Novel pipeline package support for robot

Abstract

The invention discloses a novel pipeline package support for a robot. The novel pipeline package support comprises a mounting support, a rotating rod and a rotating beam. The mounting bracket is mounted on a rear end arm of the robot, the rotating rod is rotatably mounted on the mounting bracket, and the upper end part of the rotating rod extends out of the mounting bracket; the rotating beam is rotatably mounted at the upper end of the rotating rod, the horizontal plane is parallel to the rear-end arm surface, and the vertical plane is perpendicular to the horizontal plane and parallel to the rear-end arm; a supporting distance is formed between the pipeline package fixed on the rotating beam and the arm surface of the rear end arm; according to the pipeline package support, the pipeline package is erected by a certain supporting distance away from the arm face through the mounting support and the rotating rod, the pipeline package is fixed to the rotating beam, and due to the fact that the rotating rod and the rotating beam are both arranged in a rotatable mode, the rotating freedom degrees of the pipeline package in two different directions are provided; the rotating beam is automatically adjusted to provide stretching allowance, stretching of the pipeline package at the point position supporting position is reduced, the pipeline package is made to adapt to the moving posture, and the pipeline package is prevented from touching or being wound around the arm face to be abraded.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arm accessories, and in particular to a novel pipeline package bracket for a robot. Background Art

[0002] The pipeline package is used to bundle and wrap the cables, air pipes and oil pipes of the industrial robot to prevent the pipelines from getting tangled with each other, guide the pipeline transmission, and extend the service life of the pipeline. Generally, the pipeline package is arranged along the robot body. Since the robot constantly changes its posture, the pipeline package at the moving joints is prone to entanglement, stretching and wear. The pipeline bracket structure of the prior art is simple, and only a bottom plate, a support plate and a connecting plate are set to fix the pipeline package, which can only avoid wear on the surface of the pipeline package and the body. For the moving joints with relative motion, the above-mentioned entanglement, stretching and wear problems still exist. The pipeline package will be damaged under long-term wear, causing great economic losses. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects in the prior art and provide a new type of pipeline package support for a robot, so as to overcome one or more problems caused by the limitations and defects of the relevant technology to a certain extent.

[0004] In order to achieve the above object, the technical solution of the present invention is as follows: A novel cable pack bracket for a robot comprises a mounting bracket, a rotating rod and a rotating beam; the cable pack near a motion joint is point-supported by the rotating beam, the mounting bracket is mounted on a rear end arm of the robot and is close to the motion joint, the rotating rod is rotatably mounted on the mounting bracket, and is used to realize vertical plane swinging of the rotating rod, and the upper end of the rotating rod extends out of the mounting bracket; the rotating beam is rotatably mounted on the upper end of the rotating rod, and is used to realize horizontal plane rotation of the rotating beam, the horizontal plane is parallel to the rear end arm surface, and the vertical plane is perpendicular to the horizontal plane and parallel to the rear end arm; there is a support distance between the cable pack fixed on the rotating beam and the arm surface of the rear end arm.

[0005] Furthermore, the rotating rod is installed on the mounting bracket through a rotating pin, and its lower end extends downward from the rotating support point of the rotating pin, and a counterweight block is arranged at the end of its lower end to keep the rotating beam in a horizontal state when the rear end arm swings.

[0006] Furthermore, the mounting bracket includes two mounting base plates, two supporting frames and two supporting beams. The two mounting base plates are installed on the rear end arm in a front-to-back distribution. The supporting frame is a height-adjustable "X"-shaped frame for adjusting the support distance. The mounting base plate is provided with a number of mounting holes for adjustable supporting frames. The two supporting beams are parallel and mounted on the two supporting frames, and the rotating pin shaft vertically connects the two support beams.

[0007] Furthermore, the rotating pin axis is offset toward one side of the supporting frame at the front end to accommodate a small upward swing and a large downward swing of the front end arm.

[0008] Furthermore, the rotating beam is a straight rod with a wire hole in the middle, which is composed of a proximal forearm section, a mounting portion and a proximal rear arm section from front to back. The mounting portion is formed by a protrusion extending laterally from the rotating beam body, and a light hole is provided on the mounting portion for rotationally cooperating with the upper end of the rotating rod. The proximal forearm section extends at least to directly above the motion joint, the lead-out port of the pipeline package is located on the proximal forearm section, and is located directly above or front and above the motion joint, and the lead-in port of the pipeline package is located on the proximal rear arm section.

[0009] Furthermore, a balance block is provided at the end of the proximal forearm section for balancing the weight of the cable pack at the rear end of the cable pack bracket, and a wire threading groove is provided on the lower surface of the proximal forearm section, which passes through the wire hole, and the notch of the wire threading groove is the lead-out port.

[0010] Furthermore, two arc guide plates are provided on the bottom surface of the rotating beam, one arc guide plate is located directly below the inlet, and the other arc guide plate is located directly below the outlet, both of which are used to limit the minimum bending angle of the pipeline package installation.

[0011] Compared with the prior art, the novel cable pack support for robots of the present invention has the following beneficial effects: The pipeline bag bracket is installed with a bracket and a rotating rod to set the pipeline bag at a certain support distance from the arm surface. At the same time, the pipeline bag is fixed on the rotating beam. Since the rotating rod and the rotating beam are both rotatable, the pipeline bag is provided with rotational freedom in two different directions to adapt to the constantly changing movement posture of the robot or the mechanical arm. When the pipeline bag is subjected to a dragging force, the rotating beam automatically adjusts to provide a stretching margin to reduce the stretching of the pipeline bag at the point support, so that the pipeline bag can adapt to the movement posture and always maintain a stretched state, so as to avoid the pipeline bag touching or winding around the arm surface to cause wear, thereby increasing the service life of the pipeline bag. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional structural diagram of the pipe package support disclosed in the present invention; Figure 2 for Figure 1 Three-dimensional structural diagram of the central rotating beam.

[0013] In the figure: 1. Installation base plate; 2. Support stand; 3. Support beam; 4. Rotation pin; 5. Rotation rod; 6. Counterweight; 7. Rotation beam; 71. Near front arm section; 72. Near rear arm section; 73. Installation part; 74. Wire hole; 75. Threading groove; 8. Balance block; 9. Pipeline package; 10. Arc guide plate. DETAILED DESCRIPTION

[0014] The following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only the best embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention; The present embodiment provides a new type of cable pack bracket for a robot, which is used for setting up the cable pack 9 near the motion joints of a robot or a mechanical arm. The present embodiment mainly targets a robot or a mechanical arm having a rear arm and a forearm that move relative to each other. Both the rear arm and the forearm have horizontal rotation and vertical swing motion, and there is also relative rotation motion between the two. In order to prevent the cable pack 9 from being worn, entangled, and stretched when the rear arm and the forearm perform the above motions, Figure 1-Figure 2 The pipeline package bracket of this embodiment includes a mounting bracket, a rotating rod 5 and a rotating beam 7; the pipeline package 9 near the motion joint is passed through and clamped in the wire hole 74 of the rotating beam 7, so as to realize the point-by-point installation and point-by-point support of the pipeline package 9 near the motion joint. The mounting bracket serves as an integral support, which is detachably mounted on the rear arm of the robot along the arm axis direction, and its front end is close to the motion joint. The rotating beam 7 is relatively rotatably connected to the upper end of the rotating rod 5. The rotating beam 7 is in the vertical direction, and the two form a T-shaped structure, which provides the first rotational freedom of the pipeline package 9 in the horizontal plane. The rotating rod 5 can rotate Installed on the mounting bracket, it provides the second rotational freedom of the pipe package 9 in the vertical plane. Therefore, when the front arm rotates vertically relative to the rear arm, the pipe package 9 is dragged to drive the rotating rod 5 to swing vertically along the rotating pin 4 to avoid stretching at the point support. When the front arm rotates horizontally relative to the rear arm, the pipe package 9 drives the rotating beam 7 to rotate horizontally along the rotating rod 5 to make the pipe package 9 adapt to the posture of the robot arm. When the front arm rotates relative to the axis of the rear arm, the rotating beam 7 combines the two rotations at the same time to adapt to the posture change, avoiding the pipe package 9 from being wrapped around the arm surface and causing wear; Since the mounting bracket has a certain height, and the upper end of the rotating rod 5 extends a certain length outside the mounting bracket, there is a sufficient standoff distance between the pipe package 9 fixed on the rotating beam 7 and the arm surface of the rear end arm, so that the pipe package 9 is separated from the body of the robot or the robot arm and the mounting bracket to prevent relative friction and damage during dragging; since the standoff distance is related to the installation conditions, the range of motion, and the connection of each point of the pipe package 9, it is necessary to adjust the standoff distance according to the actual situation of each joint during the actual configuration process. Therefore, the mounting bracket is a height-adjustable structure. Figure 1, it includes two mounting base plates 1, two supporting frames 2 and two supporting beams 3, the two mounting base plates 1 are parallelly and detachably mounted on the rear end arm according to the front and rear distribution, the supporting frame 2 is an "X"-shaped frame body with adjustable height, which can be contracted or extended to adjust the height by rotating two supporting rods, and a number of mounting holes are opened on the mounting base plate 1. After the supporting frame 2 is adjusted in height, the two supporting rods are fixed by selecting two appropriate mounting holes, and the two supporting beams 3 are used to install the rotating pin 4, which are parallel and fixedly mounted on the two supporting frames 2, and the rotating rod 5 can be rotatably set in the middle of the rotating pin 4. In order to prevent the rotating pin 4 from moving, nuts are set at both ends of the rotating pin 4, and the two ends of the rotating pin 4 are passed through the two supporting beams 3 and locked by nuts; According to the running posture analysis of the robot or robot arm, when the rear arm swings, the forearm usually maintains a horizontal state. In order to adapt to this posture, the lower end of the rotating rod 5 extends downward from the rotation support point of the rotating pin 4, and a counterweight 6 is arranged at the end of its lower end. Under the gravity of the counterweight 6, the rotating beam 7 remains horizontal when the rear arm rotates, so that the pipeline package 9 remains parallel to the motion joint and the forearm, and the arrangement of the counterweight 6 can make the pipeline package 9 automatically restore to a vertical state after the drag force disappears; At the same time, since the downward swing angle range of the forearm is large and the upward swing angle range is small, in order to provide the counterweight 6 with sufficient swing space and make the mounting bracket structure as compact as possible, the rotating pin 4 is offset to the side of the front support frame 2, and the installation point of the pipeline package 9 is offset forward. The closer the highest installation point is to the motion joint, the more conducive it is to obtaining a larger range of motion.

[0015] As a further technical solution, in order to prevent the friction between the pipeline package 9 and the robot or the robot arm body, the support distance and the width of the support point of the installation need to be designed in coordination. If the robot arm body is long or the distance between the installation points is long, the support distance should be increased or the width of the support point should be increased. Therefore, the support point needs to have a certain width. The pipeline package 9 is fixed by a wire hole 74 penetrating the middle of the rotating beam 7. The wire hole 74 has a certain length, which extends from the front arm section of the rotating beam 7 to the near rear arm section 72, and the near front arm section 71 extends to the top of the motion joint or the front top. The outlet of the pipeline package 9 is located on the near front arm section 71, and is located just above or above the motion joint. The introduction port of the pipeline package 9 is located on the near rear arm section 72, and the introduction port can be the port of the wire hole 74; the mounting portion 73 is formed by a bulge extending from the lateral side of the rotating beam body, and the mounting portion 73 is provided with a light hole that rotates with the upper end of the rotating rod; Since the pipe bag 9 behind the pipe bag bracket is long, under the action of its gravity, the rotating beam 7 deflects when the rotating rod 5 rotates, which easily causes the pipe bag 9 at the rear to rub against the arm surface. Therefore, a balance block 8 is provided at the end of the near-forearm section 71 of the rotating beam 7 to form a balanced lever mechanism with the center of the rotating column axis as the end point. The balance block 8 is adjustably connected to the end of the near-forearm section 71 through a threaded rod. The lever arm length is adjusted by adjusting the screwing depth of the threaded rod to keep the rotating beam 7 level in the initial state of the rear arm, thereby ensuring the erection effect of the pipe bag 9. Therefore, the outlet of the proximal forearm section 71 cannot be led out through the port, and a threading groove 75 needs to be opened on the lower surface of the proximal forearm section 71. The threading groove 75 passes through the wire hole 74, and the notch of the threading groove 75 is the outlet. In order to reduce friction, the edges of the outlet and the inlet should be chamfered. As a further technical solution, if the line pack 9 is inserted into or out of the line hole 74 at a smaller angle, or even perpendicular to the rotating beam 7, stress concentration is likely to occur at the bend, and the stretching and loosening friction caused by the posture change are likely to be damaged first at the bend. Therefore, it is necessary to limit the minimum bending angle of the line pack 9. Two arc guide plates 10 are provided on the bottom surface of the rotating beam 7. Figure 2 As shown in the figure, the two arc guide plates 10 can be independently installed arc plates or can be integrated structure slats, which are bent at both ends to form two arc guide plates 10, one arc guide plate 10 is located directly below the inlet, and the other arc guide plate 10 is located directly below the outlet, respectively guiding the entry postures of the pipe package 9 behind the inlet and the pipe package 9 in front of the outlet into an arc structure that transitions tangentially with the wire hole 74, avoiding too small bending angles and improving the service life of the pipe package 9.

[0016] The directional words such as "upper", "lower", "end", "side", "front", "back", "horizontal", and "vertical" mentioned in this article are based on Figure 1-Figure 2 The coordinates or orientations shown in the figure are described in the direction of the line of the pipe package 9. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation; In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the terms "on" and "inside" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0017] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A new type of pipe package bracket for a robot, characterized in that: include: A mounting bracket, a rotating rod and a rotating beam; the pipe package near the motion joint is point-supported by the rotating beam; the mounting bracket is mounted on the rear arm of the robot and is close to the motion joint, the rotating rod can be rotatably mounted on the mounting bracket, and is used to realize the swing of the rotating rod on the vertical plane, and the upper end of the rotating rod extends out of the mounting bracket; the rotating beam can be rotatably mounted on the upper end of the rotating rod, and is used to realize the rotation of the rotating beam on the horizontal plane, the horizontal plane is parallel to the arm surface of the rear arm, and the vertical plane is perpendicular to the horizontal plane and parallel to the axis of the rear arm; there is a support distance between the pipe package fixed on the rotating beam and the arm surface of the rear arm.

2. The new type of pipe package support for robots according to claim 1, characterized in that: The rotating rod is installed on the mounting bracket through a rotating pin, and its lower end extends downward from the rotating support point of the rotating pin, and a counterweight block is arranged at the end of its lower end to keep the rotating beam in a horizontal state when the rear end arm swings.

3. The new type of pipe package support for robots according to claim 2, characterized in that: The mounting bracket includes two mounting base plates, two supporting frames and two supporting beams. The two mounting base plates are installed on the rear end arm in a front-to-back distribution. The supporting frame is a height-adjustable "X"-shaped frame for adjusting the support distance. The mounting base plate is provided with a number of mounting holes for adjustable mounting of the supporting frame. The two supporting beams are parallel and mounted on the two supporting frames, and the rotating pin shaft vertically connects the two support beams.

4. The new type of pipe package support for robots according to claim 3, characterized in that: The rotating pin axis is offset toward one side of the supporting stand at the front end to accommodate a small upward swing and a large downward swing of the front end arm.

5. The novel dress pack support for robots according to claim 4, characterized in that: The rotating beam is a straight rod with a wire hole in the middle, and is composed of a proximal forearm section, a mounting portion and a proximal rear arm section from front to rear. The mounting portion is formed by a lateral extension protrusion of the rotating beam body, and a light hole is provided on the mounting portion for rotationally cooperating with the upper end of the rotating rod. The proximal forearm section extends at least to directly above the motion joint, the lead-out port of the pipeline package is located on the proximal forearm section, and is located directly above or in front of the motion joint, and the introduction port of the pipeline package is located on the proximal rear arm section.

6. The novel dress pack support for robots according to claim 5, characterized in that: A balance block is provided at the end of the proximal forearm section for balancing the weight of the cable pack at the rear end of the cable pack bracket. A wire threading groove is provided on the lower surface of the proximal forearm section. The wire threading groove passes through the wire hole, and the notch of the wire threading groove is the outlet.

7. The novel dress pack support for robots according to claim 6, characterized in that: Two arc guide plates are arranged on the bottom surface of the rotating beam, one of the arc guide plates is located directly below the inlet, and the other arc guide plate is located directly below the outlet, both of which are used to limit the minimum bending angle of the pipeline package installation.

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