CN110853810A - A robot encoder cable - Google Patents

Abstract

The invention discloses a robot encoder cable, comprising a cable main body, the cable main body comprising an outer protection unit and an inner cable core, the cable core further comprising a floating body, the cross section of the floating body as a whole is a circle with a gap The shape of the gap is oval, the power supply unit is set in the gap, and the communication unit is set in the center of the floating body; the main body of the cable is installed on the main body of the robot through the cable installation device, and the cable between the two cable installation devices The main body is covered with a corrugated pipe, the two ends of the through hole of the cable installation device are provided with a connecting unit connected with the corrugated pipe, and the two ends of the corrugated pipe are provided with a nozzle matched with the connecting unit; the connecting unit includes two ends of the through hole. The present invention is designed with an asymmetric floating body, so that the cable is easy to be laid on water and has a certain reset function, and the cable body will not enter water after the skin is damaged, which greatly improves the water environment. security below.

Description

A robot encoder cable

technical field

The invention relates to the technical field of robots, in particular to a robot encoder cable.

Background technique

The invention patent with application number CN201820460801.X discloses "The utility model discloses a high-flexibility tensile and torsion-resistant robot cable, which includes an alloy wire conductor and an outer protective sheath, and the outer surface of the alloy wire conductor is fixedly connected with a polymer. an insulating layer, the outer wall of the polymer insulating layer is movably connected with a tinned copper wire shielding layer, the number of the polymer insulating layers is two, and the two polymer insulating layers are respectively movably connected to the tinned copper wire shielding layer The inside of the tinned copper wire shielding layer is filled with a torsion-resistant reinforcing core. The high-flexibility tensile-torsion-resistant robot cable can effectively enhance the elasticity of the cable by setting a polymer insulating layer on the outer surface of the total wire conductor. and resilience to increase the flexibility of the cable. By setting a waterproof protective cover and a non-hygroscopic protective layer, it can effectively enhance the moisture resistance and moisture resistance, so that the cable can work normally in a humid environment. brackets and mounting rings, which can effectively enhance the performance of the cable.” Similar robot cables such as the above-mentioned patents take various measures to achieve the durability of the cables, but do not take into account the usage conditions of robots that work underwater and in environments that are easily exposed to water.

On the other hand, the invention patent with application number CN201220480704.X discloses that "the utility model relates to the technical field of industrial robots, and provides an industrial robot cable installation device, which includes an adapter, and the adapter is a crankshaft-shaped structure, and the adapter The parts include the first flange of the adapter, the second flange of the adapter, the first flange connection and the second flange connection; the first flange of the adapter and the robot on the C-axis moving part of the industrial robot The flange is fixedly connected, the second flange of the adapter is fixedly connected with the execution equipment; the first flange of the adapter and the second flange of the adapter are arranged in parallel and spaced apart, the first flange of the adapter and the second flange of the adapter The two sides of the flange are respectively fixedly connected by the first flange connecting piece and the second flange connecting piece, and the first section of the cable can be twisted and fitted in the adapter. There will be no interference, which reduces the loss of cables and equipment, and does not affect the movement of the motion axis of the industrial robot." Although the cable installation device described in the above patent can reduce the loss of the cable, it is inseparable from the wear of the cable itself. Avoid, once the cable skin is damaged, it is easy to enter water under water or in an environment where it is easy to come into contact with water, resulting in dangers such as short circuit and electric shock.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robot encoder cable suitable for use under water or in an environment that is easy to contact with water, so as to solve the problems raised in the above-mentioned background art.

To achieve the above object, the present invention provides the following technical solutions:

A robot encoder cable includes a cable body, the cable body includes an outer protection unit and an inner cable core, and the protection unit includes an outer sheath, a fiber braid, an inner sheath and a tetrafluoroethylene sequentially arranged from the inside to the outside vinyl layer;

The cable core includes a power supply unit and a communication unit, the power supply unit includes a plurality of conductors covered with an insulating layer, and the communication unit includes a wire set sheath and a plurality of stranded control wire cores inside the wire set sheath;

The cable core also includes a floating body, the cross section of the floating body is a circle with a gap as a whole, the shape of the gap is an ellipse, the power supply unit is arranged in the gap, and the communication unit is arranged in the center of the floating body;

The floating body provides buoyancy for the cable, the floating body adopts an asymmetric structure, and the power supply unit with higher density is arranged in the gap of the floating body, so that the buoyancy of the cable is no longer uniform when it is floating, and there will be no buoyancy. Under the influence of external force, the part with less buoyancy is located in the lower position, which can play a part in assisting the reset through the difference in buoyancy after the cable is rotated.

The cable main body is installed on the robot main body through the cable installation device, the cable main body passes through a plurality of cable installation devices in sequence, and the cable installation device is provided with a through hole matched with the cable main body;

The cable main body between the two cable installation devices is sleeved with a corrugated pipe, the two ends of the through hole of the cable installation device are provided with a connection unit connected with the corrugated pipe, and the two ends of the corrugated pipe are provided with a connection unit matched with the connection unit. Nozzle;

The connecting unit includes a joint portion protruding from both ends of the through hole, the outer end of the joint portion is provided with a first ring groove and a second ring groove, the depth of the first ring groove is twice the depth of the second ring groove, and the first ring groove is twice as deep as the second ring groove. The outer diameter of the groove is equal to the inner diameter of the second ring groove, and the outer half of the first ring groove is communicated with the second ring groove; the second ring groove is provided with a gland, and the gland is in clearance fit with the nozzle of the bellows, and the gland The inner second ring groove is filled with sealing packing.

As a further solution of the present invention: the polyethylene inner sheath is made of polyethylene.

As a further solution of the present invention: the fiber braided layer and the tetrafluoroethylene layer effectively improve the toughness of the cable main body.

As a further solution of the present invention: the tetrafluoroethylene layer is formed by overlapping and wrapping polytetrafluoroethylene tapes.

As a further solution of the present invention, the outer end of the joint portion and the outer end of the gland are provided with mutually matched flanges, and the two flanges are connected by bolts.

As a further solution of the present invention, the axis of the joint portion and the axis of the through hole of the cable installation device are at 90-180°.

As a further solution of the present invention: the corrugated pipe adopts a double-wall corrugated pipe.

As a further solution of the present invention, the nozzle of the corrugated tube that is not connected to the connecting unit and the cable body are sealed by filling sealant. Ensure that the entire channel is sealed.

As a further solution of the present invention: the communication unit includes an inner protective sleeve and a control wire arranged inside the inner protective sleeve, the outer surface of the inner protective sleeve is covered with a shielding layer, and a plurality of control wires are twisted with each other; the anti-interference is strong.

Compared with the prior art, the beneficial effects of the present invention are:

1. The present invention is designed with an asymmetric floating body, so that the cable is easy to be laid on water and has a certain reset function;

2. In the present invention, the corrugated pipe is designed to cooperate with the cable installation device to form a sealed channel, so that water will not enter after the skin of the main body of the cable is damaged, which greatly improves the safety in a water environment.

Description of drawings

Figure 1 is a schematic diagram of the cross-sectional structure of the robot encoder cable.

FIG. 2 is a schematic structural diagram of a cable installation device in a robot encoder cable.

Figure 3 is a schematic diagram of the internal structure of the connection unit in the robot encoder cable.

FIG. 4 is a schematic structural diagram in which the axis of the joint part of the robot encoder cable and the axis of the through hole of the cable installation device are at 90°.

FIG. 5 is a schematic structural diagram in which the axis of the cable joint part of the robot encoder and the axis of the through hole of the cable installation device are at 120°.

Figure 6 is a schematic diagram of the structure of the bellows and the main body of the cable in the robot encoder cable filled with sealant.

FIG. 7 is a schematic structural diagram of a communication unit in a robot encoder cable.

In the figure: 1 cable body, 2 outer sheath, 3 fiber braided layer, 4 polyethylene inner sheath, 5 tetrafluoroethylene layer, 6 power supply unit, 7 communication unit, 8 floating body, 9 gap, 10 cable installation device, 11 bellows, 12 joint, 13 first ring groove, 14 second ring groove, 15 gland, 16 nozzle, 20 sealant, 21 inner protective sleeve, 22 shielding layer.

Detailed ways

The technical solution of the present patent will be described in further detail below in conjunction with specific embodiments.

Example 1

1-3, a robot encoder cable includes a cable body 1, the cable body 1 includes an outer protection unit and an inner cable core, and the protection unit includes an outer sheath 2, Fiber braided layer 3, inner sheath 4 and tetrafluoroethylene layer 5;

The cable core includes a power supply unit 6 and a communication unit 7, the power supply unit 6 includes a plurality of conductors covered with an insulating layer, and the communication unit 7 includes a wire set sheath and a plurality of stranded control wire cores inside the wire set sheath;

The cable core also includes a floating body 8, the cross section of the floating body 8 is a circle with a gap 9 as a whole, the shape of the gap 9 is oval, the power supply unit 6 is arranged in the gap 9, and the communication unit 7 is arranged in the floating body. 8 center;

The floating body 8 provides buoyancy for the cable. The floating body 8 adopts an asymmetric structure, and the power supply unit 6 with a higher density is arranged in the gap 9 of the floating body 8, so that the buoyancy of the cable is no longer uniform when it is floating. , the part with less buoyancy will be kept in the lower position without the influence of external force, and after the cable is rotated, the buoyancy difference can play a part in assisting the reset.

Preferably, the polyethylene inner sheath 4 is made of polyethylene;

Preferably, the fiber braided layer 3 and the tetrafluoroethylene layer 5 can effectively improve the toughness of the cable body 1 .

Preferably, the tetrafluoroethylene layer 5 is formed by overlapping and wrapping polytetrafluoroethylene tapes.

The cable main body 1 is installed on the robot main body through the cable installation device 10, and the cable main body 1 passes through a plurality of cable installation devices 10 in sequence, and the cable installation device 10 is provided with a through hole matched with the cable main body 1;

A corrugated tube 11 is sleeved on the cable main body 1 between the two cable installation devices 10 , the two ends of the through hole of the cable installation device 10 are provided with a connection unit connected to the corrugated tube 11 , and the two ends of the corrugated tube 11 are provided with a connection unit. The nozzle 16 of the unit;

The connecting unit includes a joint portion 12 protruding from both ends of the through hole. The outer end of the joint portion 12 is provided with a first annular groove 13 and a second annular groove 14 , and the depth of the first annular groove 13 is equal to the depth of the second annular groove 14 . 2 times, the outer diameter of the first ring groove 13 is equal to the inner diameter of the second ring groove 14, and the outer half of the first ring groove 13 communicates with the second ring groove 14; The cover 15 is in clearance fit with the nozzle 16 of the bellows 11 , and the second annular groove 14 inside the gland 15 is filled with sealing packing.

When connecting, first insert the nozzle 16 of the bellows 11 into the first ring groove 13, then fill the sealing packing, and then connect the gland 15 through the flange, and the gland 15 presses the sealing packing to achieve sealing.

Preferably, the outer end of the joint portion 12 and the outer end of the gland 15 are provided with flanges that cooperate with each other, and the two flanges are connected by bolts.

Preferably, the joint portion 12 is designed as a detachable structure, and is connected to the cable installation device 10 through a flange.

The present invention mainly solves the following problems:

1. The present invention provides a cable main body 1 structure that can offset part of the gravity of the cable through buoyancy, and designs a floating body with an asymmetric structure, so that the cable main body 1 has a certain reset function and provides technical support for the water laying of the cable main body 1 ;

2. The cable main body 1 is ultimately connected to the interface of the robot main body. Because the rotating or swinging parts such as the robot steering gear will drive the movement of the cable main body 1, but in order to ensure the normal operation of the parts, it is necessary to design sufficient margin, so it is necessary to design The cable installation device 10 is limited to prevent it from being wrapped around the robot part;

3. Since the cable installation device 10 is designed to limit its position, the part of the cable main body 1 connected to the cable installation device 10 is easy to be worn and damaged, and the outer layer of the cable main body 1 is easy to be caused by using it under water or in an environment where it is easy to come into contact with water. Therefore, the present invention designs the bellows 11 to connect the joint unit of the cable installation device 10 to provide a waterproof channel for the cable body 1. As a safety guarantee, even if the protection unit of the cable body 1 fails, the problem of water ingress and short circuit will not occur.

Embodiment 2

Please refer to FIGS. 4-5 , on the basis of the first embodiment, because the function of the cable installation device 10 is to create a limit point for the cable, different steering or swing parts of the robot have different effects on the cable, and the cable limit point sometimes The cable needs to be bent at a certain angle to avoid the movement trajectory of the robot part, which requires the bending of the joint part 12 to limit the bending of the cable, and the necessary joint part 12 can be extended to a certain extent;

Preferably, the axis of the joint portion 12 and the axis of the through hole of the cable installation device 10 are at 90-180°.

Embodiment 3

On the basis of the first embodiment, the corrugated pipe 11 adopts a double-wall corrugated pipe.

Embodiment 4

Referring to FIG. 6 , on the basis of the first embodiment, the nozzle 16 of the corrugated tube 11 that is not connected to the connection unit and the cable body 1 are sealed by filling the sealant 20 . Ensure that the entire channel is sealed.

Embodiment 5

Referring to FIG. 7 , on the basis of the first embodiment, the communication unit 7 includes an inner protective sleeve 21 and a control wire core disposed inside the inner protective sleeve 21 , the outer surface of the inner protective sleeve 21 is covered with a shielding layer 22 , and a plurality of control wires are provided. The cores are twisted around each other; the anti-interference is strong.

Preferably, another layer of inner protective cover 21 is provided on the surface of the shielding layer 22 to optimize the contact surface between the shielding layer 22 and the floating body 8 .

The preferred embodiments of the present patent have been described in detail above, but the present patent is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various modifications can be made without departing from the purpose of the present patent. kind of change.

Claims (10)

1. The robot encoder cable is characterized by comprising a cable main body, wherein the cable main body comprises an external protection unit and an internal cable core, and the protection unit comprises an outer sheath, a fiber woven layer, an inner sheath and a tetrafluoroethylene layer which are sequentially arranged from inside to outside; the cable core comprises a floating body, the cross section of the floating body is integrally circular with a notch, the shape of the notch is oval, the power supply unit is arranged in the notch, and the communication unit is arranged at the center of the floating body;

the cable main body is arranged on the robot main body through the cable installation devices, the cable main body sequentially penetrates through the cable installation devices, and through holes matched with the cable main body are formed in the cable installation devices; the cable main body between the two cable installation devices is sleeved with a corrugated pipe, the two ends of the through hole of each cable installation device are provided with connection units connected with the corrugated pipe, and the two ends of the corrugated pipe are provided with pipe orifices matched with the connection units.

2. The robot encoder cable according to claim 1, wherein the connection unit includes a joint part protruding from both ends of the through-hole, an outer end of the joint part is provided with a first ring groove and a second ring groove, a depth of the first ring groove is 2 times a depth of the second ring groove, an outer diameter of the first ring groove is equal to an inner diameter of the second ring groove, and an outer half portion of the first ring groove is communicated with the second ring groove; and a gland is arranged in the second annular groove, the gland is in clearance fit with the pipe orifice of the corrugated pipe, and the second annular groove on the inner side of the gland is filled with sealing filler.

3. The robot encoder cable of claim 1, wherein the cable core includes a power unit and a communication unit, the power unit including a plurality of conductors coated with an insulating layer, the communication unit including a wire set jacket and a plurality of twisted control wire cores within the wire set jacket.

4. The robot encoder cable of claim 1, wherein the material of the polyethylene inner jacket is polyethylene.

5. A robot encoder cable according to claim 1, characterized in that the tetrafluoroethylene layer is constituted by a polytetrafluoroethylene tape lapped winding.

6. A robot encoder cable according to claim 2, characterized in that the outer end of the joint part and the outer end of the gland are provided with mutually cooperating flanges, which are connected by means of bolts.

7. The robot encoder cable of claim 2, wherein an axis of the joint part is 90-180 ° to an axis of the through hole of the cable installation device.

8. A robot encoder cable according to claim 1 or 2, characterized in that the corrugated tube is a double-walled corrugated tube.

9. A robot encoder cable according to claim 1 or 2, wherein the bellows nozzle is sealed with the cable body by filling a sealant.

10. A robot encoder cable according to claim 1, characterized in that the communication unit comprises an inner protective sheath and control wires arranged inside the inner protective sheath, the outer surface of the inner protective sheath being covered with a shielding layer, the plurality of control wires being twisted around each other.

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