CN219152941U

CN219152941U - Cable routing structure of Z-axis mechanism of four-axis manipulator

Info

Publication number: CN219152941U
Application number: CN202320207187.7U
Authority: CN
Inventors: 寇昌; 邵路; 谭广有; 张利民
Original assignee: Dalian Everyday Good Electronic Co ltd
Current assignee: Dalian Everyday Good Electronic Co ltd
Priority date: 2023-02-14
Filing date: 2023-02-14
Publication date: 2023-06-09
Anticipated expiration: 2033-02-14

Abstract

The utility model relates to the field of cable routing structures of manipulators, and discloses a cable routing structure of a Z-axis mechanism of a four-axis manipulator. According to the utility model, the cable is inserted into the high-flexibility corrugated pipe, and the high-flexibility corrugated pipe fixing seat is fixed at the upper end of the four-axis manipulator and can freely rotate, so that the cable cannot relatively move when the four-axis manipulator moves up and down and horizontally and the four-axis manipulator rotates, and the cable cannot be pulled and bent, so that the cable is protected.

Description

Cable routing structure of Z-axis mechanism of four-axis manipulator

Technical Field

The utility model relates to the field of cable routing structures of manipulators, in particular to a cable routing structure of a Z-axis mechanism of a four-axis manipulator.

Background

At present, the four-axis manipulator is a product with higher industrial automation utilization rate, is generally applied to carrying workpieces, and can realize horizontal movement, height and angle adjustment of the workpieces by matching with pneumatic clamping jaws, electric clamping jaws, vacuum chucks and the like.

If the four-axis manipulator is required to be used for high-precision work, a group of cameras and light sources are added on the manipulator to accurately position the workpiece, and then the pneumatic clamping jaw, the electric clamping jaw, the vacuum chuck and the like are matched to complete high-precision assembly work.

But the pneumatic clamping jaw, the vacuum chuck, the camera, the light source and the like used in cooperation need be fixed on the Z axis of the four-axis manipulator, the clamping jaw and the driving air pipe of the chuck, the sensor and the cable of the camera light source are also fixed on the four-axis manipulator along with the clamping jaw and the chuck, when the manipulator works, all the air pipes and the cables can be pulled and bent due to the vertical and horizontal movement rotation of the Z axis of the manipulator, the cable can be repeatedly pulled and bent for a long time, the service life can be greatly reduced, and then the fracture phenomenon occurs.

Nowadays, most manufacturers use high-flexibility cables, and optimize the motion trail of the four-axis manipulator to reduce the phenomena of pulling and bending, but once the cables are more, the four-axis manipulator uses more complicated working conditions, and the problem cannot be solved by the two schemes

Therefore, a cable routing structure of a Z-axis mechanism of the four-axis manipulator is provided to solve the problems.

Disclosure of Invention

The utility model aims to solve the defects in the prior art, and provides a cable routing structure of a Z-axis mechanism of a four-axis manipulator.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: the utility model provides a four-axis manipulator Z axle mechanism cable walks line structure, includes four-axis manipulator, four-axis manipulator left side lower part fixedly connected with anchor clamps subassembly, anchor clamps subassembly left part fixedly connected with cable inlet, cable inlet top fixedly connected with one end of high gentle bellows, four-axis manipulator right part upside fixedly connected with cable outlet, four-axis manipulator left part upside fixedly connected with fixing base.

As a further description of the above technical solution:

fixing columns are arranged at the lower parts of the fixing seats, hexagon socket bolts are arranged at the middle parts of the inner sides of the fixing seats, and fixing plates are arranged at the lower parts of the inner sides of the fixing seats.

As a further description of the above technical solution:

the fixing column is characterized in that a C-shaped retaining ring is fixedly connected to the top end inside the fixing column, a bearing is fixedly connected to the lower portion of the C-shaped retaining ring, and a central shaft is fixedly connected to the lower portion of the bearing.

As a further description of the above technical solution:

and a backing ring is arranged at the interface of the fixing seat and the fixing column.

As a further description of the above technical solution:

the high-flexibility corrugated pipe penetrates through the middle of the fixing seat.

As a further description of the above technical solution:

the other end of the high-flexibility corrugated pipe is fixedly connected to the top of the cable outlet.

The utility model has the following beneficial effects:

according to the utility model, the cable is inserted into the high-flexibility corrugated pipe, and the high-flexibility corrugated pipe fixing seat is fixed at the upper end of the four-axis manipulator and can freely rotate, so that the cable cannot relatively move when the four-axis manipulator moves up and down and horizontally and the four-axis manipulator rotates, and the cable cannot be pulled and bent, so that the cable is protected.

Drawings

Fig. 1 is a schematic diagram of a high-flexibility corrugated pipe of a cable routing structure of a Z-axis mechanism of a four-axis manipulator;

fig. 2 is an enlarged view at a in fig. 1;

fig. 3 is a schematic diagram of a fixing base structure of a cable routing structure of a Z-axis mechanism of a four-axis manipulator according to the present utility model.

Legend description:

1. a high-flexibility corrugated pipe; 2. a cable inlet; 3. a clamp assembly; 4. a cable outlet; 5. a fixing seat; 6. an inner hexagon bolt; 7. a fixing plate; 8. a backing ring; 9. a C-shaped clasp ring; 10. a bearing; 11. a central shaft; 12. fixing the column; 13. a four-axis manipulator.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-3, one embodiment provided by the present utility model is: the cable routing structure of the four-axis manipulator Z-axis mechanism comprises a four-axis manipulator 13, wherein the lower part of the left side of the four-axis manipulator 13 is fixedly connected with a clamp assembly 3, the left part of the clamp assembly 3 is fixedly connected with a cable inlet 2, the top of the cable inlet 2 is fixedly connected with one end of a high flexible corrugated pipe 1, the purpose of using the high flexible corrugated pipe 1 is to prevent the corrugated pipe from influencing the manipulator precision, the upper side of the right part of the four-axis manipulator 13 is fixedly connected with a cable outlet 4, the upper side of the left part of the four-axis manipulator 13 is fixedly connected with a fixing seat 5, a cable is firstly penetrated into the high flexible corrugated pipe 1, the surface of the cable of the four-axis manipulator in the moving process is ensured not to be rubbed with the manipulator, and the cable is not abraded due to frequent friction, so that the cable protection function is realized; and then the high-flexibility corrugated pipe 1 is matched with the fixed column 12 by the corresponding fixed seat 5, and the high-flexibility corrugated pipe 1 is sequentially fixed at the upper end of the cable inlet 2 of the clamp assembly 3 and the upper end of the cable outlet 4 at the right part of the four-axis manipulator 13.

Fixing base 5 lower part is provided with fixed column 12, fixing base 5 inboard middle part is provided with hexagon socket head cap screw 6, fixing base 5 inboard lower part is provided with fixed plate 7, the inside top fixedly connected with C shape buckle 9 of fixed column 12, C shape buckle 9 lower part fixedly connected with bearing 10, bearing 10 lower part fixedly connected with center pin 11, fixing base 5 and fixed column 12 interface department is provided with backing ring 8, high gentle bellows 1 runs through in fixing base 5 middle part, high gentle bellows 1 other end fixed connection is at cable outlet 4 top, thereby make fixed column 12 and fixing base 5 connect fixedly through above spare part, and fix fixing base 5 in Z axle 13 left part upside.

Working principle: firstly, a cable is penetrated into a high-flexibility corrugated pipe 1, so that the surface of the cable cannot be rubbed with the mechanical arm in the moving process of the four-axis mechanical arm, and the cable cannot be abraded due to frequent friction, thereby playing a role in protecting the cable; then the high flexible corrugated pipe 1 is matched with the fixing post 12 by the corresponding fixing seat 5, the high flexible corrugated pipe 1 is sequentially fixed at the upper end of the cable inlet 2 of the clamp assembly 3 and the upper end of the cable outlet 4 at the right part of the four-axis manipulator 13, and the core of the utility model is that the fixing seat 5 is fixed at the upper end of the left part of the four-axis manipulator 3 and can freely rotate, so that the cable can not relatively move when the four-axis manipulator moves up and down and horizontally and the four-axis manipulator 13 rotates, and the cable can not be pulled and bent, thereby protecting the cable.

Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present utility model.

Claims

1. Four-axis manipulator Z axle mechanism cable walk line structure, including four-axis manipulator (13), its characterized in that: the four-axis manipulator (13) left side lower part fixedly connected with anchor clamps subassembly (3), anchor clamps subassembly (3) left part fixedly connected with cable inlet (2), cable inlet (2) top fixedly connected with one end of high gentle bellows (1), four-axis manipulator (13) right side upside fixedly connected with cable outlet (4), four-axis manipulator (13) left part upside fixedly connected with fixing base (5).

2. The four-axis manipulator Z-axis mechanism cable routing structure of claim 1, wherein: fixing base (5) lower part is provided with fixed column (12), fixing base (5) inboard middle part is provided with hexagon socket head cap screw (6), fixing base (5) inboard lower part is provided with fixed plate (7).

3. The four-axis manipulator Z-axis mechanism cable routing structure of claim 2, wherein: the fixing column is characterized in that a C-shaped retaining ring (9) is fixedly connected to the top end inside the fixing column (12), a bearing (10) is fixedly connected to the lower portion of the C-shaped retaining ring (9), and a central shaft (11) is fixedly connected to the lower portion of the bearing (10).

4. The four-axis manipulator Z-axis mechanism cable routing structure of claim 2, wherein: and a backing ring (8) is arranged at the interface of the fixed seat (5) and the fixed column (12).

5. The four-axis manipulator Z-axis mechanism cable routing structure of claim 1, wherein: the high-flexibility corrugated pipe (1) penetrates through the middle of the fixing seat (5).

6. The four-axis manipulator Z-axis mechanism cable routing structure of claim 1, wherein: the other end of the high-flexibility corrugated pipe (1) is fixedly connected with the top of the cable outlet (4).