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Pulley System for Flexible Cables and Pneumatic Hoses in Three-Slide Telescoping Robotic Assemblies

IP.com Disclosure Number: IPCOM000040062D
Original Publication Date: 1987-Sep-01
Included in the Prior Art Database: 2005-Feb-01
Document File: 2 page(s) / 47K

Publishing Venue

IBM

Related People

Barenboim, M: AUTHOR [+3]

Abstract

A technique is described whereby a compact pulley/cabling system is provided in place of coiled cables and hoses in robotic mechanisms with telescoping slides requiring long travel. A typical electric drive robot (EDR) utilizes a three-slide telescoping arm so as to provide the required extension. Attached to the arm is a three-axis wrist and a pneumatic gripper which requires a cable with a large number of conductors for power and signal transmission. The power and signal cables must be individual cables so as to prevent electrical noise interference. Also, pneumatic hoses are required to operate a double-acting air cylinder of the gripper. In the prior art, the cables and hoses were coiled so as to provide for telescoping movement of the arm.

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Pulley System for Flexible Cables and Pneumatic Hoses in Three-Slide Telescoping Robotic Assemblies

A technique is described whereby a compact pulley/cabling system is provided in place of coiled cables and hoses in robotic mechanisms with telescoping slides requiring long travel. A typical electric drive robot (EDR) utilizes a three-slide telescoping arm so as to provide the required extension. Attached to the arm is a three-axis wrist and a pneumatic gripper which requires a cable with a large number of conductors for power and signal transmission. The power and signal cables must be individual cables so as to prevent electrical noise interference. Also, pneumatic hoses are required to operate a double-acting air cylinder of the gripper. In the prior art, the cables and hoses were coiled so as to provide for telescoping movement of the arm. This coiled cable and hose approach caused excess bulk when attached to the telescoping arm. The technique, described herein, eliminates the coiled cable and hose approach by utilizing a pulley system. The pulley system, as shown in the figure, utilizes two pulleys 10 and 11 attached to center slide 12, as used in three-part telescoping arm mechanisms. The diameter of the pulleys is selected based on the minimum bend radius of the flexible cable used in a given application. Inner slide 13 is designed so that it will not interfere with the pulleys when fully retracted. Pulleys 10 and 11 are designed so as to retain cable 14 and hose 15. Cable- and hose-retaining clamps 16 are installed on inner slide 13, and support bracket 17 is moun...