CN220864061U - Harness fixing device of six-axis mechanical arm - Google Patents

Abstract

The utility model discloses a wire harness fixing device of a six-axis mechanical arm, which comprises a wire harness (2) and a fixing assembly (3) for fixing the wire harness (2) on the six-axis mechanical arm (1), and is characterized in that: six fixing assemblies (3) are arranged, and one fixing assembly (3) is arranged on each joint end cover (1 a) of the six-axis mechanical arm; the wire harness (2) between the base (1 b) of the six-axis mechanical arm and the tool end (1 c) of the six-axis mechanical arm is sequentially fixed in the wire harness groove (32 e) of each fixing assembly (3). The wire harness fixing device can effectively reduce and avoid interference and friction between the wire harness and the movement of the mechanical arm, so that the six-axis mechanical arm can perform more accurate and complex efficient operation; and meanwhile, the operation reliability and efficiency of the mechanical arm are improved.

Description

Harness fixing device of six-axis mechanical arm

Technical Field

The utility model relates to a wire harness fixing device of a mechanical arm.

Background

A robot arm is a robot device that can simulate the motion of a human arm to perform a specific task. Six-axis mechanical arm is the most widely used mechanical arm at present, and comprises six joints, wherein each joint can independently move and can move in six directions. The six directions are respectively: up and down (along the Z axis), back and forth (along the Y axis), left and right (along the X axis), rotation about the X axis, rotation about the Y axis, and rotation about the Z axis. In a word, the six-axis mechanical arm can flexibly move in six degrees of freedom and can perform complex movement and operation in a three-dimensional space, so that more accurate and efficient operation is achieved; is widely applied to the fields of industrial manufacture, medical treatment, semiconductor manufacture and the like.

In various application scenarios of a six-axis mechanical arm (robot), various tool components, such as a camera, a clamp, a probe, etc., are mostly attached to the end of the mechanical arm, and the tool components mostly need to be connected with a communication and power supply wire harness through a control end. However, the six-axis cooperative mechanical arm has high integration level and smooth appearance, does not have a preset channel specially used for arranging an external wire harness, and is generally provided with a fixed bracket by a user according to the wire harness arrangement requirement.

The harness fixing mode of the six-axis mechanical arm in the prior art mainly comprises the following steps: 1. the corrugated pipe is sleeved outside the wire harness between the tail end of the mechanical arm and the control end, and the wire harness between the two ends has no fixed structure; when the mechanical arm moves, the wire harness is very easy to interfere and rub with the movement of the mechanical arm, so that the normal action of the mechanical arm is affected, and meanwhile, the wire harness is also easy to wear and lose efficacy, so that the operation reliability of the mechanical arm is reduced. 2. The wire harness is bound on the mechanical arm by using a binding belt and the like. The binding tape has poor strength and is extremely easy to damage in the external environment, so that binding points are separated; the binding force of the binding belt is small, and the binding belt is easy to slide and shift; the falling and shifting of the binding points can also cause interference and friction between the wire harness and the movement of the mechanical arm, and the accuracy and reliability of the action of the mechanical arm are affected. 3. Hoops are additionally arranged on two long arms of the mechanical arm, and a wire harness fixing support is arranged on each hoop. However, three motion joints are still spaced between the hoop and the tool assembly which are nearest to the tool end of the mechanical arm, and when the mechanical arm performs complex motion, wire harness motion interference still occurs, so that the operation accuracy of the mechanical arm is reduced; the problem of hoop loosening can also occur after long-time use, and the accuracy and reliability of the mechanical arm can be reduced.

Disclosure of utility model

The utility model aims to provide the wire harness fixing device of the six-axis mechanical arm, which can effectively reduce and avoid interference and friction between the wire harness and the movement of the mechanical arm, so that the six-axis mechanical arm can perform more accurate, complex and efficient operation; and meanwhile, the operation reliability and efficiency of the mechanical arm are improved.

The utility model discloses a wire harness fixing device of a six-axis mechanical arm, which comprises a wire harness and a fixing assembly for fixing the wire harness on the six-axis mechanical arm, and is characterized in that:

Six fixing assemblies are arranged, and one fixing assembly is arranged on each joint end cover of the six-axis mechanical arm; the wire harness between the base of the six-axis mechanical arm and the tool end of the six-axis mechanical arm is sequentially fixed in the wire harness grooves of the fixing assemblies.

Compared with the prior art, the utility model has the beneficial effects that:

1. The wire harness is sequentially fixed through each joint, and the wire harness on a single arm between two adjacent joints (fixing assemblies) can follow the arm; the flexible wire harness can also support the rotary motion of each joint, and the wire harness fixing device does not prevent the mechanical arm from performing various complex motion operations. The wire harnesses are sequentially fixed by the joints, and the wire harnesses on a single arm between two adjacent joints (fixing assemblies) cannot swing and shift relative to the arm when the wire harnesses follow the arm; meanwhile, the flexible wire harness can also support the rotary motion of each joint; and further, the problems of interference among wire harnesses, interference among wire harnesses and mechanical arms and friction caused by swinging and shifting of wire harnesses of each arm when the six-axis mechanical arm performs complex movement are avoided, and the complex operation of the six-axis mechanical arm is more accurate and efficient.

2. In the process of complex operation of the mechanical arm, the swing and the pulling of the wire harness of each arm are avoided, and the friction and the abrasion between the wire harness and the mechanical arm are greatly reduced; the service life of the wire harness is long, the frequency of repairing the wire harness by stopping is obviously reduced, and the reliability and the efficiency of the six-axis mechanical arm are improved.

Further, the fixing component of the utility model comprises the following specific components:

the mounting plate is fixed on a joint end cover of the six-axis mechanical arm in a threaded manner, and a plurality of mounting holes are formed in the mounting plate; the two wire harness fixing modules are fixed on the mounting plate through mounting holes in a threaded manner;

The wire harness fixing module comprises the following components: the circular support is fixed on the mounting plate through screws and mounting holes in a threaded manner; the connecting shaft at the lower part of the rotating block is connected with the bearing groove of the circular support through a bearing; the top of the rotating block is in threaded connection with the bottom of the pressing block, the top of the rotating block is provided with a lower wire harness groove, the bottom of the pressing block is provided with an upper wire harness groove, and the upper wire harness groove is matched with the lower wire harness groove to form a wire harness groove; the wire harness passes through the wire harness groove.

Thus, the two wire harness fixing modules can be fixed by threads through different mounting holes on the mounting plate, and the position and the azimuth of the wire harness fixing modules at the joints can be adjusted. The rotating block is connected with the circular support through a bearing, so that a wire bundle groove formed by the rotating block and the pressing block and a wire bundle fixed in the wire bundle groove can freely rotate in a plane parallel to the surface of the joint end cover; the rotary motion of each joint can be better supported, so that various complex motion operations of the mechanical arm are quicker and more accurate; the wire harness can be better protected from being damaged, and the service life of the wire harness is prolonged.

Furthermore, a protective pad is arranged between the wire bundle groove and the wire bundle.

Therefore, the wire harness penetrating into the wire harness groove can be well pressed and fixed in the wire harness groove; and can effectively reduce the damage and abrasion of the wire harness. If the string is corrugated, the inner surface of the protective pad is corrugated with a matching shape of the corrugated tube.

The utility model is described in further detail below with reference to the drawings and the detailed description.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present utility model.

Fig. 2 is a schematic top view of an embodiment of a securing assembly removed from a hinged end cap.

Fig. 3 is an enlarged cross-sectional view of a harness securing module on an embodiment mounting plate.

Detailed Description

Examples

Fig. 1 shows a specific embodiment of the present utility model, which is a harness fixing device of a six-axis mechanical arm, including a harness 2 and a fixing assembly 3 for fixing the harness 2 on the six-axis mechanical arm 1, and is characterized in that:

Six fixing assemblies 3 are arranged, and each joint end cover 1a of the six-axis mechanical arm is provided with one fixing assembly 3; the wire harness 2 between the base 1b of the six-axis mechanical arm and the tool end 1c of the six-axis mechanical arm is sequentially fixed in the wire harness grooves 32e of the respective fixing members 3.

Fig. 2 and 3 show that the specific components of the fixing assembly 3 of this example are:

The mounting plate 31 is fixed on the joint end cover 1a of the six-axis mechanical arm in a threaded manner, and a plurality of mounting holes 31a are formed in the mounting plate 31; the two harness fixing modules 32 are screwed to the mounting plate 31 through the mounting holes 31a;

The harness fixing module 32 comprises the following components: the circular support 32a is fixed on the mounting plate 31 through screws 32f and mounting holes 31a in a threaded manner; the connecting shaft at the lower part of the rotating block 32c is connected with the bearing groove of the circular support 32a through a bearing 32 b; the top of the rotating block 32c is in threaded connection with the bottom of the pressing block 32d, a lower wire harness groove is formed in the top of the rotating block 32c, an upper wire harness groove is formed in the bottom of the pressing block 32d, and the upper wire harness groove is matched with the lower wire harness groove to form a wire harness groove 32e; the wire harness 2 passes through the harness slot 32e.

Fig. 3 shows that a protective pad 2a is further provided between the harness groove 32e and the harness 2 in this example.

Obviously, the diameter of the wire harness groove 32e of the present utility model is equal to or slightly smaller than the diameter of the wire harness 2; when the protective pad 2a is provided, the diameter of the wire harness groove 32e is equal to or slightly smaller than the sum of the diameter of the wire harness 2 and the thickness of the protective pad 2 a; to ensure that the wire harness 2 threaded into the wire harness groove 32e can be held down.

Claims (3)

1. The utility model provides a six pencil fixing device of arm, includes pencil (2), fixes fixed subassembly (3) on six arm (1) with pencil (2), its characterized in that:

Six fixing assemblies (3) are arranged, and one fixing assembly (3) is arranged on each joint end cover (1 a) of the six-axis mechanical arm; the wire harness (2) between the base (1 b) of the six-axis mechanical arm and the tool end (1 c) of the six-axis mechanical arm is sequentially fixed in the wire harness groove (32 e) of each fixing assembly (3).

2. The harness fixing device of a six-axis mechanical arm according to claim 1, wherein the fixing component (3) comprises the following specific components:

The mounting plate (31) is fixed on the joint end cover (1 a) of the six-axis mechanical arm in a threaded manner, and a plurality of mounting holes (31 a) are formed in the mounting plate (31); the two wire harness fixing modules (32) are fixed on the mounting plate (31) through the mounting holes (31 a) in a threaded manner;

The wire harness fixing module (32) comprises the following components: the round support (32 a) is fixed on the mounting plate (31) through a screw (32 f) and a mounting hole (31 a) in a threaded manner; the connecting shaft at the lower part of the rotating block (32 c) is connected with the bearing groove of the circular support (32 a) through a bearing (32 b); the top of the rotating block (32 c) is in threaded connection with the bottom of the pressing block (32 d); the top of the rotating block (32 c) is provided with a lower wire harness groove, the bottom of the pressing block (32 d) is provided with an upper wire harness groove, and the upper wire harness groove is matched with the lower wire harness groove to form a wire harness groove (32 e); the wire harness (2) passes through the wire harness groove (32 e).

3. The harness fixing device of the six-axis mechanical arm according to claim 2, wherein a protection pad (2 a) is further arranged between the harness groove (32 e) and the harness (2).