CN214755420U

CN214755420U - Cable drag chain structure for multiple mobile manipulators

Info

Publication number: CN214755420U
Application number: CN202121241947.3U
Authority: CN
Inventors: 蔡鸿章
Original assignee: Yiwate Robot Equipment Manufacturing Co ltd
Current assignee: Yiwate Robot Equipment Manufacturing Co ltd
Priority date: 2021-06-04
Filing date: 2021-06-04
Publication date: 2021-11-16
Anticipated expiration: 2031-06-04

Abstract

The utility model relates to an automation equipment field, concretely relates to cable tow chain structure for a plurality of mobile manipulator, including manipulator group and tow chain subassembly. The cable of the removal of a plurality of manipulator group arrange in by being equipped with the tow chain subassembly of the a plurality of cable tow chain of staggered arrangement, the one end of a plurality of cable tow chain is fixed, the other end locks respectively on the running gear of a plurality of manipulator and can move and be dragged at the manipulator randomly, remove the end and turn back and form lower floor after the bending, and be equipped with the support wheelset that can roll at the bend of turning back of every cable tow chain and be used for supporting the upper tow chain. The utility model utilizes the supporting wheel set to support, which can avoid the excessive bending of the drag chain at the return position, prevent the cable in the drag chain from being damaged, and improve the service life of the cable; the cable drag chains are arranged in parallel and staggered front and back to avoid each other, so that two adjacent mechanical arms can be attached to each other, and the accessibility of the mechanical arms can be improved.

Description

Cable drag chain structure for multiple mobile manipulators

Technical Field

The utility model relates to an automation equipment field, concretely relates to cable tow chain structure for a plurality of mobile manipulator.

Background

In a truss type multi-station automatic transfer facility, a robot group in which a plurality of robots move on the same track beam is generally provided, and the plurality of robots may move independently or in synchronization with each other. The power cable and the communication cable which need to move along with the manipulator are often hung at the front end or the rear end of a walking mechanism of the manipulator and are dragged together with the manipulator. In order to prevent the cable from being damaged, the cable to be dragged is generally placed in a crawler-type cable drag chain, the drag chain is flatly laid on a fixed plate, one end of the drag chain is fixed, the other end of the drag chain is locked with a walking mechanism of a manipulator and then moves, and the drag chain is enabled to form an upper-layer structure and a lower-layer structure which are folded and bent. Because the drag chain needs to be bent back and the back-turning part between the upper layer and the lower layer is not supported, when the manipulator moves frequently or the speed changes rapidly, the included angle of the back-turning part is easy to be too small to form a zigzag shape, so that the cable in the drag chain is easy to break and damage, and the service life of the cable is influenced; in addition, when a plurality of manipulators move independently, the cable drag chain dragged at the front end or the rear end of the walking mechanism occupies a certain space, so that two adjacent manipulators cannot be attached to each other, and the accessibility of the manipulators is influenced.

SUMMERY OF THE UTILITY MODEL

For overcoming not enough among the prior art, the utility model discloses a cable tow chain structure for a plurality of mobile manipulator, including manipulator group and tow chain subassembly. The cable of a plurality of manipulator group's needs along with its removal arranges in by being equipped with the tow chain subassembly of the a plurality of cable tow chain of staggered arrangement, a plurality of cable tow chain level of tow chain subassembly lay and be parallel to each other, the stiff end of a plurality of cable tow chain lock solid respectively on the fixed plate of same horizontal plane, it removes the end and turns back and forms superstructure after the bending, remove the end and lock joint respectively on the running gear of a plurality of manipulator and can move and drag at the manipulator, the tow chain subassembly be equipped with the rolling support wheelset in the bend of turning back of every cable tow chain and be used for supporting upper tow chain. The utility model utilizes the supporting wheel group rolling along with the dragging of the cable drag chain to support the upper layer of the return bending part of the drag chain, and avoids the drag chain from excessively bending at the return part, thereby protecting the cable in the drag chain from being damaged and prolonging the service life of the cable; and the cable tow chains of each manipulator are arranged in parallel and staggered front and back, and are avoided from each other, so that two adjacent manipulators can be attached to each other, and the accessibility of the manipulators is improved.

In order to achieve the above object, the utility model adopts the following technical scheme:

the utility model provides a cable tow chain structure for a plurality of mobile manipulator, includes manipulator group, manipulator group constitute by a plurality of manipulators that move on same track roof beam, but each manipulator independent movement also synchronous linkage, its characterized in that: the cable that needs of a plurality of manipulator group removed along with it arranges in the tow chain subassembly by being equipped with a plurality of cable tow chain of staggered arrangement, a plurality of cable tow chain level of tow chain subassembly lay and be parallel to each other, the stiff end of a plurality of cable tow chain locks respectively on the fixed plate of same horizontal plane, its removal end turns back and forms superstructure after the bending, the removal end locks respectively on the running gear of a plurality of manipulator and can move and drag at the manipulator, the tow chain subassembly still be equipped with the rolling support wheelset in the crooked department of turning back of every cable tow chain and be used for supporting upper tow chain.

The drag chain assembly comprises a plurality of groups of supporting wheel groups, each supporting wheel group is a rolling component formed by combining two parallel rollers connected by an annular support, and the two rollers of each supporting wheel group are respectively arranged on the inner side and the outer side of the turning-back bending part of the cable drag chain.

The supporting wheel set comprises a supporting wheel, a follow-up wheel and a wheel frame, the supporting wheel and the follow-up wheel are cylindrical idler wheels, the centers of the supporting wheel and the follow-up wheel are provided with through round holes, the wheel frame is a square frame-shaped frame body formed by welding a connecting rod and a round rod shaft, an L-shaped guide hook is vertically and fixedly connected below the connecting rod on one side, the wheel frame is provided with a pair of parallel round rod shafts, two round rod shafts of the wheel frame respectively penetrate through the through round holes of the supporting wheel and the follow-up wheel, and the supporting wheel and the follow-up wheel can rotate around the round rod shafts of the wheel frame.

The supporting wheels and the follow-up wheels are arranged in parallel, a gap is formed between the walls of the supporting wheels and the follow-up wheels, the cable drag chain penetrates through the gap between the supporting wheels and the follow-up wheels, the supporting wheels and the follow-up wheels are respectively arranged on the inner side and the outer side of the turning-back bending part of the cable drag chain, and the supporting wheels can support the upper layer of the turning-back bending part of the cable drag chain.

Further, the cable tow chain be the crawler-type tow chain that is used for the protection cable, the flexible rubber cover that is used for dirt-proof can be established to the outside cover of cable tow chain.

Further, the supporting wheels and the follow-up wheels are made of plastic or nylon.

The supporting wheel set still include the tow chain fixed plate, the tow chain fixed plate be the flat board, be provided with a plurality of guide way along vertical parallel on the tow chain fixed plate, the guide hook one-to-one of a plurality of guide way and a plurality of wheel carrier, the guide hook can pass the guide way of correspondence and can slide in the guide way, the gib head of guide hook is arranged in the back of tow chain fixed plate and the tow chain fixed plate can restrict the guide hook and deviate from, the stiff end lock solid of cable tow chain on the tow chain fixed plate, the lower surface of cable tow chain lower floor is arranged in on the tow chain fixed plate.

The plurality of cable drag chains of the drag chain assembly are arranged on the drag chain fixing plate in parallel and do not interfere with each other when dragging, and the plurality of cable drag chains are arranged in a staggered mode from front to back along the moving direction of the manipulator group.

As can be seen from the above description, the utility model provides an advantage of a cable tow chain structure for a plurality of mobile manipulator lies in: firstly, cable drag chains dragged by each manipulator of the manipulator group are arranged on a drag chain fixing plate in parallel, and are staggered front and back in the moving direction of the manipulator, the cable drag chains are avoided, so that two adjacent cable drag chains do not interfere with each other when dragged, and the adhesion of the adjacent manipulators after moving is not influenced, thereby improving the accessibility of the manipulators; secondly, the towline component is provided with a support wheel set capable of rolling at the return bending part of each cable towline for supporting the towline on the upper layer, and the support wheel set rolling along with the dragging of the cable towline is utilized to support the upper layer of the return bending part of the towline, so that the towline is prevented from being excessively bent at the return bending part, the cables in the towline are protected from being damaged, and the service life of the cables is prolonged; and thirdly, a flexible rubber sleeve can be sleeved outside the cable drag chain to prevent dust of the cable in the drag chain. The utility model relates to a rationally, simple structure, low cost, facilitate promotion.

Drawings

Fig. 1 is a general schematic diagram of a cable drag chain structure for a plurality of mobile manipulators according to the present invention.

FIG. 2 is an enlarged schematic view of the tow chain assembly.

Fig. 3 is an enlarged view of the supporting wheel set.

Fig. 4 is an enlarged schematic view of the wheel frame.

Fig. 5 is an enlarged schematic view of the drag chain fixing plate.

Reference numerals:

1, a manipulator group; 11a first manipulator; 11b a second robot; 2, a drag chain component; 21, a cable drag chain; 21a first drag chain; 21b a second tow chain; 22 supporting the wheel set; 221 a support wheel; 222 a follower wheel; 223 wheel carrier; 2231 a mandrel shaft; 2232 connecting rods; 2233 a guide hook; 23, fixing a drag chain; 231 guide the grooves.

Detailed Description

The present invention will be further described with reference to the following detailed description.

As shown in fig. 1 to 4, a cable drag chain structure for a plurality of mobile manipulators of the present invention includes a manipulator group 1 and a drag chain assembly 2. The manipulator group 1 is composed of a plurality of manipulators moving on the same track beam, and in the embodiment, only two manipulators of one manipulator group 1 are shown, such as a first manipulator 11a and a second manipulator 11a in fig. 1. Each manipulator can independently move and can also be synchronously linked. The cables of the manipulators of the manipulator group 1, which need to move along with the manipulators, are placed in the tow chain assembly 2 provided with the cable tow chains 21 arranged in a staggered manner, and the tow chain assembly 2 shown in the embodiment includes two cable tow chains 21, such as the first tow chain 21a and the second tow chain 21b in fig. 1 and 2. The first drag chain 21a and the second drag chain 21b of the drag chain assembly 2 are horizontally arranged and parallel to each other, the fixed ends of the first drag chain 21a and the second drag chain 21b are respectively locked on the fixed plates on the same horizontal plane, the moving ends of the first drag chain 21a and the second drag chain 21b are folded back and bent to form an upper-lower layer structure, the moving ends of the first drag chain 21a and the second drag chain 21b are respectively locked on the traveling mechanisms of the first manipulator 11a and the second manipulator 11a and can move along with the manipulators to drag, and the drag chain assembly 2 is further provided with a support wheel set 22 capable of rolling at the folding back bending part of each cable drag chain 21. The supporting wheel sets 22 are a plurality of sets, the supporting wheel sets 22 shown in this embodiment are two sets, the supporting wheel set 22 is a rolling member formed by combining two parallel rollers connected by an annular bracket, the supporting wheel set 22 includes a supporting wheel 221, a follower wheel 222 and a wheel frame 223, the supporting wheel 221 and the follower wheel 222 are both cylindrical rollers having through circular holes at the centers, the wheel frame 223 is a square frame body formed by welding a connecting rod 2232 and a circular rod shaft 2231, an "L" -shaped guide hook 2233 is vertically and fixedly connected below the connecting rod 2232 at one side, the wheel frame 223 is provided with a pair of parallel circular rod shafts 2231, the two circular rod shafts 2231 of the wheel frame 223 respectively pass through the through circular holes of the supporting wheel 221 and the follower wheel 222, and the supporting wheel 221 and the follower wheel 222 can rotate around the circular rod shaft 2231 of the wheel frame 223. The supporting wheels 221 and the follower wheels 222 are arranged in parallel, a gap is arranged between the walls of the supporting wheels 221 and the follower wheels 222, the cable drag chain 21 penetrates through the gap between the supporting wheels 221 and the follower wheels 222, the supporting wheels 221 and the follower wheels 222 are respectively arranged on the inner side and the outer side of the return bend of the cable drag chain 21, and the supporting wheels 221 can support the upper layer of the return bend of the cable drag chain 21. The cable drag chain 21 is a crawler-type drag chain for protecting a cable, and a flexible rubber sleeve for dust prevention can be sleeved outside the cable drag chain 21. The support wheel set 22 further comprises a drag chain fixing plate 23, the drag chain fixing plate 23 is a flat plate, a plurality of guide grooves 231 are longitudinally and parallelly arranged on the drag chain fixing plate 23, the guide grooves 231 correspond to the guide hooks 2233 of the wheel carriers 223 one by one, in this embodiment, two guide grooves 231 correspond to the guide hooks 2233 one by one, the guide hooks 2233 can penetrate through the corresponding guide grooves 231 and can slide in the guide grooves 231, the hook heads of the guide hooks 2233 are arranged on the back of the drag chain fixing plate 23, and the drag chain fixing plate 23 can limit the guide hooks 2233 from falling off; the fixed end of the cable drag chain 21 is locked on the drag chain fixing plate 23, and the lower surface of the lower layer of the cable drag chain 21 is arranged on the drag chain fixing plate 23. The first drag chain 21a and the second drag chain 21b of the drag chain assembly 2 are arranged in parallel on the drag chain fixing plate 23 and do not interfere with each other when dragging, and the first drag chain 21a and the second drag chain 21b are arranged in a staggered manner from front to back along the moving direction of the manipulator group 1.

A cable tow chain structure application method for a plurality of mobile manipulator as follows:

when the first manipulator 11a or the second manipulator 11a of the manipulator group 1 moves forward or backward, the upper layer of the first drag chain 21a or the second drag chain 21b will be driven to move forward or backward, so that the position of the return bend of the first drag chain 21a or the second drag chain 21b is changed continuously. Because the supporting wheel set 22 is sleeved at the turning-back bending part and the guide hook 2233 is limited by the drag chain fixing plate 23 to be separated, the supporting wheel set 22 can move along with the position change of the turning-back bending part, and the supporting wheel 221 can always support the upper layer of the turning-back bending part of the cable drag chain 21.

The utility model utilizes the supporting wheel group rolling along with the dragging of the cable drag chain to support the upper layer of the return bending part of the drag chain, and avoids the drag chain from excessively bending at the return part, thereby protecting the cable in the drag chain from being damaged and prolonging the service life of the cable; and the cable tow chains of each manipulator are arranged in parallel and staggered front and back, and are avoided from each other, so that two adjacent manipulators can be attached to each other, and the accessibility of the manipulators is improved.

In the explanation of the present invention, the indicative position or positional relationship of the terms such as "front" and "rear" used herein is based on the position or positional relationship shown in the drawings, and is only for the convenience of simplifying the description, and does not explicitly or implicitly refer to the specific position or positional relationship that must be possessed, and thus, it is not to be understood as a limitation to the protection of the present invention.

In the description of the present invention, terms such as "first", "second", etc. are used to define the position. The use of "first" and "second" is merely for convenience of simplifying the description, and no particular meaning is implied unless specifically stated to the contrary.

The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited to this, and the present invention is to be modified immaterial by this concept, and all should belong to the act of infringing the protection scope of the present invention.

Claims

1. The utility model provides a cable tow chain structure for a plurality of mobile manipulator, includes manipulator group (1), manipulator group (1) constitute by a plurality of manipulators that move on same track roof beam, but each manipulator independent removal also synchronous linkage, its characterized in that: the cable that needs of a plurality of manipulators of manipulator group (1) removed along with it arranges in the tow chain subassembly (2) by being equipped with a plurality of cable tow chain (21) of staggered arrangement, a plurality of cable tow chain (21) level of tow chain subassembly (2) lay and be parallel to each other, the stiff end of a plurality of cable tow chain (21) locks respectively on the fixed plate of same horizontal plane, its removal end turns back and forms lower floor's structure after crooked, but the removal end locks respectively on the running gear of a plurality of manipulators and can move and drag at the manipulator, tow chain subassembly (2) still be equipped with rollable support wheelset (22) in the crooked department of turning back of every cable tow chain (21) and be used for supporting upper tow chain.

2. A cable drag chain structure for a plurality of mobile manipulators as claimed in claim 1, characterized in that: the drag chain assembly (2) comprises a plurality of groups of supporting wheel sets (22), each supporting wheel set (22) is a rolling component formed by combining two parallelly placed rollers connected by an annular support, and the two rollers of each supporting wheel set (22) are respectively arranged on the inner side and the outer side of the turning-back bending part of the cable drag chain (21).

3. A cable drag chain structure for a plurality of mobile manipulators as claimed in claim 2, characterized in that: the supporting wheel set (22) comprises a supporting wheel (221), a follow-up wheel (222) and a wheel carrier (223), wherein the supporting wheel (221) and the follow-up wheel (222) are cylindrical idler wheels with through round holes in the centers, the wheel carrier (223) is a square frame body formed by welding a connecting rod (2232) and a round rod shaft (2231), an L-shaped guide hook (2233) is vertically and fixedly connected below the connecting rod (2232) on one side, the wheel carrier (223) is provided with a pair of parallel round rod shafts (2231), the two round rod shafts (2231) of the wheel carrier (223) respectively penetrate through the through round holes of the supporting wheel (221) and the follow-up wheel (222), and the supporting wheel (221) and the follow-up wheel (222) can rotate around the round rod shaft (2231) of the wheel carrier (223).

4. A cable drag chain structure for a plurality of mobile manipulators as claimed in claim 3, characterized in that: the supporting wheels (221) and the follow-up wheels (222) are arranged in parallel, gaps are formed between the walls of the supporting wheels and the follow-up wheels, the cable drag chain (21) penetrates through the gaps between the supporting wheels (221) and the follow-up wheels (222), the supporting wheels (221) and the follow-up wheels (222) are respectively arranged on the inner side and the outer side of the turning-back bending part of the cable drag chain (21), and the supporting wheels (221) can support the upper layer of the turning-back bending part of the cable drag chain (21).

5. A cable drag chain structure for a plurality of mobile manipulators as claimed in claim 4, characterized in that: the cable drag chain (21) is a crawler-type drag chain for protecting the cable, and a flexible rubber sleeve for dust prevention can be sleeved outside the cable drag chain (21).

6. A cable drag chain structure for a plurality of mobile manipulators as claimed in claim 4, characterized in that: the supporting wheels (221) and the follow-up wheels (222) are made of plastic or nylon.

7. A cable drag chain structure for a plurality of mobile manipulators as claimed in claim 4, characterized in that: support wheelset (22) still include tow chain fixed plate (23), tow chain fixed plate (23) be the flat board, be provided with a plurality of guide way (231) along longitudinal parallel on tow chain fixed plate (23), guide hook (2233) one-to-one of a plurality of guide way (231) and a plurality of wheel carrier (223), guide hook (2233) can pass corresponding guide way (231) and can slide in guide way (231), the gib head of guide hook (2233) is placed in the back of tow chain fixed plate (23) and tow chain fixed plate (23) can restrict guide hook (2233) and deviate from, the stiff end lock solid of cable tow chain (21) on tow chain fixed plate (23), the lower surface of cable tow chain (21) lower floor is placed in on tow chain fixed plate (23).

8. A cable drag chain structure for a plurality of mobile manipulators as claimed in claim 7, characterized in that: a plurality of cable drag chains (21) of the drag chain assembly (2) are arranged on the drag chain fixing plate (23) in parallel and are not interfered with each other when being dragged, and the cable drag chains (21) are arranged in a staggered mode from front to back along the moving direction of the manipulator group (1).