A tracheal placement device and robot

Abstract

The present invention discloses a trachea arrangement device and a robot, belonging to the field of robot technology, in order to solve the problem that the trachea on the robot is outside the swing arm, and the trachea is easily scratched and pulled as the robot moves, causing the trachea to break. The present invention discloses a trachea arrangement device, comprising: a trachea; a mounting component, provided with a fixing component for fixing the trachea; a storage mechanism, arranged on the mounting component, for storing the trachea, the storage mechanism is provided with a trachea inlet and a trachea outlet; a pneumatic actuator, movably mounted on the mounting component for linear motion, and a first motion position, a second motion position and a third motion position are sequentially provided on the mounting component along the direction of motion, and the pneumatic actuator is provided with an air supply hole. The trachea of ​​the present invention can automatically extend a part according to the movement needs of the swing arm, avoiding the problem of being torn off and scratched due to excessive reserved length.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a trachea arrangement device and a robot. Background Art

[0002] The SCARA robot is an industrial robot commonly used in the 3C industry. It is often equipped with pneumatic tooling fixtures at the end for handling, grasping and other operations. The pneumatic fixture needs to be connected to the air pipe interface on the robot to ensure the circulation of the gas circuit. Traditional SCARA robots usually only have the air pipe interface above the outer cover, which is far away from the air pipe interface of the fixture. Therefore, it is necessary to have a longer air pipe between the robot air pipe interface and the fixture air pipe interface to ensure that the robot air pipe interface and the fixture air pipe interface are still smoothly connected when the robot screw moves up and down. Figure 1 As shown, the air pipe 10 on the robot is hung outside the robot's swing arm, and swings or shakes irregularly with the movement of the swing arm. In positions with intensive processes, the air pipe hanging outside the robot's joint arm is easily scratched or pulled by instruments in the external environment, causing damage to the air pipe. Summary of the invention

[0003] In view of this, the present invention discloses a trachea arrangement device and a robot, which are used to solve the problem that the trachea on the robot is outside the swing arm, and the trachea is easily scratched and pulled as the robot moves, causing the trachea to break.

[0004] In order to achieve the above-mentioned object, the present invention adopts the following technical solution:

[0005] The first aspect of the present invention discloses a trachea arrangement device, comprising: a trachea; a mounting component provided with a fixing component for fixing the trachea; a storage mechanism, arranged on the mounting component, for storing a portion of the length of the trachea, the storage mechanism being provided with a trachea inlet and a trachea outlet; a pneumatic actuator, movably mounted on the mounting component for linear motion, and having a first motion position, a second motion position and a third motion position sequentially arranged on the mounting component along the motion direction, the pneumatic actuator being provided with an air supply hole; a portion of the trachea is introduced into the storage mechanism from the trachea inlet and led out from the trachea outlet, and its air outlet port is inserted into the storage mechanism Installed in the air supply hole; when the pneumatic actuator moves from the first movement position to the second movement position on the mounting component, the length of a section of the air pipe between the air pipe outlet and the air supply hole remains fixed; when the pneumatic actuator moves from the second movement position to the third movement position on the mounting component, the pneumatic actuator pulls the air pipe to extend a portion from the air pipe outlet; when the pneumatic actuator moves from the third movement position to the second movement position on the mounting component, the storage mechanism stores back a portion of the section of the air pipe between the air supply hole and the air pipe outlet.

[0006] Furthermore, the pneumatic actuator performs linear motion on one side of the mounting component, and the air pipe outlet and the air supply hole are located on the same side of the mounting component.

[0007] Furthermore, the trachea outlet is arranged relative to the trachea inlet and close to the air supply hole.

[0008] Furthermore, the storage mechanism includes: a storage box, which is arranged on the mounting component and is provided with the air pipe inlet and the air pipe outlet; an elastic component, which is arranged in the storage box, and the air pipe is in contact with the elastic component; when the pneumatic actuator moves from the second movement position to the third movement position on the mounting component, the pneumatic actuator pulls the air pipe to squeeze the elastic component to generate elastic deformation, so that the air pipe extends a portion from the air pipe outlet; when the pneumatic actuator moves from the third movement position to the second movement position on the mounting component, the elastic component restores the deformation and stores a portion of the air pipe back from the air pipe outlet.

[0009] Furthermore, the elastic component is a scroll spring, the inner circle of the scroll spring is fixedly arranged in the storage box, the outer circle of the scroll spring serves as a free part, and the air pipe is wound around the outer circle of the scroll spring and led out from the air pipe outlet.

[0010] Furthermore, the distance between two adjacent layers of the scroll springs gradually increases along a first direction, and the first direction is a direction away from the trachea outlet and close to the trachea inlet.

[0011] Furthermore, the air pipe arrangement mechanism also includes a cover plate, which is detachably fixed to the mounting component, and a pipe groove is provided on one side of the cover plate on the same side as the mounting component, and the air pipe is introduced from one end of the pipe groove and led out from the other end of the pipe groove to enter the air pipe inlet.

[0012] Further, the storage box is fixedly arranged on the installation component, or the storage box is fixedly arranged on the installation component through the cover plate.

[0013] The air pipe includes multiple sections, and the ports of the multiple sections are connected in series end to end through air pipe joints to form an airway, wherein one air pipe joint is arranged on the other end of the pipe groove on the cover plate, and the other air pipe joint is arranged on the installation component as the fixing component.

[0014] A second aspect of the present invention discloses a robot, comprising a trachea arrangement device as described in the first aspect, wherein the robot has a first swing arm, and the mounting component serves as the first swing arm of the robot.

[0015] Furthermore, the robot also includes: a base, provided with an air inlet; the first swing arm is arranged on the base; a bent pipe, both ends of which are connected to the base and the mounting component, a part of the air pipe is located in the bent pipe, one end of the air pipe passes through the bent pipe and passes through the fixed component of the mounting component, and the other end of the air pipe is connected to the position of the air inlet.

[0016] Furthermore, the robot also includes a second swing arm, the first swing arm is rotatably connected to the base through the second swing arm, and the first swing arm can rotate relative to the second swing arm, and the end of the bent pipe connected to the first swing arm can move with the first swing arm.

[0017] Beneficial effect: When the pneumatic actuator of the present invention moves from a first moving position to a second moving position, the length of a section of the air pipe between the air pipe outlet and the air supply hole remains fixed, and the reserved length of the air pipe can meet the demand for the air pipe length required for the pneumatic actuator to move from the first moving position to the second moving position; at the same time, in order to prevent the air pipe from being too long and to avoid scratching the air pipe during operation, a storage mechanism is provided to pre-store a portion of the length of the section of the air pipe between the air pipe outlet and the air supply hole. When moving to the third moving position, the length of the section of the air pipe between the air pipe outlet and the air supply hole is the largest, and the air pipe is pulled out from the storage mechanism. When the excessively long air pipe is not needed to be exposed to the outside, the storage mechanism will store a portion of the air pipe, so that part of the reserved length of the air pipe is exposed to the outside. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects, features and advantages of the present invention will become more apparent by describing in detail its exemplary embodiments with reference to the accompanying drawings. The accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0019] Figure 1 A schematic diagram of the robot trachea arrangement in the prior art is shown;

[0020] Figure 2 A schematic diagram showing the structure of the trachea arrangement mechanism used in the robot in Embodiment 2 of the present invention is shown;

[0021] Figure 3 A schematic diagram showing the internal structure of the mounting components in the air pipe arrangement mechanism of embodiment 1 of the present invention is shown;

[0022] Figure 4 It shows a simplified structural diagram of the air pipe arrangement mechanism of Example 1 of the present invention, omitting the installation components;

[0023] Figure 5 It shows a schematic diagram of the arrangement of the air pipe arrangement mechanism at the installation component in Embodiment 1 of the present invention;

[0024] Figure 6 A bottom view of the trachea arrangement mechanism of embodiment 1 of the present invention is shown;

[0025] Figure 7 A structural diagram showing an implementation of a storage mechanism in Example 1 of the present invention;

[0026] Figure 8 Shows Figure 7 The middle elastic component is a schematic diagram of the scroll spring being deformed under pressure. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the 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.

[0028] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two, but does not exclude the inclusion of at least one.

[0029] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0030] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0031] To further illustrate the technical solution of the present invention, Figure 2-Figure 8 As shown, the following specific embodiments are provided.

[0032] Example 1

[0033] In this embodiment, a trachea arrangement device is provided, such as Figure 2-Figure 6 As shown, it includes: an air pipe 10; a mounting component 20, which is provided with a fixing component 21 for fixing the air pipe 10; a storage mechanism 40, which is arranged on the mounting component 20 and is used to store a part of the length of the air pipe 10, and the storage mechanism 40 is provided with an air pipe inlet a and an air pipe outlet b; a pneumatic actuator 50, which is movably mounted on the mounting component 20 for linear motion, and is provided with a first motion position, a second motion position and a third motion position in sequence along the motion direction on the mounting component 20, and the pneumatic actuator 50 is provided with an air supply hole 51; a part of the air pipe 10 is introduced into the storage mechanism from the air pipe inlet a and led out from the air pipe outlet b, and its air outlet port a is inserted in the air supply hole 51. hole 51; when the pneumatic actuator 50 moves from the first movement position to the second movement position on the mounting component 20, the length of a section of the air pipe 10 between the air pipe outlet b and the air supply hole 51 remains fixed; when the pneumatic actuator 50 moves from the second movement position to the third movement position on the mounting component 20, the pneumatic actuator 50 pulls the air pipe 10 to extend a portion from the air pipe outlet b; when the pneumatic actuator 50 moves from the third movement position to the second movement position on the mounting component 20, the storage mechanism 40 stores back a portion of the section of the air pipe between the air supply hole 51 and the air pipe outlet b.

[0034] It should be particularly noted that the air pipe 10 in this embodiment can be formed by multiple sections of air pipes through joints, or can be a whole air pipe.

[0035] In one embodiment, when the pneumatic actuator moves to the first movement position, the second movement position and the third movement position in sequence, its stroke increases in sequence, so that the air supply hole 51 gradually moves away from the position of the air pipe outlet b. Optionally, the first movement position can be the initial position of the pneumatic actuator, and the third movement position is the position of the maximum movement stroke of the pneumatic actuator, that is, in the first movement position, a section of the air pipe 10 between the air pipe outlet b and the air supply hole 51 is bent due to a reserved length. When the movement reaches the maximum stroke, the air pipe 10 is straightened, and at the same time, the air pipe 10 reserved by the storage mechanism 40 is extended out of the air pipe outlet b.

[0036] In one implementation of the present embodiment, the pneumatic actuator 50 includes a pneumatic clamp 52, which is connected to the mounting component 20 through a lifting assembly 53, and the lifting assembly 53 drives the pneumatic clamp 52 to perform linear motion on one side of the mounting component 20, wherein the lifting assembly 53 can be a ball spline screw (the prior art, which can realize both rotational motion and lifting motion through motor drive, and is a commonly used structure of SCARA robots), or it can be a screw guide rail assembly or a gear rack assembly driven by a motor and other prior arts to realize linear motion, and the pneumatic clamp 52 is installed on the movable end of the lifting assembly 53. If a screw guide rail assembly is used, two parallel guide rails can be set on the mounting component 20, and a slider is set on the guide rail. The screw is threadedly connected to the slider, and the screw drives the slider to perform linear motion through the motor drive. The pneumatic clamp 52 is fixedly installed on the slider, and the motor drives the screw to select and then drive the pneumatic clamp 52 to achieve linear motion, which is not described in detail in this embodiment.

[0037] Furthermore, the pneumatic actuator 50 performs linear motion on one side of the mounting component 20, and the air pipe outlet b and the air supply hole 51 are located on the same side of the mounting component 20, thereby preventing the air pipe 10 from being scratched and pulled. In practical applications, the air pipe outlet b is arranged closer to the air supply hole 51 relative to the air pipe inlet a, which can further shorten the length of the air pipe 10.

[0038] In a preferred implementation of this embodiment, Figure 7 and Figure 8As shown, the storage mechanism 40 includes: a storage box 41, which is arranged on the mounting component 20 and is provided with the air pipe inlet a and the air pipe outlet b; an elastic component 42, which is arranged in the storage box 41, and the air pipe 10 is in contact with the elastic component 42; when the pneumatic actuator 50 moves from the second movement position to the third movement position on the mounting component 20, the pneumatic actuator 50 pulls the air pipe 10 to squeeze the elastic component 42 to generate elastic deformation, so that the air pipe 10 extends a part from the air pipe outlet b; when the pneumatic actuator 50 moves from the third movement position to the second movement position on the mounting component 20, the elastic component 42 restores the deformation and stores a part of the air pipe 10 back from the air pipe outlet b. Furthermore, the elastic component 42 is a scroll spring, the inner ring of which is fixedly arranged in the storage box 41. Specifically, a shaft can be fixed to the inner ring of the scroll spring, and the shaft is fixed in the storage box 41. The outer ring of the scroll spring serves as a free part, and the air pipe 10 is wound around the outer ring of the scroll spring and led out from the air pipe outlet b. By setting the scroll spring, a certain length of the air pipe 10 can be reserved in the storage box 41, and the reserved length of the air pipe 10 can be released when an external force is pulled, so as to avoid the air pipe being broken due to excessive external force. Preferably, as Figure 8 As shown, the distance between two adjacent layers of the vortex springs gradually increases along the first direction, which is away from the trachea outlet b and close to the trachea inlet a. This can increase the storage length of the trachea 10 and avoid exposing the longer trachea 10.

[0039] In this embodiment, the elastic component 42 can also be a component formed by a compression spring and a rotating wheel. Specifically, a wheel axle is provided at the center of the rotating wheel, two parallel long grooves are provided on the storage box 41, the wheel axle is provided in the long grooves, and the compression spring is provided between the storage box and the wheel axle. When the air pipe 10 is pulled, the compression spring is compressed to make the wheel axle slide in the long groove to achieve the extension of the air pipe 10. When it needs to be stored, the compression spring restores the deformation to make the air pipe 10 shrink into the storage box 41. The elastic component 42 in this embodiment is not limited to the above two methods, and can also be implemented by other structures such as spring sheets, which are not listed here one by one.

[0040] In order to further prevent the air pipe 10 from being exposed to the outside and save the internal space of the mounting component 20, preferably, the air pipe arrangement mechanism of this embodiment further includes a cover plate 60, which is detachably fixed to the mounting component 20. A pipe groove 61 is provided on the cover plate 60 on the same side as the mounting component 20. The air pipe 10 is introduced from one end of the pipe groove 61 and led out from the other end of the pipe groove 61 to enter the air pipe inlet a. The cover plate 60 is fixedly connected to the mounting component 20 by screws and is located on the same side of the mounting component 20 as the pneumatic clamp 52. Under the premise that the internal space of the mounting component 20 is large, the air pipe 10 can be arranged from the inside of the mounting component 20, and inserted into the air supply hole 51 (usually the air supply hole 51 has an air pipe joint) from the side of the mounting component 20 close to the pneumatic actuator 50 (the air supply hole 51 of the pneumatic clamp).

[0041] Further, the storage box 41 is fixedly disposed on the mounting component 20 , or the storage box 41 is fixedly disposed on the mounting component 20 via the cover plate 60 .

[0042] Preferably, the trachea 10 includes multiple sections, and the ports of the multiple sections of the trachea 10 are connected in series end to end through the trachea connector 62 to form an airway, wherein one trachea connector 10 is arranged at the other end of the pipe groove 61 on the cover plate 60, and another trachea connector is arranged on the mounting component 20 as the fixing component 21. The trachea 10 is arranged in multiple sections, which can facilitate the replacement and maintenance of the trachea, especially the pipe section between the trachea connector 62 on the pipe groove 61 and the air supply hole 51 is easily damaged, and the trachea connector 62 can be easily disassembled to replace part of the trachea 10.

[0043] In this embodiment, the fixing component 21 may be a trachea joint, which is fixedly mounted on the mounting component 20 and used to fix a portion of the trachea 10. The fixing component 21 may also be a pipe clamp. In this embodiment, the trachea joint may be a pneumatic quick-change joint with two plug-in ports, which facilitates quick plugging and unplugging and fixing of the trachea.

[0044] When an air pipe joint 62 is provided at the other end of the pipe groove 61 on the cover plate 60 and the air pipe joint is fixed on the cover plate 60 , the air pipe joint serves as the fixing component 21 for limiting the length of the air pipe accommodated by the accommodation mechanism.

[0045] Example 2

[0046] The present invention provides a robot, such as Figure 2 As shown, it includes a trachea arrangement device as described in Example 1, the robot has a first swing arm, and the mounting component serves as the first swing arm of the robot.

[0047] Furthermore, the robot also includes: a base 100, which is provided with an air inlet; the mounting component 20 is rotatably arranged on the base 100, and the base 100 is provided with a reduction motor for driving the mounting component 20 to rotate; a bent pipe 200, both ends of which are connected to the base 100 and the mounting component 20, and a part of the air pipe 10 is located in the bent pipe 200. When the mounting component 20 rotates relative to the base 100, the bent pipe 200 can rotate on the base 100 with the mounting component 200, and one end of the air pipe 10 passes through the bent pipe 200 and passes through the fixed component of the mounting component 20.

[0048] The curved pipe 200 may be a corrugated pipe.

[0049] Furthermore, the robot further includes a second swing arm 300, the first swing arm is rotatably connected to the base 100 via the second swing arm 300, and the first swing arm can rotate relative to the second swing arm 300, wherein the second swing arm 300 is driven by a first reduction motor to realize the rotation of the second swing arm 300 on the base 100, the first swing arm is driven by a second reduction motor to rotate relative to the second swing arm 300, and the end of the curved pipe connected to the first swing arm can move with the first swing arm, so that the air pipe supplies air to the pneumatic actuator when the robot swing arm moves. Optionally, the movement direction of the pneumatic actuator on the first swing arm is the same as the direction of the axis between the first swing arm and the second swing arm 300.

[0050] The trachea arrangement mechanism described in Example 1 can also be used in other automated occasions, which are not listed here one by one.

[0051] The exemplary embodiments of the present disclosure are specifically shown and described above. It should be understood that the present disclosure is not limited to the detailed structures, configurations or implementations described herein; on the contrary, the present disclosure is intended to cover various modifications and equivalent configurations included in the spirit and scope of the appended claims.

Claims

1. A trachea arrangement device, characterized in that: include: trachea; A mounting component, provided with a fixing component for fixing the air pipe; A storage mechanism, arranged on the mounting component, for storing a portion of the length of the trachea, the storage mechanism being provided with a trachea inlet and a trachea outlet; A pneumatic actuator, movably mounted on the mounting component to perform linear motion, and having a first motion position, a second motion position and a third motion position sequentially arranged on the mounting component along the motion direction, and the pneumatic actuator is provided with an air supply hole; A partial section of the air pipe is introduced into the storage mechanism from the air pipe inlet and led out from the air pipe outlet, and its air outlet port is inserted into the air supply hole; When the pneumatic actuator moves from the first movement position to the second movement position on the mounting component, the length of a section of the air pipe between the air pipe outlet and the air supply hole remains unchanged; When the pneumatic actuator moves from the second movement position to the third movement position on the mounting component, the pneumatic actuator pulls the air pipe to extend a portion from the air pipe outlet; When the pneumatic actuator moves from the third movement position to the second movement position on the mounting component, the receiving mechanism receives back a portion of the air pipe between the air supply hole and the air pipe outlet.

2. A trachea arrangement device as claimed in claim 1, characterized in that: The pneumatic actuator performs linear motion on one side of the mounting component, and the air pipe outlet and the air supply hole are located on the same side of the mounting component.

3. A trachea arrangement device as claimed in claim 1, characterized in that: The air pipe outlet is arranged relative to the air pipe inlet and close to the air supply hole.

4. A trachea arrangement device according to any one of claims 1 to 3, characterized in that: The collection agencies include: A storage box, arranged on the mounting component, on which the air pipe inlet and the air pipe outlet are provided; An elastic component is arranged in the storage box, and the air pipe is in contact with the elastic component; When the pneumatic actuator moves from the second movement position to the third movement position on the mounting component, the pneumatic actuator pulls the air pipe to squeeze the elastic component to produce elastic deformation, so that the air pipe extends a portion from the air pipe outlet; when the pneumatic actuator moves from the third movement position to the second movement position on the mounting component, the elastic component restores the deformation, and retracts a portion of the air pipe back from the air pipe outlet.

5. A trachea arrangement device as claimed in claim 4, characterized in that: The elastic component is a scroll spring, the inner circle of which is fixedly arranged in the storage box, the outer circle of which serves as a free part, and the air pipe is wound around the outer circle of the scroll spring and led out from the air pipe outlet.

6. A trachea arrangement device as claimed in claim 5, characterized in that: The distance between two adjacent layers of the scroll springs gradually increases along a first direction, and the first direction is a direction away from the trachea outlet and close to the trachea inlet.

7. A trachea arrangement device as claimed in claim 6, characterized in that: The air pipe arrangement mechanism also includes a cover plate, which is detachably fixed to the mounting component. A pipe groove is provided on one side of the cover plate on the same side as the mounting component. The air pipe is introduced from one end of the pipe groove and led out from the other end of the pipe groove to enter the air pipe inlet.

8. A trachea arrangement device as claimed in claim 7, characterized in that: The storage box is fixedly arranged on the installation component, or the storage box is fixedly arranged on the installation component through the cover plate.

9. A trachea arrangement device as claimed in claim 8, characterized in that: The air pipe comprises multiple sections, and the ports of the multiple sections are connected in series end to end through air pipe joints to form the air pipe, wherein one of the air pipe joints is fixedly mounted on the other end of the pipe groove of the cover plate.

10. A robot, characterized in that: It comprises a trachea arrangement device as described in any one of claims 1 to 9, wherein the robot has a first swing arm, and the mounting component serves as the first swing arm of the robot.

11. A robot as claimed in claim 10, characterized in that: A base having an air inlet; The first swing arm is arranged on the base; A bent pipe, both ends of which are connected to the base and the mounting component, a portion of the air pipe is located in the bent pipe, one end of the air pipe passes through the bent pipe and through the fixed component of the mounting component, and the other end of the air pipe is connected to the position of the air inlet.

12. A robot according to claim 11, characterized in that: The robot also includes a second swing arm, the first swing arm is rotatably connected to the base via the second swing arm, and the first swing arm can rotate relative to the second swing arm, and one end of the bent pipe connected to the first swing arm can move with the first swing arm.

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