WO2017177956A1 - 一种机器人拖链 - Google Patents

一种机器人拖链 Download PDF

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Publication number
WO2017177956A1
WO2017177956A1 PCT/CN2017/080513 CN2017080513W WO2017177956A1 WO 2017177956 A1 WO2017177956 A1 WO 2017177956A1 CN 2017080513 W CN2017080513 W CN 2017080513W WO 2017177956 A1 WO2017177956 A1 WO 2017177956A1
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WO
WIPO (PCT)
Prior art keywords
single link
link
robot
arc
links
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PCT/CN2017/080513
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English (en)
French (fr)
Inventor
李洪玉
黄泽森
张建
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绵阳伦奇机器人有限公司
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Application filed by 绵阳伦奇机器人有限公司 filed Critical 绵阳伦奇机器人有限公司
Publication of WO2017177956A1 publication Critical patent/WO2017177956A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains
    • F16G13/12—Hauling- or hoisting-chains so called ornamental chains
    • F16G13/16—Hauling- or hoisting-chains so called ornamental chains with arrangements for holding electric cables, hoses, or the like

Definitions

  • the utility model relates to the technical field of robots, in particular to a three-dimensional drag chain of a semi-closed robot.
  • the existing robotic towline has a closed design due to the outer ring surface in the single link structure, and is not portable enough when the cable is installed in the drag chain, and also causes inconvenience in repairing the internal cable of the drag chain, resulting in an increase in labor costs.
  • the purpose of the utility model is to provide a three-dimensional drag chain of a semi-closed robot to solve the above problems.
  • a robot drag chain is formed by connecting a plurality of single link segments, the single link segments are integrally formed in a ring shape, and the single link segments include a single a link upper portion and a lower portion of the single link, a connection mechanism for connecting the single link between the upper portion of the single link and the lower portion of the single link, the connecting mechanism including a connecting ball and the Connecting the ball phase a matching connecting ball slot, the connecting ball head and the connecting ball slot are opposite to each other, the upper portion of the single link is symmetrically disposed with two first arc notches, and the lower portion of the single link is symmetrically disposed with two second circles
  • the arc notch, the first arc notch and the second arc notch divide the single link into two symmetrical parts, and the two parts are connected by a connecting portion, and the connecting mechanism is located at the connecting portion.
  • the utility model adopts a double-opening design, and can enter the line from two openings at the same time, thereby improving the efficiency of the incoming line.
  • the connecting portion is provided with a hole.
  • the hole can be a through hole or a blind hole to make the product lighter.
  • the thickness at the first arcuate notch is thin.
  • the thin wall design at the opening makes it easier to access the line.
  • the connecting ball head is provided with a protrusion.
  • the convex design can define the rotation angle of the link so that the link does not fall off due to the excessive rotation angle, and the torsion resistance of the link is greatly increased.
  • the utility model has the advantages that the utility model adopts a double-opening design, can enter the line from two openings at the same time, thereby improving the efficiency of the incoming line; the thin wall design at the opening can make the incoming line It is more convenient; the connecting ball head is provided with a protrusion.
  • the convex design can define the rotation angle of the chain link, so that the chain link does not fall off due to the excessive rotation angle, so that the torsion resistance of the chain link is greatly increased; the utility model greatly improves the work efficiency, thereby reducing the labor cost. .
  • FIG. 1 is a schematic structural view of two single chain links connected according to an embodiment of the present invention
  • Figure 2 is a schematic view showing the structure of the single link in Fig. 1;
  • Figure 3 is a cross-sectional view of a single link of the embodiment of the present invention.
  • FIG. 4 is a schematic view showing the connection between two single chain links in the embodiment of the present invention.
  • a robotic towline is formed by connecting a plurality of single-link segments 1 in a single annular shape, and the single-chain link 1 includes a single-link upper portion 2 and a single chain.
  • a connecting mechanism for connecting the single link 1 is provided inside the single link upper portion 2 and the single link lower portion 3, the connecting mechanism including the connecting ball head 5 and matching with the connecting ball head 5 Connecting the ball slot 4, the connecting ball head 5 and the connecting ball slot 4 are arranged opposite each other, the single link upper portion 2 is symmetrically provided with two first arc notches 8 , and the single link lower portion 3 is symmetrically provided with two second arc notches 9.
  • the first circular arc notch 8 and the second circular arc notch 9 divide the single chain link 1 into two symmetrical parts, and the two parts are connected by a connecting portion 10, the connecting mechanism is located at the connecting portion 10;
  • the thickness of the first arcuate notch 8 of the single link upper portion 2 is thin;
  • the connecting ball 5 is provided with a protrusion 6;
  • the arc length is 1/60 of the circle, and the arc length of the second arc notch 9 is 1/8 of the circle;
  • the single link 1 is connected by a ball so that the drag chain can easily bend and rotate; the protrusion 6 can define the rotation angle of the single link 1, so that the single link 1 does not fall off due to excessive rotation angle.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

一种机器人拖链，由数个单链节（1）连接而成，单链节整体成圆环状，所述单链节包括单链节上部（2）、单链节下部（3）和连接机构，所述连接机构包括连接球头（5）和连接球槽（4），单链节上部对称设置有两个第一圆弧缺口（8），所述单链节下部对称设置有两个第二圆弧缺口（9）；连接球头设置有凸起（6），第一圆弧缺口处的厚度变薄；该机器人拖链采用了双开口设计，可以从两个开口同时入线，从而可以提高入线效率；开口处采用薄壁设计，可以使入线更加方便；所述连接球头处设置有凸起，该凸起设计可以限定链节的旋转角度，使链节不会因为旋转角度过大而脱落断开，使链节的抗扭能力大大增加；从而提高了工作效率，降低人工成本。

Description

一种机器人拖链 技术领域
本实用新型涉及机器人技术领域，尤其涉及一种半封闭式机器人三维拖链。
背景技术
随着工业4.0的兴起，机器人的研发也越来越多。现在机器人生产研发企业的布线五花八门，重视控制系统和机构精度，往往忽略机器人动作的神经——动力及信号的传输。
现有机器人拖链由于单个链节结构中的外圈面为封闭设计，在拖链中安装线缆时不够便携,同时还造成不便检修拖链内部线缆的问题，导致人工成本的增加。
申请人申请的2016200348847，一种半封闭式三维拖链，虽然部分解决了上述问题，但是，仍然存在入线不方便、效率低等问题。
实用新型内容
本实用新型的目的就在于提供一种半封闭式机器人三维拖链，以解决上述问题。
为了实现上述目的，本实用新型采用的技术方案是这样的：一种机器人拖链，由数个单链节连接而成，所述单链节整体成圆环状，所述单链节包括单链节上部和单链节下部，在所述单链节上部和单链节下部的内部设置有用于所述单链节之间连接的连接机构，所述连接机构包括连接球头和与所述连接球头相 匹配的连接球槽，所述连接球头和连接球槽相背设置，所述单链节上部对称设置有两个第一圆弧缺口，所述单链节下部对称设置有两个第二圆弧缺口，所述第一圆弧缺口和第二圆弧缺口将所述单链节分成对称的两部分，两部分之间通过连接部连接，所述连接机构位于连接部。
本实用新型采用了双开口设计，可以从两个开口同时入线，从而可以提高入线效率。
作为优选的技术方案：所述连接部上设置有孔。该孔可以为通孔或盲孔，可以使产品更轻量化。
作为优选的技术方案：所述第一圆弧缺口处的厚度变薄。开口处采用薄壁设计，可以使入线更加方便。
作为优选的技术方案：所述连接球头处设置有凸起。该凸起设计可以限定链节的旋转角度，使链节不会因为旋转角度过大而脱落断开，使链节的抗扭能力大大增加。
与现有技术相比，本实用新型的优点在于：本实用新型采用了双开口设计，可以从两个开口同时入线，从而可以提高入线效率；开口处采用薄壁设计，可以使入线更加方便；所述连接球头处设置有凸起。该凸起设计可以限定链节的旋转角度，使链节不会因为旋转角度过大而脱落断开，使链节的抗扭能力大大增加；本实用新型大大提高了工作效率，从而降低人工成本。
附图说明
图1是本实用新型实施例两个单链节连接后的结构示意图
图2图1中单链节的结构示意图；
图3是本实用新型实施例单链节的截面图；
图4是本实用新型实施例两个单链节之间的连接方式示意图。
图中：1、单链节；2、单链节上部；3、单链节下部；4、连接球槽；5、连接球头；6、凸起；7、孔；8、第一圆弧缺口；9、第二圆弧缺口；10、连接部。
具体实施方式
下面将结合附图对本实用新型作进一步说明。
实施例：
参见图1，2,3，4，一种机器人拖链，由数个单链节1连接而成，单链节1整体成圆环状，单链节1包括单链节上部2和单链节下部3，在单链节上部2和单链节下部3的内部设置有用于单链节1之间连接的连接机构，所述连接机构包括连接球头5和与连接球头5相匹配的连接球槽4，连接球头5和连接球槽4相背设置，单链节上部2对称设置有两个第一圆弧缺口8，单链节下部3对称设置有两个第二圆弧缺口9，第一圆弧缺口8和第二圆弧缺口9将单链节1分成对称的两部分，两部分之间通过连接部10连接，所述连接机构位于连接部10；连接部10上设置有孔7，该孔7可以为通孔或盲孔；单链节上部2的第一圆弧缺口8处的厚度变薄；连接球头5处设置有凸起6；第一圆弧缺口8的弧长为所在圆的1/60，第二圆弧缺口9的弧长为所在圆的1/8；
单链节1之间通过球连接从而使拖链轻松实现弯曲和转动；凸起6可以限定单链节1的旋转角度，使单链节1不会因为旋转角度过大而脱落断开。
以上所述仅为本实用新型的较佳实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。

Claims (4)

  1. 一种机器人拖链，由数个单链节连接而成，所述单链节整体成圆环状，所述单链节包括单链节上部和单链节下部，在所述单链节上部和单链节下部的内部设置有用于所述单链节之间连接的连接机构，所述连接机构包括连接球头和与所述连接球头相匹配的连接球槽，所述连接球头和连接球槽相背设置，其特征在于：所述单链节上部对称设置有两个第一圆弧缺口，所述单链节下部对称设置有两个第二圆弧缺口，所述第一圆弧缺口和第二圆弧缺口将所述单链节分成对称的两部分，两部分之间通过连接部连接，所述连接机构位于连接部。
  2. 根据权利要求1所述的机器人拖链，其特征在于：所述连接部上设置有孔。
  3. 根据权利要求1所述的机器人拖链，其特征在于：所述第一圆弧缺口处的厚度变薄。
  4. 根据权利要求1所述的机器人拖链，其特征在于：所述连接球头处设置有凸起。
PCT/CN2017/080513 2016-04-14 2017-04-14 一种机器人拖链 WO2017177956A1 (zh)

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Publication number Priority date Publication date Assignee Title
CN205503865U (zh) * 2016-04-14 2016-08-24 绵阳伦奇机器人有限公司 一种机器人拖链
CN107053258A (zh) * 2017-05-26 2017-08-18 绵阳伦奇机器人有限公司 一种拖链的铰接结构

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012013496A1 (de) * 2010-07-30 2012-02-02 Kabelschlepp Gmbh Leitungsführungseinrichtung mit einer kugel-seilverbindung
CN203130910U (zh) * 2013-04-11 2013-08-14 浙江金福隆机床附件有限公司 塑料拖链
CN105313140A (zh) * 2015-12-09 2016-02-10 绵阳伦奇机器人有限公司 机器人三维拖链
CN105313141A (zh) * 2015-12-09 2016-02-10 绵阳伦奇机器人有限公司 一种机器人线缆拖链
CN205503865U (zh) * 2016-04-14 2016-08-24 绵阳伦奇机器人有限公司 一种机器人拖链

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012013496A1 (de) * 2010-07-30 2012-02-02 Kabelschlepp Gmbh Leitungsführungseinrichtung mit einer kugel-seilverbindung
CN203130910U (zh) * 2013-04-11 2013-08-14 浙江金福隆机床附件有限公司 塑料拖链
CN105313140A (zh) * 2015-12-09 2016-02-10 绵阳伦奇机器人有限公司 机器人三维拖链
CN105313141A (zh) * 2015-12-09 2016-02-10 绵阳伦奇机器人有限公司 一种机器人线缆拖链
CN205503865U (zh) * 2016-04-14 2016-08-24 绵阳伦奇机器人有限公司 一种机器人拖链

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