CN213499193U - Wiring structure and mechanical arm - Google Patents

Abstract

The application provides a wiring structure and a mechanical arm, wherein the wiring structure comprises a cable, a wire passing cylinder and a connecting wire assembly, the wire passing cylinder is arranged in the middle of a joint of the mechanical arm in a penetrating mode and used for allowing the cable to pass through, and the connecting wire assembly is connected with the cable and used for preventing the cable from being twisted along with the swinging of an arm body of the mechanical arm; the mechanical arm comprises at least two arm bodies, joints and a wiring structure. The utility model provides a walk line structure and arm has adopted the line section of thick bamboo, line subassembly and cable conductor cooperation, establish the passageway that the power cable passed through on the joint through crossing the line section of thick bamboo, it takes place to interfere with the joint to have prevented the cable conductor, influence articular rotation, and retrain the cable conductor through the line subassembly, make the cable conductor can not take place the distortion because of the swing of the arm body, thereby solved current cavity and walked the line mode and had the easy broken string's of cable conductor behind the arm swing arm many times technical problem, the sinle silk risk of broken string of cable conductor has been reduced effectively, be favorable to prolonging the life of arm.

Description

Wiring structure and mechanical arm

Technical Field

This application belongs to the robotechnology field, and more specifically says, relates to a walk line structure and arm.

Background

At present, a horizontal joint mechanical arm is widely applied to working scenes such as carrying, processing and assembling, has the characteristics of flexible action, compact structure, small space requirement, high repeated positioning precision and the like, and can accurately and quickly reach a certain point in space.

The design of mechanical arm joints is one of the core problems in the technical field of robots. The existing mechanical arm joint mainly has two wiring modes: the joint comprises external wiring and hollow wiring, wherein the external wiring exposes the cables, the number of the cables is generally large, the cables are easy to wind together when the joint rotates, the joint is not attractive, and the joint occupies space, so that inconvenience is brought to use; and the cavity is walked the line and is passed through from articular intermediate passage directly, and the in-process of swing arm about the arm body carries out, and the cable conductor can follow and take place the distortion, makes the inside sinle silk of cable conductor appear breaking easily after many times of wide-angle rotation.

SUMMERY OF THE UTILITY MODEL

An object of this application is to provide a walk line structure and arm, walk the line mode including but not limited to solving current cavity and have the easy broken string's of cable conductor behind the arm swing arm many times technical problem.

In order to solve the above technical problem, an embodiment of the present application provides a routing structure for a robot arm, including:

a cable wire;

the cable passing cylinder is arranged in the middle of the joint of the mechanical arm in a penetrating mode and used for enabling the cable to pass through; and

and the connecting wire assembly is connected with the cable and is used for preventing the cable from being twisted along with the swinging of the arm body of the mechanical arm.

In one embodiment, the wiring assembly includes:

the turntable is rotationally connected to one end of the wire passing cylinder, the turntable is provided with a wire passing hole, and the wire passing hole is communicated with the wire passing cylinder; and

the wire fixing belt is wound on the outer side of the wire passing hole, one end, close to the wire passing hole, of the wire fixing belt is fixed on the surface, far away from the wire passing cylinder, of the rotary table, the other end of the wire fixing belt is used for being fixedly connected with an arm body of the mechanical arm, a space is formed between the inner surface and the outer surface of the wire fixing belt, and the middle of the cable extends along the inner surface of the wire fixing belt and is fixed on the inner surface of the wire fixing belt.

In one embodiment, the width of the wire fixing belt is larger than the wire diameter of the cable wire, and the width direction of the wire fixing belt is consistent with the axial direction of the wire passing hole.

In one embodiment, the wiring assembly further comprises:

the first fixing seat is fixed on the surface of the rotary disc, which is far away from the wire passing cylinder, and is positioned beside the wire passing hole, and one end of the wire fixing belt, which is close to the wire passing hole, is fixed on the first fixing seat.

In one embodiment, the connection assembly is a rotary joint, the rotary joint is arranged in a cylinder cavity of the wire passing cylinder in a penetrating mode, and two ends of the rotary joint are respectively connected with the two cables.

The embodiment of the application further provides a mechanical arm, which comprises at least two arm bodies, joints and the routing structure, wherein the two adjacent arm bodies are stacked up and down and are connected through the joints in a rotating mode.

In one embodiment, the mechanical arm comprises a first arm body and at least one second arm body, the first arm body and the second arm body and two adjacent second arm bodies are rotatably connected through the joints, and two adjacent joints are located at two ends of the second arm bodies.

In one embodiment, the robotic arm further comprises:

and the driving assembly is arranged on the first arm body or the first arm body and the second arm body and is in transmission connection with the joint.

In one embodiment, the robotic arm comprises the first arm and the second arm;

the first arm body includes:

the connecting line assembly is contained in a shell cavity of the first shell; and

the control panel is fixed on the first shell, and the cable is connected with the control panel;

the second arm body includes:

the wire passing cylinder penetrates through a shell cavity of the second shell and a shell cavity of the first shell; and

and the circuit interface is accommodated in the shell cavity of the second shell, and the cable is connected with the circuit interface.

In one embodiment, a wire clamp is arranged on the inner wall of the first shell and clamped with the cable.

The application provides a walk line structure and arm's beneficial effect lies in: adopted the line section of thick bamboo of crossing, line subassembly and cable conductor cooperation, found the passageway that the power supply cable passed through the line section of thick bamboo on the joint, prevented that cable conductor and joint from taking place to interfere, influence articular rotation, and retrain the cable conductor through the line subassembly, make the cable conductor can not take place the distortion because of the swing of the arm body, thereby solved current cavity and walked the line mode and had the technical problem that the cable conductor was broken off easily behind the arm swing arm many times, the sinle silk risk of broken string of cable conductor has been reduced effectively, be favorable to prolonging the life of arm.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a robotic arm provided in an embodiment of the present application;

FIG. 2 is an exploded perspective view of FIG. 1;

fig. 3 is an enlarged schematic view of a portion a in fig. 2.

Wherein, in the figures, the respective reference numerals:

1-mechanical arm, 11-first arm body, 12-second arm body, 20-mechanical arm joint, 30-drive assembly, 21-cable conductor, 22-wire passing cylinder, 23-connecting wire assembly, 111-first shell, 112-control board, 113-second fixing seat, 114-wire clamp, 121-second shell, 231-turntable, 232-wire fixing belt, 233-first fixing seat, 2310-wire passing hole and 2320-interval.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and operate, and thus are not to be construed as limiting the patent, and the specific meanings of the above terms will be understood by those skilled in the art according to specific situations. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

The first embodiment is as follows:

referring to fig. 1 and fig. 2, the present embodiment provides a routing structure for a robot arm 1, which includes a cable 21, a wire-passing cylinder 22 and a connecting component 23, wherein the wire-passing cylinder 22 is disposed in the middle of a joint 20 of the robot arm 1 for the cable 21 to pass through; the connecting wire assembly 23 is connected to the cable 21 for preventing the cable 21 from twisting due to the swinging of the arm body of the robot arm 1.

Specifically, the connecting line assembly 23 includes a turntable 231 and a line fixing belt 232, wherein the turntable 231 is rotatably connected to one end of the line passing cylinder 22, the turntable 231 is provided with a line passing hole 2310, the line passing hole 2310 is communicated with the line passing cylinder 22, that is, the line passing hole 2310 is communicated with a cylinder cavity of the line passing cylinder 22, and the cable 21 can pass through the line passing hole 2310 and go from one end of the line passing cylinder 22 to the other end of the line passing cylinder 22; the wire fixing belt 232 is wound outside the wire passing hole 2310, one end of the wire fixing belt 232 close to the wire passing hole 2310 is fixed on the surface of the turntable 231 far from the wire passing cylinder 22, the other end of the wire fixing belt 232 far from the wire passing hole 2310 is used for being fixedly connected with the arm body of the mechanical arm 1, and a gap 2320 is formed between the opposite inner and outer surfaces of the wire fixing belt 232, namely, the wire fixing belt 232 is located on one side of the turntable 231 far from the wire passing cylinder 22, when the turntable 231 rotates around the wire passing cylinder 22, one end of the wire fixing belt 232 close to the wire passing hole 2310 can synchronously rotate along with the turntable 231, so that the diameter of a reel formed by winding the wire fixing belt 232 is shortened or increased along the radial direction of the turntable 231 under the driving of the turntable 231, it can be understood that the inner surface of the wire fixing belt 232 refers to the surface of the wire fixing belt 232 facing one side of the wire passing hole 2310, the outer surface of the wire fixing belt 232 refers to the surface of the side, where the middle portion of the electric cable 21 extends along the inner surface of the wire fixing band 232 and is fixed to the inner surface of the wire fixing band 232.

In practical application, the mechanical arm 1 comprises at least two arm bodies, two adjacent arm bodies (11, 12) are rotatably connected through a joint 20 of the mechanical arm 1, and the two adjacent arm bodies (11, 12) need to be connected through one or more cables 21 to realize circuit connection, if the cables 21 are directly connected with circuit interfaces of the two adjacent arm bodies (11, 12), when the two adjacent arm bodies (11, 12) swing relatively, two ends of the cables 21 deflect relatively, so that distortion occurs, and a wire core of the cables 21 is broken. However, in this embodiment, since the middle of the cable 21 is fixed on the inner surface of the wire fixing strip 232 and is wound around the outer side of the wire passing hole 2310 together with the wire fixing strip 232, one end of the cable 21 extends out of the fixing strip 232 from the end of the fixing strip 232 far away from the wire passing hole 2310 and is connected to the circuit interface of one arm, the other end of the cable 21 extends out of the fixing strip 232 from the end of the fixing strip 232 close to the wire passing hole 2310 and sequentially passes through the wire passing hole 2310 and the tube cavity of the wire passing tube 22 and is connected to the circuit interface of the other arm, when the two adjacent arms (11, 12) perform relative swinging, the rotating disc 231 rotates along with the joint 20, the rotating disc 231 drives the end of the wire fixing strip 232 close to the wire passing hole 2310 to rotate around the wire passing hole 2310, and the interval 2320 between the inner and outer surfaces of the wire fixing strip 232 which are opposite gradually decreases or increases, that is, that the rotating motion, the middle part of the cable 21 is enabled to move horizontally along the radial direction of the turntable 231 along with the cable fixing belt 232, so that the cable 21 is prevented from being twisted due to asynchronous swinging of the two adjacent arms (11, 12).

The utility model provides a walk the line structure, a line section of thick bamboo 22 has been adopted, line subassembly 23 and the cooperation of cable conductor 21, construct the passageway that supplies cable conductor 21 to pass through a line section of thick bamboo 22 on joint 20, it interferes with joint 20 to have prevented that cable conductor 21 from taking place, influence joint 20's rotation, and retrain cable conductor 21 through line subassembly 23, make cable conductor 21 can not take place the distortion because of the swing of the arm body, thereby solved current cavity and walked the line mode and have arm technical problem that the easy broken string of cable conductor behind the arm many times swing arm, the sinle silk risk of broken string of cable conductor 21 has been reduced effectively, be favorable to prolonging the life of arm 1.

Further, referring to fig. 1 and fig. 2, in the embodiment, the width of the wire fixing strip 232 is greater than the wire diameter of the cable wire 21, and the width direction of the wire fixing strip 232 is consistent with the axial direction of the wire through hole 2310, that is, the width of the wire fixing strip 232 extending along the axial direction of the wire through hole 2310 is greater than the wire diameter of the cable wire 21. This ensures that the wire-fixing band 232 does not twist during rotation of the turntable 231.

Further, referring to fig. 2, in an embodiment, the connection assembly 23 further includes a first fixing seat 233, the first fixing seat 233 is fixed on a surface of the rotating disc 231, which is far away from the wire passing cylinder 22, the first fixing seat 233 is located beside the wire passing hole 2310, and an end of the wire fixing belt 232, which is close to the wire passing hole 2310, is fixed on the first fixing seat 233, that is, an end of the wire fixing belt 232, which is close to the wire passing hole 2310, is fixed on the rotating disc 231 through the first fixing seat 233, so that an end of the wire fixing belt 232, which is close to the wire passing hole 2310, is ensured to rotate synchronously with the rotating disc 231.

Example two:

the routing structure provided by the present embodiment is basically the same as that of the first embodiment, except that: the rotary disc 231 and the wire fixing belt 232 are replaced by rotary joints (not shown), wherein the rotary joints are arranged in the cylinder cavity of the wire cylinder 22 in a penetrating way, and two ends of the rotary joints are respectively connected with the two cables 21. Specifically, rotary joint is the electric wire rotary joint that can purchase on the market, rotary joint's both ends can be made and rotate relatively, rotary joint's both ends respectively with be located two arm body (11, 12) circuit interface connection through two cable conductor 21, make the whole arm body that follows the place of cable conductor 21 stop or synchronous oscillation, and then prevent that the both ends of same cable conductor 21 from taking place relative deflection and appearing the distortion, thereby solved current cavity and walked the line mode and had the technical problem that the arm was broken easily behind the arm swing arm many times, the sinle silk risk of broken string of cable conductor 21 has been reduced effectively, be favorable to prolonging the life of arm 1.

Example three:

referring to fig. 1 and fig. 2, the present embodiment provides a robot arm 1, which includes at least two arm bodies, joints 20 and a routing structure, wherein two adjacent arm bodies are stacked up and down and are rotatably connected through the joints 20. Two at least arm bodies in proper order top-down or range upon range of setting from bottom to top promptly, prevent to connect and take place to interfere between two other arm bodies on same arm body, influence the swing degree of freedom of arm body, two adjacent arm bodies all rotate through joint 20 and connect, all be provided with the line structure of walking that embodiment one or two provided on every joint 20, make the unnecessary space of joint 20 department can be by rational utilization, cable conductor 21 is more succinct at the line of walking of arm internal portion, it makes cable conductor 21 distortion to have avoided arm body big-angle rotation many times, the risk of the sinle silk of cable conductor 21 broken string has been reduced, be favorable to prolonging the life of arm 1.

Further, referring to fig. 1, in an embodiment, the mechanical arm 1 includes a first arm 11 and at least one second arm 12, the first arm 11 and the second arm 12 and two adjacent second arms 12 are rotatably connected by a joint 20, and two adjacent joints 20 are located at two ends of the second arm 12. This ensures that the robotic arm 1 is deployed to its maximum length.

Further, referring to fig. 2, in the present embodiment, the mechanical arm 1 further includes a driving assembly 30, the driving assembly 30 is disposed on the first arm 111 or the first arm 111 and the second arm 112, and the driving assembly 30 is in transmission connection with the joint 20. Specifically, the first arm 111 is a fixed arm, the second arm 112 is a swing arm, when the robot arm 1 includes one first arm 111 and one second arm 112, the driving assembly 30 is disposed on the first arm 111, and the driving assembly 30 drives the second arm 112 to swing through the joint 20; when the mechanical arm 1 comprises a first arm body 111 and n second arm bodies 112(n is more than or equal to 2), the mechanical arm 1 comprises n driving assemblies 30, one driving assembly 30 is arranged on the first arm body 111, the other driving assemblies 30 are respectively arranged on n-1 second arm bodies 112, the driving assembly 30 on the first arm body 111 drives the second arm body 112 connected with the first arm body 111 to swing through a joint 20, and the driving assembly 30 on the second arm body 112 drives the other second arm body 112 connected with the second arm body 112 to swing through the joint 20. Thereby ensuring that the second arm bodies 112 of all the stages can complete the swinging motion according to the instructions.

Further, referring to fig. 2 and 3, in the embodiment, the robot arm 1 includes a first arm 11 and a second arm 12; the first arm 11 includes a first housing 111 and a control board 112, the connection component 23 is accommodated in a housing cavity of the first housing 111, the control board 112 is fixed on the first housing 111, and the cable 21 is connected to the control board 112; the second arm body 12 includes a second housing 121 and a circuit interface

(not shown), the wire passing tube 22 is inserted into the housing cavity of the second housing 121 and the housing cavity of the first housing 111, the circuit interface is accommodated in the housing cavity of the second housing 121, and the cable 21 is connected to the circuit interface. When the connecting line assembly 23 includes the rotating disc 231 and the line fixing belt 232, the second fixing seat 113 is disposed on the inner wall of the first housing 111, one end of the line fixing belt 232, which is far away from the line passing hole 2310, is fixed on the second fixing seat 113, so that the end of the line fixing belt 232, which is far away from the line passing hole 2310, is always stationary relative to the end of the line fixing belt 232, which is close to the line passing hole 2310, one end of the cable 21 is connected with the control board 112, and the other end of the cable 21 sequentially passes through the line passing hole 2310 and the cylinder cavity of the line passing cylinder 22 and then is connected with the circuit interface of the second arm body; when the connecting wire assembly 23 is a rotary joint, one end of one of the cables 21 is connected to the control board 112, the other end thereof extends into the cavity of the wire passing cylinder 22 to be connected to one end of the rotary joint, one end of the other cable 21 is connected to the circuit interface of the second arm 12, and the other end thereof extends into the cavity of the wire passing cylinder 22 to be connected to the other end of the rotary joint.

Further, referring to fig. 2 and fig. 3, in the present embodiment, a line clip 114 is disposed on an inner wall of the first housing 111, and the line clip 114 is clamped with the cable 21. Therefore, the cable 21 can be routed along the inner wall of the first shell 111 more neatly, and the cable 21 is prevented from contacting the driving component 30.

The above are merely alternative embodiments of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims (10)

1. Walk the line structure for on the arm, including the cable conductor, its characterized in that: the routing structure further comprises:

the cable passing cylinder is arranged in the middle of the joint of the mechanical arm in a penetrating mode and used for enabling the cable to pass through; and

and the connecting wire assembly is connected with the cable and is used for preventing the cable from being twisted along with the swinging of the arm body of the mechanical arm.

2. The trace structure according to claim 1, wherein: the wiring assembly includes:

the turntable is rotationally connected to one end of the wire passing cylinder, the turntable is provided with a wire passing hole, and the wire passing hole is communicated with the wire passing cylinder; and

the wire fixing belt is wound on the outer side of the wire passing hole, one end, close to the wire passing hole, of the wire fixing belt is fixed on the surface, far away from the wire passing cylinder, of the rotary table, the other end of the wire fixing belt is used for being fixedly connected with an arm body of the mechanical arm, a space is formed between the inner surface and the outer surface of the wire fixing belt, and the middle of the cable extends along the inner surface of the wire fixing belt and is fixed on the inner surface of the wire fixing belt.

3. The trace structure according to claim 2, wherein: the width of the wire fixing belt is larger than the wire diameter of the cable, and the width direction of the wire fixing belt is consistent with the axial direction of the wire passing hole.

4. The trace structure according to claim 2, wherein: the wiring assembly further comprises:

the first fixing seat is fixed on the surface of the rotary disc, which is far away from the wire passing cylinder, and is positioned beside the wire passing hole, and one end of the wire fixing belt, which is close to the wire passing hole, is fixed on the first fixing seat.

5. The trace structure according to claim 1, wherein: the connecting component is a rotary joint, the rotary joint penetrates through the cylinder cavity of the wire cylinder, and two ends of the rotary joint are respectively connected with the two cables.

6. Arm, its characterized in that: the routing structure comprises at least two arm bodies, joints and the routing structure as claimed in any one of claims 1 to 5, wherein two adjacent arm bodies are stacked up and down and are rotatably connected through the joints.

7. A robotic arm as claimed in claim 6, in which: including first arm body and at least one second arm body, first arm body with between the second arm body and adjacent two pass through between the second arm body the joint rotation is connected, adjacent two the joint is located the both ends of second arm body.

8. The robotic arm of claim 7, wherein: further comprising:

and the driving assembly is arranged on the first arm body or the first arm body and the second arm body and is in transmission connection with the joint.

9. The robotic arm of claim 7, wherein: comprises the first arm body and the second arm body;

the first arm body includes:

the connecting line assembly is contained in a shell cavity of the first shell; and

the control panel is fixed on the first shell, and the cable is connected with the control panel;

the second arm body includes:

the wire passing cylinder penetrates through a shell cavity of the second shell and a shell cavity of the first shell; and

and the circuit interface is accommodated in the shell cavity of the second shell, and the cable is connected with the circuit interface.

10. A robotic arm as claimed in claim 9, in which: and a wire clamp is arranged on the inner wall of the first shell and is clamped with the cable.

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