Hose cable fixing structure and pipe routing method of online disassembly and assembly tool for robot arm

Abstract

The present invention provides a hose cable fixing structure for an online disassembly and assembly tool for a robot arm, comprising a hose cable storage device, the lower end of the hose cable storage device is fixed on the axis of the robot arm 1, the lower end of the hose cable storage device is provided with a rotating shaft, the middle part of the hose cable storage device is provided with a swing rod for limiting the position of the hose cable, the swing rod is rotatably connected to the rotating shaft, the hose cable connected to the fixed medium source passes through the center hole of the robot arm base and then extends into the swing rod, and is connected to the automatic online disassembly and assembly tool after passing through the swing rod. The present invention also provides a hose cable routing method for an online disassembly and assembly tool for a robot arm: one end of the hose cable is connected to the fixed medium source, the hose cable passes through the center hole of the robot arm base from bottom to top, then extends into the hose cable storage device, walks along the hose cable storage device to the upper end of the hose cable storage device, and after the hose cable is suspended, the other end of the hose cable is fixed to the automatic online disassembly and assembly tool.

Description

Technical Field

[0001] The present invention relates to the technical field of robot-assisted equipment, and in particular to a hose cable fixing structure and a pipe routing method of an online disassembly and assembly tool for a robot arm. Background Art

[0002] As a general equipment, the robot arm can complete specific work content by cooperating with different tools. Sometimes the robot arm must be combined with multiple tools to complete the work task. These tools cannot be installed on the robot arm at the same time for some reasons. Therefore, these tools need to be automatically disassembled and assembled online. These tools often have the following characteristics: automatic online disassembly and assembly; with power, need to connect cables, hydraulic, pneumatic hoses, etc.; these tools are automatically removed and fixed when not working, and these tools are automatically combined to move with the robot arm when working. In this way, the fixing and laying method of cables and hoses with one end fixed on the automatic online disassembly and assembly tool and the other end connected to the fixed energy medium point is particularly important, otherwise it is particularly easy to get knotted, hooked, and entangled, affecting the normal operation of the entire system. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and to provide a hose cable fixing structure and a pipe routing method for an online disassembly and assembly tool for a robot arm, so as to solve the problem that the cables and long hoses of the automatic online disassembly and assembly tool for the robot arm are particularly prone to knotting, hooking, and entanglement, affecting the normal operation of the entire system. The present invention at least solves some of the problems in the prior art.

[0004] The present invention is achieved in that:

[0005] The present invention provides a hose cable fixing structure of an online disassembly and assembly tool for a robot arm, comprising a hose cable storage device, the lower end of the hose cable storage device is fixed on the axis of the robot arm 1, the lower end of the hose cable storage device is provided with a rotating shaft, the middle part of the hose cable storage device is provided with a swing rod for limiting the hose cable, the swing rod is rotatably connected to the rotating shaft, the hose cable connected to a fixed medium source passes through the center hole of the robot arm base and then extends into the swing rod, and is connected to the automatic online disassembly and assembly tool after passing through the swing rod.

[0006] Preferably, a guide device is provided on the upper portion of the hose and cable storage device, and the rocker arm is connected to the guide device.

[0007] Preferably, the swing rod is a hollow tube for the hose cable to pass through.

[0008] Preferably, the guide device is an arc-shaped groove connected to the hollow tube.

[0009] Preferably, a rocker arm limiting column is provided obliquely above the rotating shaft.

[0010] Preferably, a return spring is installed in the middle of the rocker arm of the hose and cable storage device.

[0011] Preferably, the hose cable fixing structure of the online disassembly and assembly tool for the robot arm also includes a hose cable protective cover, which is fixed on the axis of the robot arm 1. The hose cable protective cover includes a top plate, on which is provided a first groove for the lower end of the robot arm to extend into the hose cable protective cover, and a second groove for the hose cable storage device to extend into the hose cable protective cover. The notch directions of the first groove and the second groove are the same, and a baffle plate is connected to the lower edge of the top plate in the direction away from the notch.

[0012] The present invention provides a hose cable routing method for an online disassembly and assembly tool for a robot arm: one end of the hose cable is connected to a fixed medium source, the hose cable passes through the center hole of the robot arm base from bottom to top, and then extends into a hose cable storage device, and walks along the hose cable storage device to the upper end of the hose cable storage device. After the hose cable is suspended, the other end of the hose cable is fixed to the automatic online disassembly and assembly tool, the hose cable storage device is fixed on the robot arm 1 axis and rotates with the robot arm 1 axis, a hose cable protective cover is also installed on the robot arm 1 axis, and the suspended hose cable is located outside the hose cable protective cover.

[0013] The lower end of the swing arm of the hose and cable storage device is provided with a rotating shaft, a return spring is installed in the middle, and a hose guide device is installed at the upper part. A swing arm limit column is provided obliquely above the rotating shaft. After the hose cable passes through the center hole of the robot arm base, it passes through the bottom of the limit column and enters the swing arm. After passing through the swing arm and the guide device in turn, it is connected to the automatic online disassembly and assembly tool.

[0014] The lower surface and one side surface of the hose cable protective cover are missing, and a first groove is formed on the upper surface of the hose cable protective cover, which cooperates with the missing side surface to adapt to the movement of the two axes of the robot arm. Two second grooves are formed on the upper surface of the hose cable protective cover for the hose cable storage device to pass through, and the two second grooves are respectively located on both sides of the first groove. The hose cable passing through the guide device is suspended on the outside of the hose cable protective cover, and the hose cable protective cover is used to prevent the hanging part of the hose cable from hooking on the base of the robot arm.

[0015] The present invention has the following beneficial effects:

[0016] The present invention provides a long hose, cable fixing device and pipe routing method for the robot arm with automatic online disassembly and assembly tools, including a standard robot arm, a hose and cable storage device, a medium long hose, an automatically disassembly and assembly tool, a tool fixed on the robot arm, a hose and a cable protective cover. One end of the long hose and cable is connected to a fixed medium source, and the other end is connected to the automatically disassembly and assembly tool. The automatically disassembly and assembly tool is connected to the tool fixed on the robot arm and moves with the robot arm. The hose and cable passing through the center hole of the robot arm can meet the angle change of the tool reaching the end point, and the hose storage device can meet the radius change of the tool reaching the end point, so that the length and angle changes of the long hose and cable can be adapted without confusion and entanglement of the hose. The outlet of the hose and cable device is in a high position, which can raise the hose and cable to avoid dragging on the floor during work. At the same time, the setting of the hose protective cover can prevent the hanging hose and cable from being hooked during rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of a hose cable fixing structure of an online disassembly and assembly tool for a robot arm after the tool assembly provided by an embodiment of the present invention (protective cover is not shown);

[0019] Figure 2 A schematic diagram of the structure of a hose cable protective cover provided by an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of a hose cable fixing structure of an online disassembly and assembly tool for a robot arm after the tool is disassembled according to an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the structure of a hose and cable storage device provided in an embodiment of the present invention;

[0022] Figure 5 The embodiment of the present invention provides Figure 4 A partial enlarged view of .

[0023] Explanation of the reference numerals: 10. Automatic online disassembly and assembly tool; 20. Tool fixed on the robotic arm; 30. Hose cable; 40. Hose cable storage device; 41. Guide device; 42. Reset spring; 43. Rotating shaft; 50. Robotic arm; 51. Center hole of base; 52. Robotic arm 1 axis; 60. Hose cable protective cover; 61. Small groove on the upper surface of the protective cover; 62. Large groove on the upper surface of the protective cover; 63. Side groove of the protective cover; 64. Top plate; 65. Enclosure plate; 70. Limit column. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in 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 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.

[0025] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0027] like Figure 1-Figure 5The first embodiment of the present invention provides a hose cable fixing structure for an online disassembly and assembly tool for a robot arm, including a hose cable storage device 40, the lower end of which is fixed on the shaft 52 of the robot arm 1 and can rotate with the shaft 52 of the robot arm 1, the lower end of which is provided with a rotating shaft 43, the middle part of which is provided with a swing rod for limiting the position of the hose cable 30, the swing rod is rotatably connected with the rotating shaft 43, the hose cable storage device 40 can meet the change in the length of the hose cable 30 when the automatic online disassembly and assembly tool 10 reaches the end point through the swing of the swing rod around the rotating shaft 43, so that the hose cable storage device 40 can adapt to the change in the length and angle of the long hose and cable without the disorder and entanglement of the hose, the hose cable 30 connected to the fixed medium source passes through the center hole 51 of the robot arm base and then extends into the swing rod, and passes through the swing rod and is connected to the automatic online disassembly and assembly tool 10. The hose cable 30 can be a medium long hose or cable, etc. During operation, the automatic online disassembly and assembly tool 10 is connected to the robot arm 50 via the tool 20 fixed on the robot arm.

[0028] A guide device 41 is provided on the upper part of the hose and cable storage device 40, and the swing rod is connected to the guide device 41. The swing rod is a hollow tube for the hose and cable 30 to pass through. The guide device 41 is an arc-shaped groove connected to the hollow tube. A swing rod limit column 70 is provided obliquely above the rotating shaft 43. After the hose and cable 30 passes through the center hole 51 of the robot arm base, it passes through the limit column 70 below and enters the swing rod, passes through the swing rod and the guide device 41 in sequence, and is connected to the automatic online disassembly and assembly tool 10. A return spring 42 is installed in the middle of the swing rod of the hose and cable storage device 40.

[0029] The hose cable fixing structure of the online disassembly and assembly tool for the robot arm also includes a hose cable protective cover 60, which is fixed on the shaft 52 of the robot arm 1. The hose cable protective cover 60 includes a top plate 64, and the top plate 64 is provided with a first groove (a large groove 62 on the upper surface of the protective cover) for the lower end of the robot arm 50 to extend into the hose cable protective cover 60, and a second groove (a small groove 61 on the upper surface of the protective cover) for the hose cable storage device 40 to extend into the hose cable protective cover 60. The notch directions of the first groove and the second groove are the same, and a baffle plate 65 is connected to the lower edge of the top plate 64 in the direction away from the notch. In this embodiment, two second grooves (small grooves 61 on the upper surface of the protective cover) are provided, and the two second grooves are respectively located on both sides of the first groove (large groove 62 on the upper surface of the protective cover). In the direction away from the groove, the enclosure plate 65 is designed to extend from one second groove to another second groove, which is equivalent to opening a protective cover side groove 63 on the enclosure plate 65. The protective cover side groove 63 allows the lower end of the mechanical arm 50 and the hose cable receiving device 40 to extend into the hose cable protective cover 60. The guide device 41 is higher than the second groove, and the hose cable 30 hanging from the guide device 41 is located on the outside of the enclosure plate 65. The hose cable protective cover 60 is used to prevent the hanging part of the hose cable 30 from hooking on the base of the mechanical arm 50. The mechanical arm 50 and the hose cable receiving device 40 can extend forward along the first groove and the second groove, respectively.

[0030] Embodiment 2 of the present invention provides a hose cable routing method for an online disassembly and assembly tool for a robot arm: one end of the hose cable 30 is connected to a fixed medium source, the hose cable 30 passes through the center hole 51 of the robot arm base from bottom to top, and then extends into the hose cable storage device 40, and walks along the hose cable storage device 40 to the upper end of the hose cable storage device 40, and after the hose cable 30 is suspended, the other end of the hose cable 30 is fixed to the automatic online disassembly and assembly tool 10, the hose cable storage device 40 is fixed on the robot arm 1 shaft 52, and can rotate with the robot arm 1 shaft 52, and a hose cable protective cover 60 is also installed on the robot arm 1 shaft 52, and the suspended hose cable 30 is located outside the hose cable protective cover 60.

[0031] The lower end of the swing arm of the hose and cable storage device 40 is provided with a rotating shaft, a return spring is installed in the middle, and a hose guide device is installed at the upper part. A swing arm limiting column 70 is provided obliquely above the rotating shaft 43. After the hose cable 30 passes through the center hole 51 of the robot arm base, it passes through the bottom of the limiting column 70 and enters the swing arm, and then passes through the swing arm and the guide device 41 in turn and is connected to the automatic online disassembly and assembly tool 10.

[0032] The lower surface and one side of the hose cable protective cover 60 are missing. A first groove is formed on the upper surface of the hose cable protective cover 60, which cooperates with the missing side to adapt to the movement of the two axes of the robot arm. Two second grooves are formed on the upper surface of the hose cable protective cover 60 for the hose cable storage device 40 to pass through. The two second grooves are respectively located on both sides of the first groove. The hose cable 30 passing through the guide device 41 is suspended outside the hose cable protective cover 60. The hose cable protective cover 60 is used to prevent the suspended part of the hose cable 30 from hooking on the base of the robot arm 50. The outlet of the hose cable storage device 40 is in a high position, which can raise the hose cable 30 to avoid dragging on the floor during work.

[0033] The present invention includes a standard robot arm, a hose storage device, a medium long hose, an automatically disassembled tool, a tool fixed on the robot arm, and a hose protective cover. The long hose and cable pass through the center hole of the robot arm from bottom to top, and then are fixed at the lower end of the hose storage device, and go to the upper end of the storage device along the storage device. After being fixed at the upper end, the hose and cable are suspended, and the other end of the hose and cable is fixed to the automatically disassembled tool; the hose storage device is fixed to the robot arm body and can rotate with one axis of the robot arm body; the swing rod of the hose storage device has a rotating shaft at the lower end, a reset spring is installed in the middle, and a hose guide device is installed at the upper part; a hose protective cover is also installed on one axis of the robot arm body. A hose protective cover is also installed on one axis of the robot arm body, and the protective cover is a multi-prism outer surface, and its lower surface and one side surface are missing. Two small grooves are opened on the upper surface of the protective cover for the hose storage device and the hose to pass through. A large groove is also opened on the upper surface of the protective cover, which cooperates with the missing side surface to adapt to the movement of the two axes of the robot arm. The protective cover is used to prevent the overhanging hose from catching on the base.

[0034] Specific references Figures 1 to 4The hose cable 30 passes through the center hole 51 of the base from the fixed energy medium contact point from bottom to top, is first fixed to the rotating shaft 43, goes up along the hose cable receiving device 40 to the guide device 41, and is fixed at the guide device 41. The hose cable 30 hangs down, and the other end of the hose cable 30 is fixed to the automatic online disassembly tool 10. The hose cable receiving device 40 is fixed on the mechanical arm 1 shaft 52 and can rotate with the mechanical arm 1 shaft 52; the hose cable receiving device 40 has a rotating shaft 43 at the lower end, a return spring 42 in the middle, and a guide device 41 at the upper part; a hose cable protective cover 60 is also installed on one axis of the mechanical arm body (mechanical arm 1 axis 52). The hose cable protective cover 60 is a multi-prism outer surface, and the upper surface of the hose cable protective cover 60 has two small grooves (small grooves 61 on the upper surface of the protective cover) for the hose cable receiving device 40 and the hose cable 30 to pass through. The upper surface of the hose cable shield 60 also has a large groove (large groove 62 on the upper surface of the shield), which cooperates with the side groove 63 of the shield to adapt to the movement of the robot arm 2 axis. The hose cable shield 60 is used to prevent the hanging part of the hose cable 30 from hooking on the base of the robot arm 50.

[0035] The hose cable 30 passing through the center hole 51 of the robot arm base can meet the angle change when the automatic online disassembly and assembly tool 10 reaches the end point. The hose cable storage device 40 can meet the length change of the hose cable 30 when the automatic online disassembly and assembly tool 10 reaches the end point through the swing of the swing rod around the rotating shaft 43, so that it can adapt to the length change and angle change of long hoses and cables without confusion and entanglement of hoses. The outlet of the hose and cable device is at a high position, which can raise the hose and cable to avoid dragging on the floor during work.

[0036] An optimized implementation method, the above method satisfies the change of the length of the hose and cable by the swing of the swing rod, and the same purpose can also be achieved in the form of a reel.

[0037] In summary, the present invention can effectively avoid the confusion and entanglement of hoses and cables of the robot arm's online automatic disassembly and assembly tool.

[0038] One end of the medium long hose and cable is connected to a fixed medium source, and the other end is connected to an automatically detachable tool. When the automatically detachable tool is connected to a tool fixed on a robotic arm, the installation and routing of the medium long hose becomes a big problem. It is very important to prevent the medium long hose from becoming tangled and entangled.

[0039] The medium long hose fixing device and pipe routing method provided by the present invention can well adapt to the situation that one end of the medium long hose and cable is connected to a fixed medium source and the other end is connected to an automatically detachable tool, and the automatically detachable tool is connected to a tool fixed on a mechanical arm and moves with the mechanical arm. It can adapt to the situation that the length and angle of the medium long hose change and the hose will not be confused or entangled.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hose cable fixing structure for an online disassembly and assembly tool for a robot arm, characterized in that: The utility model comprises a hose cable storage device, the lower end of which is fixed on the axis of the robot arm 1 and can rotate with the axis of the robot arm 1. The lower end of the hose cable storage device is provided with a rotating shaft, and the middle part of the hose cable storage device is provided with a swing rod for limiting the position of the hose cable, and the swing rod is rotatably connected with the rotating shaft. The hose cable storage device can meet the change of the length of the hose cable when the automatic online disassembly and assembly tool reaches the end point through the swing of the swing rod around the rotating shaft, and can adapt to the change of the length and angle of the hose cable without confusion and entanglement of the hose cable. The hose cable connected to the fixed medium source passes through the central hole of the robot arm base and then extends into the swing rod. After passing through the swing rod, it is connected to the automatic online disassembly and assembly tool; when working, the automatic online disassembly and assembly tool is fixed on The tool on the robot arm is connected to the robot arm; a guide device is provided on the upper part of the hose cable storage device, and the swing arm is connected to the guide device; a return spring is installed in the middle of the swing arm of the hose cable storage device; the hose cable fixing structure also includes a hose cable protective cover, and the hose cable protective cover is fixed on the axis of the robot arm 1, and the hose cable protective cover includes a top plate, and the top plate is provided with a first groove for the lower end of the robot arm to extend into the hose cable protective cover, and a second groove for the hose cable storage device to extend into the hose cable protective cover, and the notch directions of the first groove and the second groove are the same, and a baffle plate is connected below the edge of the top plate in the direction away from the notch; the robot arm and the hose cable storage device can be tilted forward and extended along the first groove and the second groove respectively; There are two second grooves, which are respectively located on both sides of the first groove. Along the direction away from the notch, the enclosure plate extends from one second groove to another second groove. The guide device is higher than the second groove. The hose cable hanging down from the guide device is located on the outside of the enclosure plate. The hose cable protective cover is used to prevent the hanging part of the hose cable from hooking on the base of the robot arm. The outlet of the hose cable storage device is in a high position, which can raise the hose cable to avoid dragging on the floor during work.

2. The hose and cable fixing structure of the online disassembly and assembly tool for a robot arm as claimed in claim 1, characterized in that: The swing rod is a hollow tube for the hose cable to pass through.

3. The hose and cable fixing structure of the online disassembly and assembly tool for a robot arm as claimed in claim 2, characterized in that: The guide device is an arc-shaped groove connected to the hollow tube.

4. The hose and cable fixing structure of the online disassembly and assembly tool for a robot arm as claimed in claim 1, characterized in that: A swing arm limiting column is provided obliquely above the rotating shaft. The hose cable passes through the central hole of the robot arm base, passes through the bottom of the limiting column and enters the swing arm, passes through the swing arm and the guide device in sequence, and is connected to the automatic online disassembly and assembly tool.

5. A hose cable routing method for an online disassembly and assembly tool for a robot arm, applied to the hose cable fixing structure for an online disassembly and assembly tool for a robot arm as claimed in any one of claims 1 to 4, characterized in that: One end of the hose cable is connected to a fixed medium source, the hose cable passes through the center hole of the robot arm base from bottom to top, then extends into the hose cable storage device, walks along the hose cable storage device to the upper end of the hose cable storage device, and after the hose cable is suspended, the other end of the hose cable is fixed to the automatic online disassembly and assembly tool, the hose cable storage device is fixed on the robot arm 1 axis and rotates with the robot arm 1 axis, a hose cable protective cover is also installed on the robot arm 1 axis, and the suspended hose cable is located on the outside of the hose cable protective cover; the lower surface and one side surface of the hose cable protective cover are missing, and a first groove is provided on the upper surface of the hose cable protective cover, which cooperates with the missing side surface to adapt to the movement of the robot arm 2 axis, and two second grooves are provided on the upper surface of the hose cable protective cover for the hose cable storage device to pass through, and the two second grooves are respectively located on both sides of the first groove, and the hose cable passing through the guide device is suspended on the outside of the hose cable protective cover, and the hose cable protective cover is used to prevent the suspended part of the hose cable from hooking onto the base of the robot arm.

6. The hose and cable routing method of the online disassembly and assembly tool for a robot arm as claimed in claim 5, characterized in that: The lower end of the swing arm of the hose and cable storage device is provided with a rotating shaft, a return spring is installed in the middle, and a hose guide device is installed at the upper part. A swing arm limit column is provided obliquely above the rotating shaft. After the hose cable passes through the center hole of the robot arm base, it passes through the bottom of the limit column and enters the swing arm. After passing through the swing arm and the guide device in turn, it is connected to the automatic online disassembly and assembly tool.

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