JP3232478U - Terminal connection module used for robot arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a terminal connection module capable of suppressing a cable from coming into contact with a shaft and preventing the cable and the shaft from rubbing against each other and being damaged. A terminal connecting module 10 is used for a robot arm. The robot arm has a shaft 21. The end connecting module includes a holder 11, a protective tube 12, a pneumatic / electric socket 14, and a cable 15. The protective tube covers the outside of the shaft and has a fixed end that is connected to the holder. The pneumatic / electric socket is connected to the shaft. The cables are spirally arranged along the outside of the protective tube and are connected to the pneumatic / electric socket. The minimum diameter dm in spiraling the cable is larger than the maximum outer diameter Ds of the protective tube. The minimum diameter dmin is calculated based on the formula of the present invention. [Selection diagram] Fig. 2

Description

The present invention relates to a robot arm, and more particularly to a terminal connection module used for the robot arm.

Robotic arms are already widely used in the manufacturing and processing industries, improving the situation where product yields are reduced by manually performing manufacturing processes with many repetitive tasks, and working on behalf of workers under harsh environmental conditions. Not only can the health of workers be protected from danger, but good processing accuracy can be maintained.
In order to perform machining operations on work objects with different specifications in the manufacturing and machining processes, it is necessary to attach a terminal effector (for example, a gripper, a suction cup or a drill) to the end of the robot arm by means of a terminal connection module.

In the conventional wiring configuration, in the terminal connection module of the robot arm posted by Patent Document 1, since the wiring is configured inside the elastic protective tube, the cable may be entangled with surrounding objects and ruptured. Can be avoided. However, in the wiring method according to the technical feature of Patent Document 1, since the robot arm must be placed sideways, there is a problem that the wiring cable is entangled with the rotating shaft, causing damage to the rotating shaft and damage to the wiring cable. Therefore, there is room for improvement in the above-mentioned problems.

Taiwan Patent I682838 Gazette

The present invention is used for a robot arm, and provides a terminal connection module capable of suppressing the cable from being entangled with the shaft after placing the robot arm sideways and preventing the cable and the shaft from rubbing against each other and being damaged. The main purpose is that.

(Equation 1) ... domin = [(N × L) / ((N + 1) × π)] −ψ

The terminal connection module for solving the above-mentioned problems is used for the robot arm. The robot arm has a shaft. The end-connect module includes a holder, protective tube, pneumatic / electrical socket and cable. The holder is fixed to the robot arm. The protective tube covers the outside of the shaft and has a fixed end that is connected to the holder. Pneumatic / electric sockets are connected to the bottom of the shaft and rotate and move up and down with the shaft. Since the cables are spirally arranged along the outside of the protective tube and connected to the pneumatic / electric socket, the operation of the pneumatic / electric socket causes expansion and contraction along the axial direction of the shaft, or with respect to the axial direction of the shaft. And make a spiral movement. The diameter when the cable is spirally moved along the first direction is the minimum diameter dm. The minimum diameter dmin is larger than the maximum outer diameter Ds of the protective tube. The minimum diameter dmin is calculated based on Equation 1. In Equation 1, N is the effective number of laps of the cable surrounding the protective tube. L is the length of the spiral of the cable surrounding the circumference of the protective tube. ψ is the diameter of the cable. π is the pi.

Due to the above-mentioned technical features, when the robot arm is placed sideways, the protective tube prevents the cable from coming into contact with the shaft and prevents the cable and the shaft from rubbing against each other and being damaged.

(Relational expression 1) ... La ≧ 1 / 2S1

The length of the cylindrical portion of the protective tube located in the axial direction of the shaft is indicated by La. The stroke range in which the shaft moves up and down is displayed in S1. Since the relationship between the length La of the cylindrical portion and the stroke range S1 satisfies the relational expression 1, the protective tube can surely prevent the cable and the shaft from coming into contact with each other and being damaged.

(Relational formula 2) ... La> Lb

The cable has a spiral part and a straight part. The spiral portion is spirally arranged along the outside of the protective tube, the tip portion is connected to the holder, and the end portion is connected to the linear portion. The linear part is connected to a pneumatic / electric socket. The virtual plane perpendicular to the axial direction of the shaft through the fixed end of the protective tube is the vertical distance to the bottom of the spiral portion, that is, the shortest stroke of the cable is indicated by Lb. When compressing the cable until the tube wall of the spiral part of the cable is deformed, if the relational expression 2 is satisfied, the rising pneumatic / electric socket contacts the protective tube first without pressing the cable to deform and damage it. can do.

It is a perspective view which shows the terminal connection module used for the robot arm by one Embodiment of this invention. It is a vertical cross-sectional view which shows the terminal connection module used for the robot arm by one Embodiment of this invention. It is an enlarged view which shows a part of FIG. It is an enlarged view which shows a part of FIG. It is sectional drawing along the 5-5 line in FIG. It is a part of a vertical sectional view showing a state in which a cable is compressed until the tube wall of a spiral portion of the cable is deformed in the terminal connecting module used for the robot arm according to the embodiment of the present invention.

Hereinafter, the terminal connection module used for the robot arm according to the present invention will be described with reference to the drawings. In the specification and drawings, directional terms are expressed based on the directions in the drawings. The same reference numerals indicate structural features of the same or similar parts.

(One Embodiment)
As shown in FIG. 1, the terminal connection module 10 according to the embodiment of the present invention is used for the robot arm 20. The robot arm 20 has a shaft 21. In the present embodiment, the shaft 21 is a spline bolt that moves up and down and rotates by the driving force of two power sources (not shown in the figure), but is not limited to this, and may be another form such as a shaft of a rod-shaped motor. Good.
As shown in FIGS. 2 and 3, the terminal connection module 10 according to the embodiment of the present invention includes a holder 11, a protective tube 12, a pneumatic / electric socket 14, and a cable 15.

The holder 11 is fixed to the robot arm 20.

The protective tube 12 has a fixed end 121 that covers the outside of the shaft 21 and is connected to the holder 11.

The pneumatic / electric socket 14 is connected to the bottom of the shaft 21 and rotates and moves up and down together with the shaft 21. The pneumatic / electric socket 14 has a flange 141, a power output unit 142, and two pneumatic output units 143. The flange 34 is located at the bottom of the pneumatic / electric socket 14 and is used in combination with different end effectors such as grippers, suction cups or drills (not shown) depending on the actual needs.
The power output unit 142 and the two pneumatic output units 143 are arranged on the outer peripheral surface of the pneumatic / electric socket 14. The power output unit 142 outputs power to the terminal effector. One pneumatic output unit 143 feeds gas into the terminal effector. Another pneumatic output unit 143 produces an exhaust effect on the end effector.

As shown in FIGS. 3 and 4, the cable 15 is spirally arranged along the outside of the protective tube 12 and is connected to the pneumatic / electric socket 14, so that the shaft of the shaft 21 is operated by the operation of the pneumatic / electric socket 14. It expands and contracts along the direction, and spirals in the axial direction of the shaft 21.
The diameter when the cable 15 is spirally moved along the first direction D1 is the minimum diameter dm. Since the minimum diameter dmin is larger than the maximum outer diameter Ds of the protective tube 12, it is possible to prevent the cable 15 from being twisted and deformed due to the protective tube 12 coming into contact with the cable 15. When the protective tube 12 is a circular tube, the outer diameter of the cylindrical portion becomes the maximum outer diameter Ds. When the protective tube 12 is a polyhedron, the maximum distance between the rhombic sides is the maximum outer diameter Ds.

(Equation 1) ... dm = [(N × L) / ((N + 1) × π)] −ψ

The minimum diameter dmin is calculated based on Equation 1. In Equation 1, N is the effective number of laps of the cable 15 surrounding the protective tube 12. L is the length of the spiral of the cable 15 that surrounds the protection tube 12. ψ is the diameter of the cable 15. When the cable 15 is a plurality of wiring materials, ψ is the diameter of the cable 15 having the largest wiring material. π is the pi.

Due to the above-mentioned technical features, when the robot arm 20 is placed sideways, the protective tube 12 suppresses the cable 15 from coming into contact with the shaft 21 and prevents the cable 15 and the shaft 21 from rubbing against each other and being damaged. Can be done.

In the present embodiment, the cable 15 employs three parallel wiring cables, but the cable 15 is not limited to this, and a single-wire wiring cable may be adopted.

(Relational expression 1) ... La ≧ 1 / 2S1

In the present embodiment, as shown in FIG. 6, the length of the cylindrical portion of the protective tube 12 located in the axial direction of the shaft 21 is indicated by La. As shown in FIG. 2, the stroke range in which the shaft 21 moves up and down is indicated by S1. The relationship between the length La of the cylindrical portion and the stroke range S1 satisfies the relational expression 1.

When the robot arm 20 is placed sideways, the most hanging portion of the cable 15 is located around half of the stroke range S1 of the shaft 21, so if the relational expression 1 is satisfied, the protective tube 12 ensures the protective effect. It can be demonstrated.

(Relational formula 2) ... La> Lb

In this embodiment, as shown in FIG. 6, the cable 15 has a spiral portion 151 and a linear portion 152. The spiral portion 151 is arranged spirally along the outside of the protective tube 12, the tip portion is connected to the holder 11, and the end portion is connected to the linear portion 152. The linear portion 152 is connected to the pneumatic / electric socket 14.
The virtual plane A perpendicular to the axial direction of the shaft 21 through the fixed end 121 of the protective tube 12 is the vertical distance to the bottom of the spiral portion 151, that is, the shortest stroke of the cable 15 is displayed in Lb. When compressing the cable 15 until the tube wall of the spiral portion 151 of the cable 15 is deformed (that is, the spiral portions are in close contact with each other), if the relational expression 2 is satisfied, the rising air pressure / electric socket 14 Can first contact the protective tube 12 without pressing the cable 15 to deform and damage it.

10 Terminal connection module 11 Holder 12 Protective tube 121 Fixed end 14 Pneumatic / electric socket 141 Flange 142 Electric output unit 143 Pneumatic output unit 15 Cable 151 Spiral part 152 Linear part 20 Robot arm 21 Shaft D1 First direction dmin Minimum diameter Ds Maximum outer diameter La Cylindrical length
S1 stroke range A virtual plane Lb shortest stroke

Claims (3)

A terminal connection module used for a robot arm having a shaft.
Equipped with holder, protective tube, pneumatic / electric socket and cable,
The holder is fixed to the robot arm and
The protective tube has a fixed end that covers the outside of the shaft and is connected to the holder.
The pneumatic / electric socket is connected to the bottom of the shaft and rotates and moves up and down together with the shaft.
The cable is spirally arranged along the outside of the protective tube, and by being connected to the pneumatic / electric socket, the cable can expand and contract along the axial direction of the shaft by the operation of the pneumatic / electric socket. , Can spiral with respect to the axial direction of the shaft
The minimum diameter dmin when spirally moving the cable is larger than the maximum outer diameter Ds of the protective tube, and the minimum diameter dmin is calculated based on Equation 1.
(Equation 1) ... dm = [(N × L) / ((N + 1) × π)] −ψ
In the above formula 1, N is the effective number of laps of the cable surrounding the protective tube, L is the length of the spiral of the cable surrounding the protective tube, and ψ is the diameter of the cable. , Π is a pi,
End connection module. In the protective tube, the length of the cylindrical portion located in the axial direction of the shaft is indicated by La, the stroke range in which the shaft moves up and down is indicated by S1, the length La of the cylindrical portion and the stroke range S1. The relationship with (relationship formula 1) ... La ≧ 1 / 2S1
The terminal connection module according to claim 1, wherein the terminal connection module is satisfied. The length of the cylindrical portion of the protective tube located in the axial direction of the shaft is indicated by La, the cable has a spiral portion and a linear portion, and the spiral portion is along the outside of the protective tube. Helixally arranged, the tip is connected to the holder, the end is connected to the linear portion, the linear portion is connected to the pneumatic / electric socket, and through the fixed end of the protective tube. The virtual plane perpendicular to the axial direction of the shaft is the vertical distance to the bottom of the spiral portion, that is, the shortest stroke of the cable is indicated by Lb, and the cable is deformed until the tube wall of the spiral portion of the cable is deformed. When compressing
(Relational formula 2) ... La> Lb
The terminal connection module according to claim 1, wherein the terminal connection module is satisfied.

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