CN113927630A - Rotary joint wiring structure - Google Patents
Rotary joint wiring structure Download PDFInfo
- Publication number
- CN113927630A CN113927630A CN202111557705.XA CN202111557705A CN113927630A CN 113927630 A CN113927630 A CN 113927630A CN 202111557705 A CN202111557705 A CN 202111557705A CN 113927630 A CN113927630 A CN 113927630A
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- China
- Prior art keywords
- cable
- gland
- rotary joint
- connecting shaft
- cable section
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention belongs to the field of industrial robots, and particularly relates to a rotary joint wiring structure which comprises a rotary joint structural part A, a rotary joint structural part B, a cable and a connecting shaft, wherein one end of the connecting shaft is fixedly connected with the rotary joint structural part A, the other end of the connecting shaft is rotatably connected with the rotary joint structural part B, and the other end of the connecting shaft is fixedly connected with a gland A. The cable comprises a cable section A, a cable section B and a cable section C which are continuously arranged in three sections, wherein the cable section A is fixed on the rotary joint structural part B, the cable section C penetrates through the gland A and is clamped by a cable fixing head on the gland A, and the cable section B is spirally arranged on one side of the gland A far away from the connecting shaft in a plane to form a structural form of a plane torsion spring. According to the invention, through the arrangement structure of the planar torsion spring-shaped cable, the occupied space in the thickness direction can be greatly reduced, the required effective number of turns is small, the structure is more reliable, and the integral reliability of the equipment is favorably improved.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a rotary joint wiring structure.
Background
At industrial robot's rotary joint department, often can involve the condition that needs pass through the cable, especially in industrial robot wrist department, structural space is originally not enough, hardly realizes the function of inside line of walking. This causes that sometimes the robot wrist has to be made large, or the overall structure scheme of the robot is changed, and cables are not passed through the rotary joints, which finally results in the unfavorable results of increased material cost, increased assembly difficulty, complex transmission structure and the like of the robot.
In order to solve the above problems, the following two solutions are currently common:
1. the cables are arranged outside the robot and not inside the robot. This solution has two disadvantages: the overall structure size of the robot is increased for a moment, and due to the adoption of the scheme, the structure size of a rotary joint cannot be reduced, and the space for cables needs to be additionally increased; secondly, the cable is in the rotary joint, and in the operation process of the robot, the cable can swing to a certain extent and risk of being hung and touched by surrounding objects, and finally the reliability of the whole robot is affected.
2. The cable itself is the torsional spring form, directly passes through in the rotary joint inner space, and rotary joint is in normal motion process, and the motion state of cable itself is similar with the torsional spring to adapt to rotary joint's motion demand. The problem of the scheme is three: firstly, robot joint rotation angle all is more than 250 degrees, and when the torsional spring form was done to the cable, required effective number of turns was more, otherwise can lead to the radius of gyration undersize of cable, arouses the cable damage. Secondly, because the required effective number of turns of the cable is large, the whole space for accommodating the action of the cable is increased, especially in the thickness direction of the joint; thirdly, the cable technology is relatively complex, the problem of the shape of the cable is solved, the problem of mutual friction between the cable and the structural part is also solved, and the problem of friction between the cable and the structural part is solved.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a rotary joint routing structure.
The purpose of the invention is realized by the following technical scheme:
a rotary joint wiring structure comprises a rotary joint structural part A, a rotary joint structural part B, a cable and a connecting shaft, wherein one end of the connecting shaft is fixedly connected with the rotary joint structural part A, the other end of the connecting shaft is rotatably connected with the rotary joint structural part B, and the other end of the connecting shaft is fixedly connected with a gland A;
the cable comprises a cable section A, a cable section B and a cable section C which are continuously arranged in three sections, wherein the cable section A is fixed on the rotary joint structural member B, the cable section C penetrates through the gland A, and the cable section B is spirally arranged on one side, far away from the connecting shaft, of the gland A in a plane.
The rotary joint structural part B is provided with a cable mounting port, an end cover is mounted on the cable mounting port, and a gap for accommodating the cable subsection B is formed between the end cover and the gland A.
A cable protection plate is installed on the inner side of the end cover, and the cable section B is arranged in a gap between the gland A and the cable protection plate.
The width of the gap between the gland A and the cable protection plate is larger than the diameter of the cable section B.
And the end cover is provided with a sealing gasket for sealing the cable mounting opening.
And a cable fixing head used for clamping the cable section C is arranged on the gland A.
The gland A is provided with a cable clamping block, the cable clamping block is used for clamping one end of the cable section B in a plane spiral shape, one end of the cable section B clamped by the cable clamping block is connected with the cable section C, and the other end of the cable section B is connected with the cable section A.
And one side surface of the gland A close to the cable section B is lubricated.
The connecting shaft is rotatably connected with the rotary joint structural part B through a bearing, the gland A presses an inner ring of the bearing, the rotary joint structural part B is further provided with a gland B for pressing an outer ring of the bearing, and one side surface of the gland B, which is close to the cable section B, is lubricated.
One side of the gland A close to the cable section B is flush with one side of the gland B close to the cable section B.
The invention has the advantages and positive effects that:
according to the invention, through the arrangement structure of the planar torsion spring-shaped cable, the occupied space in the thickness direction can be greatly reduced, the number of required effective turns is small, the structure is more reliable, and the overall reliability of the equipment is favorably improved; the gland A provided with the cable fixing head can play a role in clamping the cable; the surface of the gland A and the gland B which are lubricated and the end cover with the cable protection plate are matched, so that the cable can be prevented from being stacked in the gap, and abrasion is effectively reduced.
According to the invention, by adopting a mode of wiring inside the structure, the problems of bending space, fixed supports, cable protection and the like of the cable do not need to be considered outside the equipment, and because the external structure has strict sealing measures, a very good protection environment can be provided for the cable, so that compared with the mode of wiring outside, the structure is more compact and reasonable, the space requirement required by the whole motion of the equipment is favorably reduced, the protection condition of the cable is improved, and the whole reliability of the equipment is further improved.
Drawings
FIG. 1 is a schematic view of the overall internal structure of the rotary joint according to the present invention;
fig. 2 is an overall external structural view of a rotary joint corresponding to fig. 1;
FIG. 3 is a schematic view of the installation structure of the cable of the present invention;
fig. 4 is an enlarged view at X of fig. 1.
In the figure: the device comprises a connecting shaft 1, a gland A2, an end cover 3, a cable protection plate 4, a sealing gasket 5, a cable fixing head 6, a cable clamping block 7, a bearing 8, a gland B9, a P-shaped clamp 10, a rotary joint structural part A001, a rotary joint structural part B002, a cable 003, a motor 004 and a speed reducer 005.
Detailed Description
The invention is described in further detail below with reference to figures 1-4.
A rotary joint wiring structure is shown in figures 1-3 and comprises a rotary joint structural member A001, a rotary joint structural member B002, a cable 003 and a connecting shaft 1, wherein the connecting shaft 1 is of a hollow structure, one end of the connecting shaft 1 is fixedly connected with the rotary joint structural member A001 through a screw, the other end of the connecting shaft 1 is rotatably connected with the rotary joint structural member B002, and the other end of the connecting shaft 1 is fixedly connected with a gland A2 through a screw. In this embodiment, the rotary joint structural member a 001 is a robot wrist, the rotary joint structural member B002 is a robot forearm, the rotary joint structural member a 001 is provided with the motor 004, and the motor 004 drives the rotary joint structural member B002 to rotate around the connecting shaft 1 through the speed reducer 005.
The gland A2 is provided with a cable fixing head 6 for clamping the cable 003, and the cable fixing head 6 extends to the inner side of the connecting shaft 1. In this embodiment, the cable fixing head 6 is an external cable fixing head produced by katemseus corporation limited, and can effectively achieve waterproof and dustproof effects. A cable clamping block 7 is further mounted on the gland A2 through screws.
The cable 003 includes three sections of a cable section a, a cable section B and a cable section C which are continuously provided. The cable segment a is fixed inside the rotary joint structure B002 by a P-clip 10. The cable segment C penetrates through the cable fixing head 6 on the gland A2 and is clamped by the cable fixing head 6, and the cable segment C penetrating through the cable fixing head 6 is connected with the motor 004. The cable segmentation B is the plane heliciform and sets up in gland A2 and keeps away from one side of connecting axle 1, and cable clamp piece 7 presss from both sides the one end of the cable segmentation B that is the plane heliciform setting, and the one end of the cable segmentation B that is pressed from both sides tightly by cable clamp piece 7 is connected with the cable segmentation C that passes before gland A2, and the other end of cable segmentation B is connected with cable segmentation A, forms the structural style of plane torsional spring.
Specifically, a cable mounting opening is formed in the rotary joint structural member B002, an end cover 3 is mounted on the cable mounting opening, a cable protection plate 4 is mounted on the inner side of the end cover 3, and the cable segment B is arranged in a gap between the gland A2 and the cable protection plate 4. In the embodiment, the cable protection plate 4 is made of a lubricating material (such as polytetrafluoroethylene), so that the cable 003 can be prevented from directly contacting the end cover 3, and the abrasion can be effectively reduced. The width of the gap between the end cover 3 and the cable protection plate 4 is 2-3mm larger than the diameter of the cable section B, so as to prevent the cable 003 from stacking in the movement process. The end cover 3 is further provided with a sealing gasket 5 for sealing the cable mounting opening so as to ensure that dust and liquid cannot enter the space where the cable 003 is located.
Specifically, as shown in fig. 4, the connecting shaft 1 is rotatably connected to the rotary joint structural member B002 through the bearing 8, a seal ring is further provided at the rotational connection between the connecting shaft 1 and the rotary joint structural member B002, the gland A2 presses the inner ring of the bearing 8, and the gland B9 for pressing the outer ring of the bearing 8 is further mounted on the rotary joint structural member B002 through a screw. One side surface of the gland A2 close to the cable section B is flush with one side surface of the gland B9 close to the cable section B, so that the cable section B, and a gap between the gland A2 and the gland B9 can be prevented from being abraded; one side surface of the gland A2 close to the cable section B and one side surface of the gland B9 close to the cable section B are lubricated, for example, the surfaces are polished and then are sprayed with polytetrafluoroethylene, so that the abrasion of the cable section B can be effectively reduced.
The working principle is as follows:
the arrangement structure of the planar torsion spring-shaped cable 003 can greatly reduce the occupied space in the thickness direction, has fewer required effective turns, has more reliable structure and is beneficial to improving the overall reliability of equipment; the gland A provided with the cable fixing head 6 can play a role in clamping the cable 003; through the cooperation setting of gland A2 and gland B9 and the end cover 3 that is equipped with cable guard plate 4 that the lubricated processing is done on the surface, can prevent that cable 003 from appearing piling up the phenomenon in the clearance to effectively reduce wearing and tearing.
Claims (10)
1. The utility model provides a rotary joint walks line structure which characterized in that: the connecting device comprises a rotary joint structural part A (001), a rotary joint structural part B (002), a cable (003) and a connecting shaft (1), wherein one end of the connecting shaft (1) is fixedly connected with the rotary joint structural part A (001), the other end of the connecting shaft is rotatably connected with the rotary joint structural part B (002), and the other end of the connecting shaft (1) is fixedly connected with a gland A (2);
the cable (003) comprises three cable segments A, B and C which are continuously arranged, wherein the cable segment A is fixed on the rotary joint structural member B (002), the cable segment C penetrates through the gland A (2), and the cable segment B is spirally arranged on one side of the gland A (2) far away from the connecting shaft (1).
2. The revolute joint routing structure of claim 1, wherein: the rotary joint structural part B (002) is provided with a cable mounting port, the cable mounting port is provided with an end cover (3), and a gap for accommodating the cable subsection B is formed between the end cover (3) and the gland A (2).
3. The revolute joint routing structure of claim 2, wherein: a cable protection plate (4) is installed on the inner side of the end cover (3), and the cable section B is arranged in a gap between the gland A (2) and the cable protection plate (4).
4. The revolute joint routing structure of claim 3, wherein: the width of the gap between the gland A (2) and the cable protection plate (4) is larger than the diameter of the cable section B.
5. The revolute joint routing structure of claim 2, wherein: and a sealing gasket (5) for sealing the cable mounting opening is arranged on the end cover (3).
6. The revolute joint routing structure of claim 1, wherein: and a cable fixing head (6) used for clamping the cable segment C is arranged on the gland A (2).
7. The revolute joint routing structure of claim 1, wherein: install cable clamp tight piece (7) on gland A (2), cable clamp tight piece (7) press from both sides and be plane heliciform setting cable section B's one end, quilt cable clamp tight piece (7) press from both sides cable section B's one end is connected with cable section C, cable section B's the other end with cable section A connects.
8. The revolute joint routing structure of claim 1, wherein: and one side surface of the gland A (2) close to the cable section B is lubricated.
9. The revolute joint routing structure of claim 1, wherein: connecting axle (1) through bearing (8) with rotary joint structure B (002) rotates to be connected, gland A (2) are pushed down the inner circle of bearing (8), still install on rotary joint structure B (002) and be used for pushing down gland B (9) of the outer lane of bearing (8), gland B (9) are close to lubricated processing is done to a side of cable segmentation B.
10. The revolute joint routing structure of claim 9, wherein: one side of the gland A (2) close to the cable section B is flush with one side of the gland B (9) close to the cable section B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111557705.XA CN113927630A (en) | 2021-12-20 | 2021-12-20 | Rotary joint wiring structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111557705.XA CN113927630A (en) | 2021-12-20 | 2021-12-20 | Rotary joint wiring structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113927630A true CN113927630A (en) | 2022-01-14 |
Family
ID=79289307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111557705.XA Withdrawn CN113927630A (en) | 2021-12-20 | 2021-12-20 | Rotary joint wiring structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113927630A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753602A (en) * | 2014-01-26 | 2014-04-30 | 南京埃斯顿机器人工程有限公司 | Hollow forearm and wrist structure for low-load industrial robot |
| CN104029213A (en) * | 2013-03-07 | 2014-09-10 | 工程服务公司 | Two-joint Module |
| CN106466850A (en) * | 2015-08-21 | 2017-03-01 | 台达电子工业股份有限公司 | Mechanical arm wrist unit and its Wiring structure |
| CN207344625U (en) * | 2017-10-27 | 2018-05-11 | 珠海格力智能装备有限公司 | Cable immobilizing structure and there is its robot |
| CN209408528U (en) * | 2018-12-07 | 2019-09-20 | 南京埃斯顿机器人工程有限公司 | A kind of industrial robot joint winding mechanism |
| CN110315518A (en) * | 2018-03-30 | 2019-10-11 | 发那科株式会社 | Robot driving unit and robot |
-
2021
- 2021-12-20 CN CN202111557705.XA patent/CN113927630A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029213A (en) * | 2013-03-07 | 2014-09-10 | 工程服务公司 | Two-joint Module |
| CN103753602A (en) * | 2014-01-26 | 2014-04-30 | 南京埃斯顿机器人工程有限公司 | Hollow forearm and wrist structure for low-load industrial robot |
| CN106466850A (en) * | 2015-08-21 | 2017-03-01 | 台达电子工业股份有限公司 | Mechanical arm wrist unit and its Wiring structure |
| CN207344625U (en) * | 2017-10-27 | 2018-05-11 | 珠海格力智能装备有限公司 | Cable immobilizing structure and there is its robot |
| CN110315518A (en) * | 2018-03-30 | 2019-10-11 | 发那科株式会社 | Robot driving unit and robot |
| CN209408528U (en) * | 2018-12-07 | 2019-09-20 | 南京埃斯顿机器人工程有限公司 | A kind of industrial robot joint winding mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220114 |