CN207789009U - A kind of hollow arrangement for threading motor cable in industrial robot forearm - Google Patents
A kind of hollow arrangement for threading motor cable in industrial robot forearm Download PDFInfo
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- CN207789009U CN207789009U CN201721905287.8U CN201721905287U CN207789009U CN 207789009 U CN207789009 U CN 207789009U CN 201721905287 U CN201721905287 U CN 201721905287U CN 207789009 U CN207789009 U CN 207789009U
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- forearm
- hollow shaft
- cable
- motor cable
- hollow
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Abstract
A kind of hollow arrangement for threading motor cable in industrial robot forearm; forearm passes through forearm wire wrap and babinet coiling cage connection hollow shaft gear case body; crossed roller bearing, hollow shaft, transmission gear and anti-mill axle sleeve is equipped in hollow shaft gear case body; anti-mill axle sleeve 3, crossed roller bearing 2, transmission gear 6 and hollow shaft 7 link together; form the threading hole of hollow cable, line is crossed for External cable；Forearm wire wrap and babinet coiling cage connection form enclosure space, and hollow shaft passes through the enclosure space, and the winding space of forearm motor cable is constituted between the inner wall and hollow shaft outer wall of enclosure space.The utility model China and foreign countries scoop out non-interference with cable and motor cable, and cable is correspondingly provided with abrasion-proof structure, extends the cable service life and reduces noise, the installation space relative closure of cable, it will not be set as U-shaped by external interference, motor cable, it can be with the rotation rotary motion of forearm.
Description
Technical field
The utility model belongs to Industrial Robot Technology field, for motor lines in a kind of hollow threading industrial robot forearm
The arrangement of cable.
Background technology
To prevent the plug-in cable and industrial robot body interference of the applications such as welding, the fortune in robot wrist joint is influenced
Dynamic angle, external cable is passed through in the threading hole with hollow arm axis, is to solve the problems, such as this good approach.Due to
The motor of robot wrist is installed in forearm shell, and can the whip revolution of arm axle of motor cable rotates together, if arrangement is improper,
The winding of cable can be caused impaired, influence the normal operation of robot.
Chinese invention application《The Wiring structure of five or six spindle motor of Six-DOF industrial robot》(CN105904445A) it is situated between
Continued a kind of Wiring structure, and the two spaces formed using cannulated sleeve and central rotating shaft are each passed through robot body motor
Cable and external equipment cable, spaces compact keeps each cable wiring clear, non-interference.But there is also following disadvantages：1) it is used for
The shield wire spring of protection motor cable is easy to add between cannulated sleeve and the inside and outside wall of central rotating shaft in the axis revolution at a high speed
Speed wears and generates noise, influences the service life of cable；2) motor cable cabling space is not closed, and the impurity of exterior space can enter
Cabling space influences the movement of cable；3) two kinds of cables are run in forearm after polarizers of big angle scope returns former angle, and cable is difficult
It is U-shaped to revert to, lasting rotary motion cannot be formed.
Invention content
Problem to be solved in the utility model is：Wiring structure, which exists, in existing industrial machine human arm axis uses defect,
Influence the operation in cable service life and robot.
The technical solution of the utility model is：A kind of hollow arrangement knot for threading motor cable in industrial robot forearm
Structure, forearm are set in hollow shaft gear case body by forearm wire wrap and babinet coiling cage connection hollow shaft gear case body
There are crossed roller bearing, hollow shaft to be mounted on crossed roller bearing by transmission gear, abrasionproof axis is equipped with along hollow shaft inner wall
Set, anti-mill axle sleeve are mounted on crossed roller bearing, and anti-mill axle sleeve, transmission gear and hollow shaft rotate coaxially, in anti-mill axle sleeve
Line is crossed for External cable by portion；Forearm wire wrap and babinet coiling cage connection form enclosure space, and hollow shaft passes through described
Enclosure space constitutes the winding space of forearm motor cable between the inner wall and hollow shaft outer wall of enclosure space；Forearm with it is hollow
Axis is fixedly connected, and when transmission gear drives hollow shaft rotation, forearm turns round together, and forearm wire wrap is fixedly connected with forearm, with
The rotation of hollow shaft and rotate.
Further, motor cable penetrates winding space by outside, then is pierced by the motor being connected to inside forearm, is penetrating
Mouthful and export be correspondingly provided with rubber line card, motor cable is coiled into U-shaped in winding space, and one end of motor cable passes through line card
It is fixed on the outer wall of hollow shaft, stretching, extension is realized with the U-shaped deformation of the difference of the angle state of hollow shaft rotation and is shunk.
It is preferred that motor cable housing has woven nylon webmaster.
It is preferred that winding space inner wall is coated with lubricating grease, at forearm wire wrap and babinet coiling cage connection pair
V-shaped seal ring should be equipped with.
It is preferred that crossed roller bearing is equipped with the first oil sealing, the first oil sealing is arranged in oil-sealing sleeve, hollow shaft
Across enclosure space, babinet coiling shell is equipped with the second oil sealing with hollow shaft connection place.
The utility model provides a kind of hollow arrangement for threading motor cable in industrial robot forearm, has following
Advantage：
1) robot it is external using cable can be out of hollow shaft anti-mill axle sleeve in pass through, hollow shaft is rotated together with forearm
Angular range is big, and non-interference with the forearm motor cable of robot body；
2) motor cable moves in the winding space of relative closure, and introduced contaminants will not enter space interior to cable
Movement generates interference；
3) motor cable housing has nylon establishment webmaster to be used for abrasionproof, and the inner wall oiling lubricating grease of winding space, can be with
It effectively prevent abrasion and the noise of cable；
4) seam crossing in winding space is sealed by the V-shaped seal ring and rubber line card of setting so that grease sealing
In inside, it will not cause to leak, the external world is polluted；
5) motor cable U-shaped arrangement inside winding space adapts to the large-scale angular movement of forearm, is running
To being in contraction or extended position when different angle, lasting rotary motion can be formed.
Description of the drawings
Fig. 1 is that the structure of the utility model is intended to.
Fig. 2 is the axial sectional view of industrial robot forearm in the utility model.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of hollow arrangement for threading motor cable in industrial robot forearm, forearm
12 connect hollow shaft gear case body 1 by forearm wire wrap 11 and babinet coiling shell 8, are set in hollow shaft gear case body 1
There are crossed roller bearing 2, hollow shaft 7 to be mounted on crossed roller bearing 2 by transmission gear 6, be equipped with along 7 inner wall of hollow shaft
Anti- mill axle sleeve 3, anti-mill axle sleeve 3 are mounted on crossed roller bearing 2,7 same shaft rotation of anti-mill axle sleeve 3, transmission gear 6 and hollow shaft
It is dynamic, cross line of 3 inside of anti-mill axle sleeve for External cable, i.e., anti-mill axle sleeve 3, crossed roller bearing 2, transmission gear 6 and hollow
Axis 7 links together, and forms the threading hole of hollow cable, and can be used as the application cable such as welding crosses line.It is set inside forearm
The first motor 13 and the second motor 14 for having driving robot wrist joint motions, are correspondingly connected with motor cable 10, forearm coiling
Shell 11 and the connection of babinet coiling shell 8 form enclosure space, and hollow shaft 7 passes through the enclosure space, the inner wall of enclosure space with
The winding space of forearm motor cable 10 is constituted between 7 outer wall of hollow shaft；Forearm 12 is fixedly connected with hollow shaft 7, transmission gear 6
When hollow shaft 7 being driven to rotate, forearm 12 turns round together, and forearm wire wrap 11 is fixedly connected with forearm 12, with the rotation of hollow shaft 7
And rotate, babinet coiling shell 8 is fixedly connected with hollow shaft gear case body 1.
Motor cable 10 penetrates winding space by outside, then is pierced by the motor being connected to inside forearm, is penetrating mouth and is wearing
Outlet, which is correspondingly provided with, penetrates mouthful rubber line card 15 and export rubber line card 17, and motor cable 10 is coiled into U in winding space
Type, one end of motor cable 10 are fixed on the outer wall of hollow shaft 7 by line card 18, with hollow shaft 7 rotate angle state not
Stretching, extension is realized with the U-shaped deformation and is shunk, and motor cable is made to make rotary motion together with hollow shaft 7.
To prevent abrasion and noise, woven nylon webmaster is cased with outside motor cable 10.Winding space inner wall is coated with lubricating grease,
To prevent lubricating grease leakage, forearm wire wrap 11 and 8 junction of babinet coiling shell to be correspondingly provided with V-shaped seal ring 9.Penetrate a mouthful rubber
Tree lace card 15 and export rubber line card 17 can also prevent lubricating grease from leaking.
Crossed roller bearing 2 is equipped with the first oil sealing 4, and axle oil sealing 4 is arranged in oil-sealing sleeve 5, and hollow shaft 7 passes through closing
When space, babinet coiling shell 8 is equipped with the second oil sealing 16 with 7 junction of hollow shaft.
Claims (5)
1. the arrangement of motor cable in a kind of hollow threading industrial robot forearm, it is characterized in that forearm (12) passes through forearm
Wire wrap (11) and babinet coiling shell (8) connection hollow shaft gear case body (1), hollow shaft gear case body (1) is interior to be equipped with
Crossed roller bearing (2), hollow shaft (7) are mounted on by transmission gear (6) on crossed roller bearing (2), in hollow shaft (7)
Wall is equipped with anti-mill axle sleeve (3), and anti-mill axle sleeve (3) is mounted on crossed roller bearing (2), anti-mill axle sleeve (3), transmission gear (6)
It is rotated coaxially with hollow shaft (7), line is crossed for External cable inside anti-mill axle sleeve (3)；Forearm wire wrap (11) and babinet around
Line shell (8) connection forms enclosure space, and hollow shaft (7) passes through the enclosure space, inner wall and the hollow shaft (7) of enclosure space
The winding space of forearm motor cable (10) is constituted between outer wall；Forearm (12) is fixedly connected with hollow shaft (7), transmission gear
(6) when driving hollow shaft (7) to rotate, forearm (12) turns round together, and forearm wire wrap (11) is fixedly connected with forearm (12), in
The rotation of empty axis (7) and rotate.
2. the arrangement of motor cable, special in a kind of hollow threading industrial robot forearm according to claim 1
Sign is that motor cable (10) penetrates winding space by outside, then is pierced by the motor being connected to inside forearm, is penetrating mouth and is being pierced by
Mouth is correspondingly provided with rubber line card, and motor cable (10) is coiled into U-shaped in winding space, and one end of motor cable (10) passes through line card
(18) it is fixed on the outer wall of hollow shaft (7), stretching, extension is realized with the U-shaped deformation of the difference of the angle state of hollow shaft (7) rotation
And contraction.
3. the arrangement of motor cable in a kind of hollow threading industrial robot forearm according to claim 1 or 2,
It is characterized in being cased with woven nylon webmaster outside motor cable (10).
4. the arrangement of motor cable in a kind of hollow threading industrial robot forearm according to claim 1 or 2,
It is characterized in that winding space inner wall is coated with lubricating grease, forearm wire wrap (11) and babinet coiling shell (8) junction are correspondingly provided with V-type
Sealing ring (9).
5. the arrangement of motor cable in a kind of hollow threading industrial robot forearm according to claim 1 or 2,
It is characterized in that crossed roller bearing (2) is equipped with the first oil sealing (4), the first oil sealing (4) setting is in oil-sealing sleeve (5), hollow shaft (7)
Across enclosure space, babinet coiling shell (8) is equipped with the second oil sealing (16) with hollow shaft (7) junction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721905287.8U CN207789009U (en) | 2017-12-29 | 2017-12-29 | A kind of hollow arrangement for threading motor cable in industrial robot forearm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721905287.8U CN207789009U (en) | 2017-12-29 | 2017-12-29 | A kind of hollow arrangement for threading motor cable in industrial robot forearm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207789009U true CN207789009U (en) | 2018-08-31 |
Family
ID=63276693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721905287.8U Active CN207789009U (en) | 2017-12-29 | 2017-12-29 | A kind of hollow arrangement for threading motor cable in industrial robot forearm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207789009U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111085809A (en) * | 2020-01-13 | 2020-05-01 | 德世乐传动设备(成都)有限公司 | Welding manipulator |
| CN111702811A (en) * | 2020-07-01 | 2020-09-25 | 珠海格力智能装备有限公司 | Protection device and robot with same |
| CN112720562A (en) * | 2021-01-08 | 2021-04-30 | 埃夫特智能装备股份有限公司 | Joint structure of robot |
-
2017
- 2017-12-29 CN CN201721905287.8U patent/CN207789009U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111085809A (en) * | 2020-01-13 | 2020-05-01 | 德世乐传动设备(成都)有限公司 | Welding manipulator |
| CN111085809B (en) * | 2020-01-13 | 2022-03-01 | 德世乐传动设备(成都)有限公司 | Welding manipulator |
| CN111702811A (en) * | 2020-07-01 | 2020-09-25 | 珠海格力智能装备有限公司 | Protection device and robot with same |
| CN111702811B (en) * | 2020-07-01 | 2022-02-25 | 珠海格力智能装备有限公司 | Protection device and robot with same |
| CN112720562A (en) * | 2021-01-08 | 2021-04-30 | 埃夫特智能装备股份有限公司 | Joint structure of robot |
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