Pipeline package universal follow-up device and six-axis robot carrying same

Abstract

The present application belongs to the technical field of universal pipeline package mechanism, and particularly relates to a pipeline package universal follow-up device and a six-axis robot carrying the same. The pipeline package universal follow-up device comprises a whole frame, a fixing structure and a high-strength elastic connecting piece. The whole frame comprises a fixing bottom plate and a frame structure with a follow-up space formed inside; the fixing structure is located in the follow-up space and used for sleeving the outside of the pipeline package; the number of the high-strength elastic connecting pieces is not less than three, the high-strength elastic connecting pieces are distributed around between the fixing structure and the frame structure, one end of each of the high-strength elastic connecting pieces is connected with the fixing structure, and the other end is connected with the frame structure. The pipeline package universal follow-up device increases the movement range of the pipeline package, is fixed at the 3-axis position of the robot, can make actions in any direction along with the robot arm when the pipeline package makes the extension and contraction movement, keeps the whole obtuse angle shape, increases the bending angle during the movement, and is not easy to break the pipeline.

Description

Technical Field

[0001] This invention belongs to the technical field of universal pipeline package mechanism, and particularly relates to a universal follower device for pipeline packages and a six-axis robot equipped with it. Background Technology

[0002] With the continuous development of automation in the automotive industry, robots play a crucial role. Multi-cycle, high-precision tasks can be performed by robots, and the tools they carry are becoming increasingly diverse. Plasma generators are one such tool needed in production. Plasma generators produce plasma, which can effectively treat the surface of dashboard materials, giving them superior adsorption properties, preparing them for dashboard foaming. The cables and pipes required for the plasma generator are housed within a tubing package, which protects the tubing from wear and tear. This package also protects the tubing as the robot moves. Previously, the tubing package at the robot's 3-axis position was fixed using a sliding rail balancer that extended and retracted with the robot. However, during continuous production, due to the frequent, large-amplitude, and high-speed movements of the robot, the sliding rail balancer and internal extension mechanism are prone to sudden damage or jamming, leading to tubing package breakage and immediate equipment shutdown. The existing problems and safety risks are as follows:

[0003] ① There is a risk of falling and bumping during the replacement of the balancer;

[0004] ② Wasted work time: Replacing the slide rail balancer takes 10 minutes of work time, replacing the internal cable of the pipeline package takes 3 hours, and replacing the external corrugated pipe of the pipeline package takes 3 hours.

[0005] ③ Spare parts waste: This problem results in the need to replace more than 2 sliding balancers, 2 bellows and 2 cables every year, resulting in cost waste.

[0006] Furthermore, since the tubing package in the relevant technology does not achieve universal rotation spring buffer transition during high-speed stretching, but only performs simple unidirectional stretching or single-axis rotation, it is easy to cause the tubing package to break, reducing the service life of the tubing package. In view of the shortcomings of the existing technology mentioned above, it is of great practical significance to design a universal follower device that changes the way the robot moves with the tubing package in a limited space. Summary of the Invention

[0007] In order to solve the problems existing in the prior art, the present invention provides a universal follower device for a tubing package that changes the way a robot moves with the tubing package in a limited space, and a six-axis robot equipped with the device, so as to achieve the effect of flexible movement of the tubing package and less susceptibility to friction damage.

[0008] The technical solution adopted by the present invention to solve this problem is as follows:

[0009] A universal servo device for pipeline packages, comprising:

[0010] The overall frame includes a fixed base plate and a frame structure with internal space for movement.

[0011] A fixed structure, located within the servo space, is used to be fitted onto the outside of the pipeline package;

[0012] There are at least three high-strength elastic connectors, which are distributed in a ring between the fixed structure and the frame structure, with one end connected to the fixed structure and the other end connected to the frame structure.

[0013] In one technical solution, the frame structure is a rectangular corner structure formed by welding a gantry-shaped triangular iron frame and a base plate frame together, with the base plate frame welded to a fixed base plate.

[0014] In one technical solution, the fixing structure includes a clamp-type sleeve and a clamp bushing disposed inside the clamp-type sleeve. Both the clamp-type sleeve and the clamp bushing are composed of two semi-ring bodies. One side opening of the two semi-ring bodies of the clamp-type sleeve is connected by a connecting shaft, and the other side opening is connected by an opening fixing screw.

[0015] In one technical solution, the high-strength elastic connector includes a high-strength spring and a lifting ring. One end of the high-strength spring is connected to the frame structure through the lifting ring, and the other end is connected to the clamp-type pipe sleeve through the lifting ring.

[0016] In one technical solution, four lifting rings are installed at the four corners of the frame structure, and a high-strength spring is installed on each of the lifting rings. Four lifting rings are also installed at the four corners of the fixed structure inside the frame structure, and the other side of each high-strength spring is hung on one of the four lifting rings of the fixed structure.

[0017] In one technical solution, the lifting ring is a cast steel lifting ring.

[0018] The second objective of this invention is to provide a six-axis robot equipped with the aforementioned universal servo device for tubing packages. The universal servo device for tubing packages is fixed to the three-axis position of the robot arm by a fixed base plate, and the travel range of the tubing package for multi-angle movement is satisfied by setting the robot's load weight information and motion restriction position.

[0019] In one technical solution, the load weight information includes the total weight of the load, the position of the center of gravity, and the moment of inertia of the center of gravity.

[0020] In one technical solution, the action restriction position is determined by setting the interference field.

[0021] The advantages and positive effects of this invention are:

[0022] 1. The present invention has a simple structure, is easy to maintain, reduces the robot load, reduces the inertia and traction force of the pipeline package when it moves at high speed, and makes the pipeline package less prone to damage.

[0023] 2. In this invention, the range of motion of the tubing package is increased. The universal follower device of the tubing package is fixed at the 3-axis position of the robot. Actual verification at this position shows that no matter how the robot moves, the tubing package cannot become an acute angle shape. When the tubing package is making extension and retraction movements, it can move in any direction with the robot arm and maintain an overall obtuse angle shape, which increases the bending angle during movement and makes it less likely to break the tubing. Attached Figure Description

[0024] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that these drawings are designed for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, unless specifically indicated, these drawings are intended only to conceptually illustrate the structural construction described herein and are not necessarily drawn to scale.

[0025] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0026] Figure 2 This is a side view of Embodiment 1 of the present invention;

[0027] Figure 3 This is an attached view of Embodiment 1 of the present invention;

[0028] Figure 4 This is a schematic diagram of the structural operation of Embodiment 2 of the present invention.

[0029] In the diagram: 1-Lifting ring; 2-High-strength spring; 3-Corrugated pipe clamp; 4-Triangular iron frame; 5-Fixed base plate; 6-Corrugated pipe clamp opening fixing screw; 7-Clamp bushing; 801-Base; 802-First rotating arm; 803-Second rotating arm; 804-Third rotating arm; 805-Robot wrist; 9-Fixing screw. Detailed Implementation

[0030] First, it should be noted that the specific structure, features, and advantages of the present invention will be described in detail below by way of examples. However, all descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the accompanying drawings, can still be arbitrarily combined or deleted among these technical features (or their equivalents) to obtain more other embodiments of the present invention that may not be directly mentioned herein. Additionally, for the sake of simplifying the drawings, the same or similar technical features may be indicated only in one place in the same drawing.

[0031] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," and "screw-in" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The invention will now be described in detail with reference to the accompanying drawings.

[0032] Example 1:

[0033] A universal follower device for pipeline packages includes an integral frame, a fixing structure, and a high-strength elastic connector, wherein:

[0034] The overall frame includes a fixed base plate and a frame structure with internal space for movement.

[0035] A fixed structure, located within the servo space, is used to be fitted onto the outside of the pipeline package;

[0036] There are at least three high-strength elastic connectors, which are distributed in a ring between the fixed structure and the frame structure, with one end connected to the fixed structure and the other end connected to the frame structure.

[0037] In this embodiment, the cables and gas pipes required for the plasma generator are housed within a tubing package. The tubing package protects the tubing from wear. To ensure flexible movement of the tubing package during high-speed stretching and prevent friction damage, a universal follower device for the tubing package, attached to the robot arm, is designed. This device consists of a frame structure, lifting rings, a fixing structure, high-strength springs, and a fixed base plate. It is a mechanism for a 6-axis robot to drive the movement of the tubing package. This universal follower device replaces the previous slide rail-type balancer, reducing the robot load and decreasing the inertia and traction force of the tubing package during high-speed movement, making it less prone to damage. In use, the tubing package passes through the fixed structure. With the buffer transition of the high-strength elastic connector and the cooperation of the fixed structure and the frame structure, it can achieve universal rotation. When the tubing package performs telescopic movements, it can move in any direction with the robot arm while maintaining an overall obtuse angle shape, increasing the bending angle during movement and making it less likely to break the tubing, thus protecting it.

[0038] Furthermore, in this embodiment, the frame structure can also be considered as an open rectangular corner structure formed by welding a gantry-shaped triangular iron frame 4 and a base plate frame together, with the base plate frame welded to a fixed base plate 5.

[0039] Furthermore, in this embodiment, the fixing structure can be made of a special corrugated pipe clamp 3. The fixing structure is a special corrugated pipe clamp type that can be rotated. The installation angle is 360 degrees based on the cross-section of the corrugated pipe, and it can be disassembled.

[0040] Furthermore, in this embodiment, the fixing structure may include a clamp-type sleeve and a clamp bushing 7 disposed inside the clamp-type sleeve. Both the clamp-type sleeve and the clamp bushing are composed of two semi-rings. One side opening of the two semi-rings of the clamp-type sleeve is connected by a connecting shaft, and the other side opening is connected by a corrugated pipe special clamp opening fixing screw 6.

[0041] Furthermore, in this embodiment, the high-strength elastic connector includes a high-strength spring 2 and a lifting ring 1. One end of the high-strength spring is connected to the frame structure through the lifting ring, and the other end is connected to the clamp-type pipe sleeve through the lifting ring. The high-strength spring is made of wear-resistant material and has a certain strength and elasticity, which can drive the fixed structure to move at all angles except for the rotation of the corrugated pipe section.

[0042] Furthermore, in this embodiment, four lifting rings can be installed at the four corners of the frame structure, and a high-strength spring can be installed on each lifting ring. Four lifting rings can also be installed at the four corners of the fixing structure inside the frame structure, and the other side of each high-strength spring can be hung on one of the four lifting rings of the fixing structure. Figure 1As shown, the overall frame is rectangular. Four lifting rings are installed at the four corners of the frame, and four springs are installed at the four lifting rings. Four lifting rings are installed at the four corners of the fixed structure inside the frame. The other side of the springs is hung on the four lifting rings of the fixed structure. The cable bundle passes through the inside of the fixed structure, thus forming the universal follower device of the cable bundle.

[0043] Furthermore, in this embodiment, the lifting ring can be considered as a cast steel lifting ring. The lifting ring is made of wear-resistant cast steel, which is a material with excellent wear resistance, high hardness, resistance to wear and impact, good toughness, and is not easy to break when subjected to pressure and impact. It is also corrosion-resistant and has a certain resistance to some corrosive environments, so that the spring is not easily worn or deformed when in contact with it.

[0044] Structural composition of Example 1: as follows Figure 1 As shown, the universal homing device for the pipeline includes 8 M6 lifting rings 1, 4 high-strength springs 7cm 2, corrugated pipe clamps 3 as the fixing structure, a triangular iron frame 4, a fixed base plate 5, and 10 M6 fixing screws 9. The overall frame is divided into areas: A-zone frame, B-zone frame, C-zone frame, D-zone clamps, E-zone iron plate, F-zone iron plate, and G-zone iron plate. The F-zone iron plate and G-zone iron plate constitute the base plate frame. The 4 high-strength springs are divided into spring a, spring b, spring c, and spring d, where:

[0045] The A-zone frame is welded to the B / C-zone frames. The F-zone plate is welded to the B-zone frame. The G-zone plate is welded to the C-zone frame. The F-zone plate is fixed to the E-zone plate with two screws. The openings are left to facilitate maintenance, disassembly, and retrieval of the tubing. M6 lifting rings are installed in the lower holes of the B-zone and C-zone. Two M6 lifting rings are installed in the left and right holes of the A-zone. The D-zone clamp is a corrugated pipe clamp with four M6 lifting rings installed on it (two at the top and two at the bottom). The two lifting rings in the A-zone are connected to the two upper lifting rings in the D-zone using 7cm high-strength springs. The lower lifting ring in the B-zone is connected to the lower left lifting ring in the D-zone using 7cm high-strength springs. The lower lifting ring in the C-zone is connected to the lower right lifting ring in the D-zone using 7cm high-strength springs. Four screw holes are drilled in the E-zone plate for fixing it to the robot arm.

[0046] Installation principle of Example 1: Remove two screws from areas F and G respectively, for a total of four screws. Remove spring c. Remove the fixing screw 6 at the opening of the bellows clamp 3. Open the clamp bushing 7. Insert the pipeline bundle from the position in area E, pass it through the spring c, and put it into area D through the opening of the bellows clamp 3. Install the clamp bushing 7. Close the bellows clamp 3. Tighten the fixing screw 6 at the opening of the bellows clamp. Install spring c. Install the two screws in area F and the two screws in area G. Installation is complete. This device has a simple structure and is easy to maintain.

[0047] The parameters are as follows:

[0048] 1. Frames A, B, and C are made of 50mm*50mm angle iron with a wall thickness of 4mm;

[0049] 2. The thickness of iron plates E, F, and G is 3mm;

[0050] 3. The outer diameter of the lifting eye is 35mm, the inner diameter is 25mm, and the thread length is 20mm;

[0051] 4. The spring telescopic part is 30mm long, the hook is 20mm long, and the spring wire is 1mm in diameter;

[0052] Working principle of Example 1: During the robot's production process, the pipeline package moves with the robot arm. Centered on the position of the corrugated pipe clamp in area D, the pipeline package can move freely within an elliptical sphere with a long diameter of 400mm and a short diameter of 100mm.

[0053] It should be noted that this motion profile is related to the spring's location, frame size, spring elasticity, and robot's motion trajectory. The specific motion profile requirements should be set according to the actual production needs.

[0054] Example 2:

[0055] A six-axis robot equipped with the universal servo device for the tubing package described in Embodiment 1 above. In Embodiment 1, the universal servo device for the tubing package is fixed to the three-axis position of the robot arm via a fixed base plate. By setting the robot's load weight information and motion restriction positions, the travel range of the tubing package's multi-angle movement is satisfied. Specifically:

[0056] The load weight information includes the total weight of the load, the position of the center of gravity, and the moment of inertia at the position of the center of gravity.

[0057] The position of the action restriction is determined by setting the intervention area.

[0058] In this embodiment, the plasma generator achieves all-position processing of the material product through robot movements. The pipeline package used by the generator is fixed on the three-axis position of the robot, and the movement limit positions (+ and - directions) of the three axes when at the origin are set. The correct robot load weight information is set to prevent the robot reducer from being shortened or some robot malfunctions. The load weight information includes the total weight of the load, the center of gravity position, and the rotational inertia of the center of gravity position. The weight refers to the total weight set at the position of the robot arm or tool, in kg. An approximate value is acceptable, but the set value is larger than the actual weight value. The center of gravity position is set by the position on the flange coordinate to determine the overall center of gravity position of the load. Precise calculation is very difficult, so an approximate value is acceptable. The center of gravity position can be inferred from the shape and set, or it can be set according to the specific specifications of the universal follower device of the pipeline package. The rotational inertia of the center of gravity position, when the center of gravity position is used as the origin, must take into account the rotation of each parallel coordinate axis in the flange coordinate. The above are the robot-related settings for the device of the present invention installed at the three-axis position of the robot arm.

[0059] Furthermore, in this embodiment, the robot can also be configured as follows: load weight information, center of gravity position, center of gravity position rotational inertia, and interference field (to prevent possible interference between robots and between the robot and peripheral devices due to changes in the shape of the robot's load). This interference field is set as a cubic interference zone, which refers to a cuboid parallel to any of the coordinate axes of the base coordinates, robot coordinates, and user coordinates.

[0060] Furthermore, in this embodiment, the overall frame can be considered as a rectangular angular structure with an area that satisfies the multi-angle movement range of the pipeline package. This range satisfies all the robot's actions within the cubic interference zone. The robot processor will determine whether the robot's control point is inside or outside the interference zone and output the determination result as a signal.

[0061] Furthermore, in this embodiment, the material of the overall frame can be selected in a variety of ways to meet the requirements of lightweight, high strength, and ease of manufacturing.

[0062] Taking this embodiment as an example, the universal servo device for the pipeline package is equipped with a six-axis industrial multi-joint robot, such as... Figure 4 As shown, the robotic arm includes: a base 801 disposed at a predetermined position, a first rotating arm 802 that can rotate relative to the base 801 via a connecting joint, a second rotating arm 803 that can rotate relative to the first rotating arm 802 via a connecting joint, and a third rotating arm 804 that can rotate relative to the second rotating arm 803 via a connecting joint. A robotic wrist 805 that can rotate relative to the third rotating arm 804 is connected to the third rotating arm 804 via a connecting joint.

[0063] Furthermore, in this embodiment, the processing system for setting load weight information and motion limit positions may include:

[0064] The sensor unit includes at least one torque sensor, six-axis force sensor, displacement sensor, vision sensor, etc., mounted on the robot arm and the universal servo device of the tubing package.

[0065] The computational processing unit acquires sensor values ​​(such as torque and force values) from the robot arm in a specific posture. It then processes these values ​​to obtain information about the total load weight, center of gravity position, moment of inertia, and interference region. The resulting weight, center of gravity position, moment of inertia, and whether the robot is located within the interference region are output as signals to control the robot arm's movements. Furthermore, after calculating the load weight and center of gravity position, the computational processing unit stores the data and calculation results in a memory.

[0066] It should be noted that the computing processing unit includes a robot processor and a PC computer. The robot and the computing processing unit are preferably connected via wired or wireless communication, allowing the robot to control itself using the weight and center of gravity calculated by the unit. Additionally, the computing processing unit may also include a keyboard, touch panel, etc., for inputting commands, enabling the operator to make various settings.

[0067] It should be further noted that the robot required for the plasma generator must meet the requirements of rapid movement, high precision, small size, and control via handle and panel. It must also possess the following safety functions: 1. Emergency stop SW input, 2. Start SW input, 3. Safety barrier interlock signal input (safety plug), 4. External emergency stop S input, 5. External start SW input, 6. Overtravel input (robot / external axis), 7. General safety input (external start SW input), to ensure the safety of personnel and equipment when modifying the robot's attachments.

[0068] The above embodiments have provided a detailed description of the present invention, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A universal follower device for pipeline sheaths, characterized in that: include: The overall frame includes a fixed base plate and a frame structure with internal space for movement. A fixed structure, located within the servo space, is used to be fitted onto the outside of the pipeline package; The high-strength elastic connectors are numbered no less than three, and the high-strength elastic connectors are distributed in a ring between the fixed structure and the frame structure, with one end connected to the fixed structure and the other end connected to the frame structure. The high-strength elastic connector includes a high-strength spring and a lifting ring. One end of the high-strength spring is connected to the frame structure through the lifting ring, and the other end is connected to the clamp-type sleeve through the lifting ring. Four lifting rings are installed at the four corners of the frame structure, and a high-strength spring is installed on each of the lifting rings. Four lifting rings are installed at the four corners of the fixed structure inside the frame structure. The other side of each high-strength spring is hung on the four lifting rings of the fixed structure.

2. The universal follow-up device for pipeline sheaths according to claim 1, characterized in that: The frame structure is a rectangular corner structure formed by welding together a gantry-shaped triangular iron frame and a base plate frame, with the base plate frame welded to a fixed base plate.

3. The universal follow-up device for pipeline casing according to claim 1, characterized in that: The fixing structure includes a clamp-type sleeve and a clamp bushing disposed inside the clamp-type sleeve. Both the clamp-type sleeve and the clamp bushing are composed of two semi-rings. One side opening of the two semi-rings of the clamp-type sleeve is connected by a connecting shaft, and the other side opening is connected by an opening fixing screw.

4. The universal follow-up device for pipeline sheaths according to claim 1, characterized in that: The lifting ring is a cast steel lifting ring.

5. A six-axis robot equipped with a universal servo device for a pipeline package as described in any one of claims 1-4, characterized in that: The universal servo device for the pipeline package is fixed to the three-axis position of the robot arm by a fixed base plate, and the travel range of the pipeline package for multi-angle movement is satisfied by setting the robot's load weight information and motion limit position.

6. A six-axis robot equipped with a universal follower device for a pipeline package as described in claim 5, characterized in that: The load weight information includes the total weight of the load, the center of gravity position, and the moment of inertia of the center of gravity position; the action restriction position is determined by setting the interference field.

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