CN215240887U

CN215240887U - Wire harness system of soft robot

Info

Publication number: CN215240887U
Application number: CN202121213023.2U
Authority: CN
Inventors: 王灿雷; 刘永波; 胡星星; 王兵; 毛锦铭; 臧志
Original assignee: Pharos Shanghai Medical Technology Co ltd
Current assignee: Pharos Shanghai Medical Technology Co ltd
Priority date: 2021-06-01
Filing date: 2021-06-01
Publication date: 2021-12-21
Anticipated expiration: 2031-06-01

Abstract

The utility model provides a pencil system of software robot relates to medical instrument equipment technical field. The wire harness system of the soft robot comprises a mounting seat and a limiting plate; the mounting seat is provided with a plurality of hole groups which are distributed in a circumferential direction or in a determinant manner; the limiting plate is provided with a plurality of wire passing holes; the mounting hole of the hole group corresponds to the wire passing hole; the outer pipe sleeve of the traction rope can penetrate through and be fixed in the mounting hole, and the aperture of the wire passing hole is smaller than the outer diameter of the outer pipe sleeve and larger than the diameter of the traction rope. The utility model discloses a pencil system of software robot compares with traditional fastener, owing to set up the mount pad of fixed outer pipe box and be used for the limiting plate of threading, outer pipe box moves about along with haulage rope when having prevented pencil control, has improved controlling stability and accuracy of software robot.

Description

Wire harness system of soft robot

Technical Field

The utility model relates to the technical field of medical equipment, particularly, relate to a pencil system of software robot.

Background

A soft robot controlled by a wire harness is provided with a large number of traction ropes. In order to arrange a plurality of hauling ropes orderly, a wire clamp or a wiring harness device needs to be reasonably used in design. In addition, the outer side of the traction rope needs to be provided with an outer sleeve for protection and guidance. The existing wire clamp or wire harness device is usually difficult to fix an outer sleeve, so that the control of the soft robot is unstable and the accuracy is reduced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pencil system of software robot helps solving above-mentioned technical problem.

The utility model discloses a realize like this:

a wire harness system of a soft robot comprises a mounting seat and a limiting plate; the mounting seat is provided with a plurality of hole groups which are distributed circumferentially or in a determinant manner; the limiting plate is provided with a plurality of wire passing holes; the mounting hole of the hole group corresponds to the wire passing hole; the outer pipe sleeve of the traction rope can penetrate through and be fixed in the mounting hole, and the aperture of the wire passing hole is smaller than the outer diameter of the outer pipe sleeve and larger than the diameter of the traction rope.

In the wiring harness system of the soft robot, the plurality of hole groups of the mounting seat are used for penetrating the traction rope with the outer-layer pipe sleeve, and the wire passing holes of the limiting plate are used for penetrating the traction rope to limit the outer-layer pipe sleeve. Since the harness system of the soft robot pulls the tow rope in one direction only and releases it in the opposite direction during use, the outer sleeve is stressed mainly in one direction. The wire harness system can improve the control stability and accuracy of the soft robot on the premise of regulating a plurality of traction ropes.

The number of the upper mounting holes and the lower mounting holes is generally set to five corresponding to the number of the fingers, and the number of the upper mounting holes and the number of the lower mounting holes can also be set to 2, 3, 4 or even 5 or more according to actual needs.

In addition, at last mounting hole or the structure that prevents pencil axial displacement of lower inner wall setting of mounting hole also belongs to the technical scheme of the utility model. For example, the inner wall of the fixing device is provided with fixing and limiting structures such as barbs, bolts, buckles and the like.

Further, the hole group comprises an upper mounting hole and a lower mounting hole, the upper mounting hole and the lower mounting hole are distributed along the width direction of the mounting seat, and the hole groups are distributed along the length direction of the mounting seat. The technical effects are as follows: preferably, the plurality of upper and lower mounting holes are arranged in a matrix.

Further, the mounting seat comprises an upper clamping plate and a lower clamping plate; the lower surface of the upper clamping plate is provided with a first groove, the upper surface of the lower clamping plate is provided with a second groove, and the first groove and the second groove are spliced to form the upper mounting hole; the lower splint is provided with the lower mounting hole. The technical effects are as follows: utilize the integrated configuration of punch holder and lower plate, be favorable to the installation and the dismantlement of pencil, and the last mounting hole that two upper and lower recesses formed, the clamping action between the usable recess is fixed with outer pipe box centre gripping.

Further, still include the base, the base with the lower plate laminating is connected, the downside terminal surface of lower plate is provided with the bar groove, the bar groove with the base laminating forms mounting hole down. The technical effects are as follows: the base and the independent design respectively of lower plate to set up the bar groove at the downside of lower plate, utilize the concatenation formation mounting hole down of bar groove and base, help the dismouting of pencil equally, when the installation, only need aim at the card go into the bar groove can, need not to pass the mounting hole with each rope that pulls respectively.

According to the design needs, not only can set up on the base including lower plate and punch holder, can also add the multilayer splint above the punch holder again to form from a plurality of mounting holes up down.

Further, the strip-shaped groove is a rectangular groove. The technical effects are as follows: compare with slot cavities such as circular, semi-circular or triangle-shaped, the mounting hole under the slot cavity of rectangle and the mounting plane combination formation of base, the pore structure is more complete, and lower splint are connected with the base and are more laminated, and the fixed effect of lower mounting hole to outer pipe box is better.

Further, the limiting plate and the mounting seat are connected with the base. The technical effects are as follows: utilize the casing of software robot control module outside the pencil system as the base, fix limiting plate and mount pad laminating back on the base, the structure is more stable.

Further, the mounting seat further comprises an upper pressure plate and a lower pressure plate; a third groove is formed in the lower surface of the upper pressing plate, a fourth groove is formed in the upper surface of the lower pressing plate, and the third groove and the fourth groove are spliced to form the lower mounting hole; the upper pressure plate is provided with the upper mounting hole. The technical effects are as follows: through this design, the mount pad includes two parts, and the last mounting hole of two parts sets up with lower mounting hole is crisscross. Wherein, top board and holding down plate can pass through the screw connection, can also realize connecting through the buckle, and the interference fit mode is fixed, perhaps bonds the mode and realizes fixed mounting.

Further, the upper mounting hole comprises a strip-shaped groove. The technical effects are as follows: the upper mounting hole of the first part of the mounting seat is a spliced round hole, and the upper mounting hole of the second part of the mounting seat is an open slot cavity; the lower mounting hole of the first part of the mounting seat is an open slot cavity, and the lower mounting hole of the second part of the mounting seat is a spliced round hole. The combined design is beneficial to fixedly mounting the outer-layer pipe sleeve.

Further, the outer-layer pipe sleeve, the flexible wear-resistant pipe and the traction rope are sequentially sleeved from outside to inside; the aperture of the wire passing hole is smaller than the inner diameter of the flexible wear-resistant pipe; the outer layer pipe sleeve is fixed in the upper mounting hole or the lower mounting hole. The technical effects are as follows: the outer layer pipe sleeve is used for guiding, protecting and controlling and positioning the traction rope, and the flexible wear-resistant pipe is used for reducing the abrasion of the traction rope in the movement. When the traction rope is pulled, the positions of the flexible wear-resistant pipe and the outer layer pipe sleeve are limited by the limiting plate through the wire passing hole.

Or the outer layer pipe sleeve and the flexible wear-resistant pipe can be made into an integrated pipe; or the flexible wear-resistant pipe is a nonmetal wear-resistant pipe, and the outer-layer pipe sleeve is a spring pipe; or the outer layer pipe sleeve is a Bourdon pipe with a spring.

Further, the flexible wear-resistant tube is made of polytetrafluoroethylene. The technical effects are as follows: the polytetrafluoroethylene is commonly called as plastic king, has the characteristics of high temperature resistance and extremely low friction coefficient, and can meet the continuous friction operation of a cable.

Further, the mounting seat and/or the limiting plate are made of polyamide, polyformaldehyde or polytetrafluoroethylene. The technical effects are as follows: the polyamide, polyformaldehyde or polytetrafluoroethylene plastic material has the advantages of light weight, easy production and manufacture and strong wear resistance.

The utility model has the advantages that:

the utility model discloses a pencil system of software robot compares with traditional fastener, owing to set up the mount pad of fixed outer pipe box and be used for the limiting plate of threading, outer pipe box moves about along with haulage rope when having prevented pencil control, has improved controlling stability and accuracy of software robot.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a first view angle of a wire harness system of a soft robot according to the present invention;

fig. 2 is a schematic structural diagram of a first view angle of a wire harness system (after the upper clamping plate and the lower clamping plate are detached) of the soft robot provided by the present invention;

fig. 3 is a schematic structural diagram of a second view angle of the wire harness system of the soft robot according to the present invention;

fig. 4 is a schematic structural diagram of a wire harness system of the soft robot provided by the present invention.

Icon: 110-upper splint; 111-a first recess; 120-lower splint; 121-a second groove; 122-a strip groove; 130-an upper platen; 131-a third groove; 140-a lower press plate; 141-a fourth groove; 101-upper mounting holes; 102-lower mounting holes; 200-a limiting plate; 210-a wire through hole; 300-a traction rope; 310-a flexible wear resistant tube; 320-outer pipe sleeve; 400-base.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Fig. 1 is a schematic structural diagram of a first view angle of a wire harness system of a soft robot according to the present invention; fig. 2 is a schematic structural diagram of a first view angle of a wire harness system (after the upper clamping plate 110 and the lower clamping plate 120 are detached) of the soft robot provided by the present invention; fig. 3 is a schematic structural diagram of a second view angle of the wire harness system of the soft robot according to the present invention; fig. 4 is a schematic structural diagram of a wire harness system of the soft robot provided by the present invention. The present embodiment provides a wire harness system of a soft robot, as shown in fig. 1 to 4, which includes a mounting seat and a limiting plate 200; the mounting seat is provided with a plurality of hole groups, each hole group comprises an upper mounting hole 101 and a lower mounting hole 102, the upper mounting holes 101 and the lower mounting holes 102 are distributed along the width direction of the mounting seat, and the plurality of hole groups are distributed along the length direction of the mounting seat; the limiting plate 200 is provided with a plurality of wire passing holes 210; the upper mounting hole 101 and the lower mounting hole 102 correspond to the wire passing hole 210 respectively; the outer jacket 320 of the hauling rope 300 can pass through and be fixed in the mounting hole, and the aperture of the wire passing hole 210 is smaller than the outer diameter of the outer jacket 320 and larger than the diameter of the hauling rope 300.

In the present embodiment, the number of the upper mounting holes 101 and the lower mounting holes 102 is generally set to five corresponding to the number of the fingers, and may be set to 2, 3, 4, or even 5 or more according to actual needs. In addition, the inner wall setting of installing hole 101 or lower installing hole 102 prevents pencil axial displacement's structure also belongs to the technical scheme of the utility model. For example, the inner wall of the fixing device is provided with fixing and limiting structures such as barbs, bolts, buckles and the like.

Optionally, the upper mounting hole 101 and the lower mounting hole 102 form a hole group, and a plurality of hole groups can be distributed in a circumferential manner (star shape), so that the design can improve the balanced swing of the whole wiring harness system in the direction of 360 degrees.

The design principle and the use method of the wire harness system of the soft robot are as follows:

the plurality of hole sets of the mounting seat are used for penetrating the hauling rope 300 with the outer pipe sleeve 320, and the line passing hole 210 of the limiting plate 200 is used for penetrating the hauling rope 300 to limit the outer pipe sleeve 320. Since the harness system of the soft robot pulls the tow rope 300 in one direction only and releases in the opposite direction during use, the outer sleeve 320 is forced primarily in one direction. The wiring harness system can improve the control stability and accuracy of the soft robot on the premise of arranging a plurality of traction ropes 300.

In one of the preferred embodiments, as shown in fig. 1-3, the mounting base includes an upper clamp plate 110 and a lower clamp plate 120; the lower surface of the upper clamp plate 110 is provided with a first groove 111, the upper surface of the lower clamp plate 120 is provided with a second groove 121, and the first groove 111 and the second groove 121 are spliced to form an upper mounting hole 101; the lower plate 120 defines a lower mounting hole 102. In this embodiment, the combination structure of the upper plate 110 and the lower plate 120 is used to facilitate the installation and removal of the wire harness, and the upper installation hole 101 formed by the upper and lower grooves can clamp and fix the outer pipe sleeve 320 by the clamping effect between the grooves.

In one preferred embodiment, as shown in fig. 1 to 4, the mounting structure further includes a base 400, the base 400 is attached to the lower clamping plate 120, a strip groove 122 is disposed on an end surface of a lower side of the lower clamping plate 120, and the strip groove 122 is attached to the base 400 to form the lower mounting hole 102. In this embodiment, the base 400 and the lower plate 120 are independently designed, the strip-shaped groove 122 is arranged on the lower side of the lower plate 120, the lower mounting hole 102 is formed by splicing the strip-shaped groove 122 and the base 400, the wire harness is also assembled and disassembled, and when the wire harness is assembled, the wire harness is only required to be aligned and clamped into the strip-shaped groove 122, and the traction ropes 300 do not need to pass through the mounting holes respectively.

Further, the base 400 may include a lower plate 120 and an upper plate 110, and a plurality of layers of plates may be further added above the upper plate 110 to form a plurality of mounting holes from bottom to top.

In one preferred embodiment, as shown in fig. 1-4, the strip-shaped groove 122 is a rectangular groove. In this case, the groove 122 may be formed in a circular shape, a semicircular shape, a triangular shape, or a polygonal zigzag shape. Compared with a circular, semicircular or triangular groove cavity, the rectangular groove cavity and the mounting plane of the base 400 are combined to form the lower mounting hole 102, the hole structure is more complete, the lower clamping plate 120 is more attached to the base 400, and the fixing effect of the lower mounting hole 102 on the outer-layer pipe sleeve 320 is better.

In one preferred embodiment, as shown in fig. 1 to 4, the limiting plate 200 and the mounting seat are connected to a base 400. At this time, the housing of the soft robot control module outside the wire harness system is used as the base 400, and the limiting plate 200 and the mounting seat are fixed on the base 400 after being attached, so that the structure is more stable.

In one of the preferred embodiments, as shown in fig. 1-4, the mount further includes an upper platen 130 and a lower platen 140; the lower surface of the upper pressing plate 130 is provided with a third groove 131, the upper surface of the lower pressing plate 140 is provided with a fourth groove 141, and the third groove 131 and the fourth groove 141 are spliced to form a lower mounting hole 102; the upper press plate 130 is provided with an upper mounting hole 101. At this time, the mounting seat includes two portions, and the upper mounting holes 101 and the lower mounting holes 102 of the two portions are alternately arranged.

The upper pressing plate 130 and the lower pressing plate 140 may be connected by screws, may be connected by fasteners, and may be fixed by interference fit, or may be fixedly mounted by adhesion.

In one preferred embodiment, as shown in fig. 1-4, the upper mounting hole 101 includes a strip groove 122. At the moment, the upper mounting hole 101 of the first part of the mounting seat is a spliced round hole, and the upper mounting hole 101 of the second part of the mounting seat is an open slot cavity; the lower mounting hole 102 of the first portion of the mounting base is an open slot cavity, and the lower mounting hole 102 of the second portion of the mounting base is a split round hole. The above-described modular design facilitates the secure mounting of the outer pipe sleeve 320.

In one preferred embodiment, as shown in fig. 4, the rope pulling device further comprises an outer layer pipe sleeve 320, a flexible wear-resistant pipe 310 and a pulling rope 300 which are sleeved from outside to inside; the aperture of the wire through hole 210 is smaller than the inner diameter of the flexible wear-resistant pipe 310; the outer jacket 320 is fixed in the upper mounting hole 101 or the lower mounting hole 102. In this embodiment, the outer jacket 320 serves to guide, protect and control the positioning of the load cable 300, and the flexible wear tube 310 serves to reduce wear on the load cable 300 during play. When the traction rope 300 is pulled, the flexible wear-resistant pipe 310 and the outer-layer pipe sleeve 320 are limited by the limiting plate 200 through the through-line hole 210. Alternatively, the outer sleeve 320 and the flexible wear-resistant pipe 310 can be made into an integrated pipe; or, the flexible wear-resistant pipe 310 is a nonmetal wear-resistant pipe, and the outer-layer pipe sleeve 320 is a spring pipe; alternatively, the outer jacket 320 is a bourdon tube with a spring.

In one of the preferred embodiments, as shown in fig. 4, the flexible wear tube 310 is made of polytetrafluoroethylene. The polytetrafluoroethylene is commonly called as plastic king, has the characteristics of high temperature resistance and extremely low friction coefficient, and can meet the continuous friction operation of a cable.

In one of the preferred embodiments, the mount and/or retainer plate 200 is made of polyamide, polyoxymethylene or polytetrafluoroethylene, as shown in fig. 4. The polyamide, polyformaldehyde or polytetrafluoroethylene plastic material has the advantages of light weight, easy production and manufacture and strong wear resistance.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to 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

1. The wire harness system of the soft robot is characterized by comprising a mounting seat and a limiting plate (200); the mounting seat is provided with a plurality of hole groups which are distributed circumferentially or in a determinant manner; the limiting plate (200) is provided with a plurality of wire passing holes (210); the mounting hole of the hole group corresponds to the wire passing hole (210); the outer pipe sleeve (320) of the hauling rope (300) can pass through and be fixed in the mounting hole, and the aperture of the wire passing hole (210) is smaller than the outer diameter of the outer pipe sleeve (320) and larger than the diameter of the hauling rope (300).

2. The wire harness system of the soft robot according to claim 1, wherein the hole group comprises an upper mounting hole (101) and a lower mounting hole (102), the upper mounting hole (101) and the lower mounting hole (102) are distributed in a width direction of the mounting seat, and a plurality of the hole groups are distributed in a length direction of the mounting seat.

3. The wire harness system of the soft robot according to claim 2, wherein the mounting seat comprises an upper clamp plate (110) and a lower clamp plate (120); a first groove (111) is formed in the lower surface of the upper clamping plate (110), a second groove (121) is formed in the upper surface of the lower clamping plate (120), and the first groove (111) and the second groove (121) are spliced to form the upper mounting hole (101); the lower clamping plate (120) is provided with the lower mounting hole (102).

4. The wire harness system of the soft robot as claimed in claim 3, further comprising a base (400), wherein the base (400) is attached to the lower clamping plate (120), a strip-shaped groove (122) is formed in the lower end face of the lower clamping plate (120), and the strip-shaped groove (122) is attached to the base (400) to form the lower mounting hole (102).

5. The wire harness system of the soft robot as claimed in claim 4, wherein the strip-shaped groove (122) is a rectangular groove.

6. The wire harness system of the soft robot according to claim 4, wherein the limiting plate (200) and the mounting seat are connected with the base (400).

7. The harness system of the soft robot of claim 2, wherein the mount further comprises an upper platen (130) and a lower platen (140); a third groove (131) is formed in the lower surface of the upper pressing plate (130), a fourth groove (141) is formed in the upper surface of the lower pressing plate (140), and the third groove (131) and the fourth groove (141) are spliced to form the lower mounting hole (102); the upper pressing plate (130) is provided with the upper mounting hole (101).

8. The wire harness system of the soft robot according to claim 7, wherein the upper mounting hole (101) comprises a strip-shaped groove (122).

9. The wire harness system of the soft robot as claimed in claim 2, further comprising the outer layer pipe sleeve (320), the flexible wear-resistant pipe (310) and the pulling rope (300) which are sleeved from outside to inside; the aperture of the wire through hole (210) is smaller than the inner diameter of the flexible wear-resistant pipe (310); the outer layer pipe sleeve (320) is fixed in the upper mounting hole (101) or the lower mounting hole (102).

10. The wire harness system of the soft robot of claim 9, wherein the flexible wear tube (310) is made of polytetrafluoroethylene.

11. The wire harness system of the soft robot according to claim 2, wherein the mount and/or the limit plate (200) are made of polyamide, polyoxymethylene or polytetrafluoroethylene.