body in order to avoid twining the line body of establishing on first wire winding pole 20, and then avoid causing the influence to the life of the line body. It can be seen that the problem of disordered placement of wire bodies can be solved by using the wire fixing device 100 and winding the wire bodies on the first winding rod 20 and/or the second winding rod 30 of the wire fixing device 100.
In the specific implementation process, the wire fixing device 100 is applied to the SCARA robot, so that cables at the small arm of the SCARA robot are wound on the first wire winding rod 20 and/or the second wire winding rod 30, the cable at the small arm of the SCARA robot is sorted, and the problem of cable disorder at the small arm of the SCARA robot in the prior art is solved.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A wire fixing device is characterized by comprising:
a support frame (10);
a first winding rod (20);
a second winding rod (30), wherein the second winding rod (30) is arranged on the support frame (10);
the telescopic piece group comprises at least one telescopic piece (40), the at least one telescopic piece (40) is arranged on the support frame (10), and at least part of the telescopic piece (40) is arranged in a telescopic mode and is connected with the first winding rod (20) so that the first winding rod (20) can stretch and retract relative to the support frame (10).
2. The thread-fixing device according to claim 1, characterized in that the telescopic member (40) comprises:
a housing (41), the housing (41) being connected to the support frame (10);
the telescopic rod (42) is arranged in a telescopic cavity (411) surrounded by the shell (41) in a telescopic mode, and the telescopic rod (42) stretches out of the telescopic cavity (411) to be connected with the first winding rod (20).
3. The thread-fixing device as claimed in claim 2,
the telescopic piece (40) further comprises a sliding block (46), and the sliding block (46) is slidably arranged in the telescopic cavity (411) and connected with the telescopic rod (42) so as to drive the telescopic rod (42) to stretch and retract; and/or
The telescopic piece (40) further comprises a first limiting part, a second limiting part and an elastic piece (43), the first limiting part is fixedly arranged on the telescopic rod (42), and the telescopic rod (42) is movably arranged relative to the second limiting part; the first limiting portion and the second limiting portion are arranged at intervals along the axial direction of the telescopic rod (42), and the elastic piece (43) is located in the telescopic cavity (411) and arranged between the first limiting portion and the second limiting portion.
4. Thread-fixing device according to claim 2, characterized in that the telescopic part (40) further comprises an operating part (47),
the operating part (47) is movably arranged on the shell (41) in a penetrating manner along the telescopic direction of the telescopic rod (42) and is connected with the telescopic rod (42) so as to drive the telescopic rod (42) to extend and retract; or
The operating part (47) is arranged on the shell (41) in a penetrating mode and is in threaded connection with the shell (41), the operating part (47) is connected with the telescopic rod (42), the extending direction of the rotating axis of the operating part (47) is parallel to or the same as the telescopic direction of the telescopic rod (42), and the telescopic rod (42) is driven to stretch and retract by rotating the operating part (47); or
The shell (41) comprises a shell body (412) and a cover body (413) in threaded connection with the shell body (412), the operation portion (47) is fixedly arranged on the cover body (413) in a penetrating mode and connected with the telescopic rod (42), the extending direction of the rotating axis of the cover body (413) is parallel to or the same as the telescopic direction of the telescopic rod (42), and when the cover body (413) rotates, the telescopic rod (42) is driven to stretch through the operation portion (47).
5. The wire fixing device according to claim 1, characterized in that the central axis of the first winding rod (20) and the central axis of the second winding rod (30) are parallel.
6. The thread-fixing device according to claim 1, characterized in that the supporting frame (10) comprises two supporting plates (11) arranged oppositely;
the second winding rods (30) penetrate through the two support plates (11); and/or
The telescopic piece group comprises two telescopic pieces (40), and the two telescopic pieces (40) are respectively connected with the two supporting plates (11).
7. The wire fixing device according to claim 1, wherein the number of the first winding rods (20) is plural, the number of the telescopic members is plural, and the plural first winding rods (20) are arranged in one-to-one correspondence with the plural telescopic members.
8. The thread-fixing device according to claim 1, characterized in that there are two first winding rods (20), the central axes of the two first winding rods (20) being parallel to each other; the two groups of telescopic pieces are respectively arranged corresponding to the two first winding rods (20) one by one;
the two first winding rods (20) stretch in a first direction and a second direction respectively, and the first direction and the second direction are arranged at a preset included angle.
9. A robot, characterized by comprising a thread-fixing device (100), the thread-fixing device (100) being as claimed in any one of claims 1 to 8.
10. The robot of claim 9,
the robot further comprises a first mechanical arm (230), the wire fixing device (100) is arranged on the first mechanical arm (230), and wires led out from components arranged on the first mechanical arm (230) are divided into a first wire group and a second wire group; the wire body of the first wire body group is wound on the first winding rod (20), and the wire body of the second wire body group is wound on the second winding rod (30); and/or
The robot further comprises a base (210) and a threading pipe (220), one end of the threading pipe (220) is connected with the base (210), and the other end of the threading pipe (220) is arranged on a support frame (10) of the thread fixing device (100) in a penetrating mode; a third wire body group (290) led out from the machine base (210) penetrates through the threading pipe (220).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110529397.3A CN113146682B (en) | 2021-05-14 | 2021-05-14 | Wire fixing device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110529397.3A CN113146682B (en) | 2021-05-14 | 2021-05-14 | Wire fixing device and robot |
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| CN113146682A true CN113146682A (en) | 2021-07-23 |
| CN113146682B CN113146682B (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110529397.3A Active CN113146682B (en) | 2021-05-14 | 2021-05-14 | Wire fixing device and robot |
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| GB8714841D0 (en) * | 1987-06-24 | 1987-07-29 | Hawkins G J | Telescopic extension handle |
| JPH1058376A (en) * | 1996-08-20 | 1998-03-03 | Sony Corp | Robot |
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| CN113146682B (en) | 2023-07-14 |
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