A sliding device for robotic pipelines

Abstract

The present invention belongs to the field of robot technology, and in particular, relates to a sliding device for robot pipelines, including a sliding base, the bottom of the sliding base is fixedly connected to a fixing plate on both sides, and the upper surface of the fixing plate is provided with a plurality of fixing through holes, the inner wall of the sliding base is movably sealed to a rubber sealing plate, the upper surface of the rubber sealing plate is parallelly fixedly embedded with a plurality of conductive bottom rods, and one side end of the conductive bottom rod is fixedly connected to a conductive connecting rod. The present invention enables the sliding device to have the ability to slide and conduct electricity, avoids the situation where the conductive wire bundle in the robot pipeline is bent and swung significantly, and can improve the protection of the robot connection pipeline interface, and at the same time, the sliding device also has the functions of cooling and reducing wear of the sliding conductive structure, adjusting the position of the conductive core strip, and reminding the wear and replacement of the conductive core strip, thereby effectively improving the reliability of the sliding device and the robot.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a sliding device for robot pipelines. Background Art

[0002] A robot is a mechanical device that can automatically perform tasks and complete complex movements and operations through programming and instructions. With the continuous development of production automation, robots play an increasingly important role in production. Monotonous and tedious tasks can be completed by robots, which not only saves manpower but also improves work efficiency. In addition, when the robot's arm moves, the robot arm is connected to many conductive harnesses for controlling its movement. In order to ensure the safety of these conductive harnesses and control the stability of the robot arm's operation, the robot's conductive harnesses are usually placed in a pipeline package for protection. For example, the authorization announcement number CN109049001B discloses a robot pipeline package.

[0003] At present, some robots often need to translate their workstations for operation during operation. However, the translation process of the robot will cause the conductive wiring harness in the pipeline package to bend and swing significantly. Frequent and significant bending can easily cause fatigue damage to the metal core in the conductive wiring harness, or even breakage and damage to the metal core. At the same time, frequent and significant swinging of the conductive wiring harness in the pipeline package can also cause continuous shaking at the connection of the conductive wiring harness, which can not only easily affect the stability of the connection of the conductive wiring harness, but also easily damage the interface of the robot used to connect the conductive wiring harness, thereby affecting the reliability and life of the conductive wiring harness in the pipeline package, and also easily affecting the reliability of the robot.

[0004] Therefore, we propose a sliding device for robot pipeline to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a sliding device for a robot pipeline in view of the above problems.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a sliding device for a robot pipeline, comprising a sliding base, both sides of the bottom end of the sliding base are fixedly connected to fixed plates, and the upper surface of the fixed plate is provided with a plurality of fixed through holes, the inner wall of the sliding base is movably sealed with a rubber sealing plate, the upper surface of the rubber sealing plate is parallelly and fixedly embedded with a plurality of conductive bottom rods, one side end of the conductive bottom rod is fixedly connected to a conductive connecting rod, the side end of the conductive connecting rod passes through the outer wall of the sliding base, the side wall of the sliding base is provided with a rectangular through hole for moving the conductive connecting rod, the top end of the conductive connecting rod is fixedly connected to a conductive core strip by screws, the top end of the conductive connecting rod is provided with a limiting groove matching the bottom end of the conductive core strip, and the bottom end and side end of the sliding base are fixedly connected to an adjustment mechanism;

[0007] The top of the sliding base is fixedly connected to a support frame by a plurality of bolts, the upper surface of the support frame is slidably connected to an insulating movable seat, the upper surface of the insulating movable seat is provided with a plurality of mounting through holes, and the hole walls of the mounting through holes are fixedly connected to rubber sleeves, the inner wall of the rubber sleeve is fixedly connected to a conductive rod, the plurality of conductive rods are sequentially distributed directly above the plurality of conductive core strips, and the top of the conductive rod is fixedly connected to a connecting mechanism;

[0008] The upper surface of the insulating movable seat is fixedly connected with a linkage mechanism and a PLC controller;

[0009] A square through hole is provided at the bottom end of the conductive rod, and a sliding resistance detection mechanism is movably connected to the hole wall of the square through hole.

[0010] In the above-mentioned sliding device for a robot pipeline, the adjustment mechanism includes a liquid tank fixedly connected to the side wall of the sliding base, an electric push rod is fixedly embedded in the outer wall of the liquid tank, a piston is fixedly connected to the movable end of the electric push rod, the outer wall of the piston is sealed and movably connected to the inner wall of the liquid tank, the interior of the liquid tank and the bottom cavity of the sliding base are jointly filled with a water layer, a micro air pump is fixedly connected to the upper surface of the liquid tank, the air delivery end of the micro air pump is fixedly connected to a conduit, the air outlet end of the conduit passes through the inner wall of the sliding base and is fixedly connected to a multi-porous air nozzle.

[0011] In the above-mentioned sliding device for a robot pipeline, the connecting mechanism includes a metal frame fixedly connected to the top of the conductive rod, a screw hole is opened on the upper surface of the metal frame, and the hole wall of the screw hole is threadedly connected with a fixing bolt, a reset switch is fixedly embedded in the top of the insulating movable seat, and the output end of the reset switch is electrically connected to an alarm through a wire, the bottom end of the alarm is fixedly connected to the upper surface of the insulating movable seat, and a plurality of reminder circular protrusions are fixedly connected to the upper surface of the conductive bottom rod.

[0012] In the above-mentioned sliding device for a robot pipeline, the linkage mechanism includes a support rod fixedly connected to the upper surface of an insulating movable seat, a groove is provided at the top end of the support rod, a connecting through hole is provided at the top end of the support rod, and a bolt and nut connecting piece is movably connected to the hole wall of the connecting through hole, a deflection rod is movably sleeved on the outer wall of the bolt and nut connecting piece, an adjustment through hole is provided on the rod wall of the deflection rod for moving the bolt and nut connecting piece, a porous connecting block is fixedly connected to the side end of the deflection rod, and a wiring harness protective tube is fixedly connected to the rod wall of the support rod.

[0013] In the above-mentioned sliding device for robot pipelines, the sliding resistance detection mechanism includes a U-shaped conductive rod movably connected to the inner wall of the square through hole at the bottom end of the conductive rod, the rod wall of the U-shaped conductive rod is movably sleeved with two insulating springs, the two ends of the insulating spring are respectively fixedly connected to the conductive rod and the rod wall of the U-shaped conductive rod, the bottom end of the U-shaped conductive rod is fixedly connected to a U-shaped conductive block that matches the conductive core bar, the inner wall of the U-shaped conductive block is movably in contact with the outer wall of the conductive core bar, the bottom end of the conductive rod is fixedly connected to a first insulating block, the bottom end of the first insulating block is fixedly embedded with two symmetrically distributed power strips, the upper surface of the U-shaped conductive block is fixedly connected to a second insulating block, the upper surface of the second insulating block is fixedly connected to a first metal rod and a second metal rod, the The bottom end of the first metal rod passes through the lower surface of the second insulating block, the top of the U-shaped conductive block is provided with a placement hole for insulating the bottom end of the first metal rod, the bottom end of the first metal rod is provided with a movable cavity, and the inner wall of the movable cavity is movably connected to the L-shaped metal rod, the bottom end of the L-shaped metal rod passes through the lower surface of the first metal rod, the bottom end of the first metal rod is provided with a movable through hole matched with the L-shaped metal rod, the outer wall of the first metal rod is provided with a vertical through hole matched with the lifting and lowering of the horizontal part of the L-shaped metal rod, the upper surface of the second insulating block is fixedly connected to a support bar, the outer wall of the support bar is fixedly embedded with two energized metal rods, the side walls of the support bar, the side walls of the horizontal part of the L-shaped metal rod and the side walls of the two energized metal rods are on the same vertical plane.

[0014] In the above-mentioned robot pipeline sliding device, the top ends of the first metal rod and the second metal rod are both provided with first conductive balls, and the bottom end of the L-shaped metal rod is provided with second conductive balls.

[0015] In the above-mentioned sliding device for a robot pipeline, a plurality of extension blocks are fixedly connected to the lower surface of the insulating movable seat, a movable sleeve is fixedly connected to the bottom end of the extension block, a guide rod is movably connected to the inner wall of the movable sleeve, and the side end of the guide rod is fixedly connected to the inner wall of the sliding base.

[0016] Compared with the existing technology, the advantages of a robot pipeline sliding device are:

[0017] 1. Through the linkage mechanism, conductive core strip, U-shaped conductive block and insulating movable seat, when the robot is driven to translate the workstation, the robot drives the insulating movable seat to move through the linkage mechanism. The insulating movable seat can ensure reliable sliding through the extension block, movable sleeve and guide rod, and can ensure that the conductive path between the conductive core strip and the U-shaped conductive block is unobstructed, and the robot harness will not be bent, damaged or swing greatly during the sliding process. This mechanism enables the sliding device to have the ability to slide and conduct electricity, avoids the conductive harness in the robot pipeline from bending and swinging greatly, and can improve the protection of the robot connection pipeline interface, thereby improving the reliability of the robot's work.

[0018] 2. Through the sliding resistance detection mechanism set up, when the conductive core strip and the U-shaped conductive block accumulate heat and expand due to continuous power-on heating and sliding friction heating, the sliding resistance of the U-shaped conductive block caused by thermal expansion increases, and then the conductive rod and the U-shaped conductive rod will be misaligned, so that the top ends of the first metal rod and the second metal rod are in contact with the power strip on one side of the first insulating block, and an electrical signal is sent to the input end of the PLC controller. The PLC controller controls the micro air pump to spray and cool down for 15 minutes to avoid the conductive core strip and the U-shaped conductive block from accumulating heat and continuing to expand, thereby reducing the sliding resistance. This mechanism enables the sliding device to have the function of cooling the sliding conductive structure, thereby reducing the efficiency of the wear of the sliding conductive structure, and at the same time ensuring the reliability of the sliding device and the robot.

[0019] 3. Through the sliding resistance detection mechanism and adjustment mechanism, as the use time of the sliding device increases, the conductive core strip whose material hardness is lower than that of the U-shaped conductive block is gradually consumed. Before the conductive core strip is worn and separated from the U-shaped conductive block, the horizontal side end of the L-shaped metal rod is in contact with the two energized metal rods. Then the two energized metal rod circuits send an electrical signal to the PLC controller, prompting the PLC controller to start a preset control program for the electric push rod according to the electrical signal. Then the adjustment mechanism lifts the height of the conductive core strip, appropriately expands the connection area between the top of the conductive core strip and the U-shaped conductive block, and at the same time, the conductive core strip is lifted to separate the L-shaped metal rod from the two energized metal rods. By lifting the conductive core strip multiple times, the ability of automatic compensation for the wear of the conductive core strip is realized, and the time for the conductive core strip to contact and conduct electricity with the U-shaped conductive block is extended. This mechanism enables the sliding device to have the function of adjusting the position of the conductive core strip, and improves the ability of the conductive core strip and the U-shaped conductive block to continuously conduct electricity, thereby improving the reliability of the sliding device and the robot.

[0020] 4. Through the provided connection mechanism and U-shaped conductive block, when the conductive core strip is worn and needs to be replaced, the rubber sealing plate is raised to the highest position, and then the bottom of the U-shaped conductive block contacts the reminder circular protrusion, which triggers the corresponding alarm to emit an audible and visual alarm, and reminds the maintenance personnel to replace the consumed conductive core strip in time. This mechanism enables the sliding device to have the function of reminding the replacement of the worn conductive core strip, thereby avoiding the situation where the sliding device cannot be used normally due to the maintenance personnel's failure to replace the conductive core strip in time, and at the same time improves the reliability of the sliding device and the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a robot pipeline sliding device provided by the present invention;

[0022] Figure 2 It is a structural schematic diagram of a reminder round convex block part in a robot pipeline sliding device provided by the present invention;

[0023] Figure 3 It is a structural schematic diagram of a linkage mechanism in a robot pipeline sliding device provided by the present invention;

[0024] Figure 4 It is a structural schematic diagram of an adjustment mechanism in a robot pipeline sliding device provided by the present invention;

[0025] Figure 5 It is a structural schematic diagram of a connecting mechanism in a robot pipeline sliding device provided by the present invention;

[0026] Figure 6 It is a structural schematic diagram of a sliding resistance detection mechanism in a sliding device for a robot pipeline provided by the present invention;

[0027] Figure 7 It is a schematic structural diagram of the first metal rod portion in a robot pipeline sliding device provided by the present invention.

[0028] In the figure: 1 sliding base, 2 fixing plate, 3 rubber sealing plate, 4 conductive bottom rod, 5 first conductive ball, 6 adjusting mechanism, 61 liquid tank, 62 electric push rod, 63 piston, 64 water layer, 65 micro air pump, 66 catheter, 67 porous air nozzle, 7 connecting mechanism, 71 metal frame, 72 fixing bolt, 73 reset switch, 74 alarm, 75 reminder round convex block, 8 linkage mechanism, 81 support rod, 82 bolt and nut connector, 83 deflection rod, 84 adjusting through hole, 85 porous connecting block, 86 harness protective tube, 9 sliding resistance detection Measuring mechanism, 91 U-shaped conductive rod, 92 insulating spring, 93 U-shaped conductive block, 94 first insulating block, 95 energized bar, 96 second insulating block, 97 first metal rod, 98 second metal rod, 99 movable cavity, 910 L-shaped metal rod, 911 support bar, 912 energized metal rod, 10 rectangular through hole, 11 conductive core bar, 12 support frame, 13 insulating movable seat, 14 rubber sleeve, 15 conductive rod, 16 PLC controller, 17 conductive connecting rod, 18 second conductive ball, 19 extension block, 20 movable sleeve, 21 guide rod. DETAILED DESCRIPTION

[0029] 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.

[0030] like Figure 1-Figure 7As shown, a sliding device for a robot pipeline includes a sliding base 1, both sides of the bottom end of the sliding base 1 are fixedly connected to fixed plates 2, and the upper surface of the fixed plate 2 is provided with a plurality of fixed through holes, the inner wall of the sliding base 1 is movably sealed with a rubber sealing plate 3, and the upper surface of the rubber sealing plate 3 is parallelly and fixedly embedded with a plurality of conductive bottom rods 4, one side end of the conductive bottom rod 4 is fixedly connected to a conductive connecting rod 17, the side end of the conductive connecting rod 17 passes through the outer wall of the sliding base 1, the side wall of the sliding base 1 is provided with a rectangular through hole 10 for moving the conductive connecting rod 17, the top end of the conductive connecting rod 17 is fixedly connected to a conductive core strip 11 by screws, and the top end of the conductive connecting rod 17 is provided with a conductive core strip 11 The bottom end of the conductive core strip 11 is matched with a limiting groove, and the bottom side end of the sliding base 1 is fixedly connected with an adjusting mechanism 6, and the adjusting mechanism 6 includes a liquid tank 61 fixedly connected to the side wall of the sliding base 1, and the outer wall of the liquid tank 61 is fixedly embedded with an electric push rod 62, and the movable end of the electric push rod 62 is fixedly connected with a piston 63, and the outer wall of the piston 63 is sealed and movably connected to the inner wall of the liquid tank 61, and the interior of the liquid tank 61 and the bottom cavity of the sliding base 1 are jointly filled with a water layer 64, and the upper surface of the liquid tank 61 is fixedly connected with a micro air pump 65, and the air delivery end of the micro air pump 65 is fixedly connected to a conduit 66, and the air outlet end of the conduit 66 passes through the inner wall of the sliding base 1 and is fixedly connected to a porous air nozzle 67.

[0031] The top of the sliding base 1 is fixedly connected to a support frame 12 by a plurality of bolts, an insulating movable seat 13 is slidably connected to the upper surface of the support frame 12, a plurality of extension blocks 19 are fixedly connected to the lower surface of the insulating movable seat 13, a movable sleeve 20 is fixedly connected to the bottom end of the extension block 19, a guide rod 21 is movably connected to the inner wall of the movable sleeve 20, and the side end of the guide rod 21 is fixedly connected to the inner wall of the sliding base 1, and the mechanism can improve the stability of the movement of the insulating movable seat 13, a plurality of mounting through holes are provided on the upper surface of the insulating movable seat 13, and a rubber sleeve 14 is fixedly connected to the hole wall of the mounting through hole, a conductive rod 15 is fixedly connected to the inner wall of the rubber sleeve 14, and a plurality of conductive rods 15 are distributed in sequence Directly above the multiple conductive core strips 11, the top of the conductive rod 15 is fixedly connected to a connecting mechanism 7, the connecting mechanism 7 includes a metal frame 71 fixedly connected to the top of the conductive rod 15, a screw hole is opened on the upper surface of the metal frame 71, and a fixing bolt 72 is threadedly connected to the hole wall of the screw hole, a reset switch 73 is fixedly embedded in the top of the insulating movable seat 13, the output end of the reset switch 73 is electrically connected to an alarm 74 through a wire, the bottom end of the alarm 74 is fixedly connected to the upper surface of the insulating movable seat 13, a plurality of reminder round protrusions 75 are fixedly connected to the upper surface of the conductive bottom rod 4, the reset switch 73 is also electrically connected to an external power supply, this electrical connection is a prior art and will not be repeated here.

[0032] The upper surface of the insulating movable seat 13 is fixedly connected with a linkage mechanism 8 and a PLC controller 16. The linkage mechanism 8 includes a support rod 81 fixedly connected to the upper surface of the insulating movable seat 13. A groove is provided at the top of the support rod 81. A connecting through hole is provided at the top of the support rod 81. A bolt and nut connector 82 is movably connected to the hole wall of the connecting through hole. A deflection rod 83 is movably sleeved on the outer wall of the bolt and nut connector 82. An adjustment through hole 84 for moving the bolt and nut connector 82 is provided on the rod wall of the deflection rod 83. A porous connecting block 85 is fixedly connected to the side end of the deflection rod 83. A wiring harness protective tube 86 is fixedly connected to the rod wall of the support rod 81. This mechanism can conveniently control the insulating movable seat 13 to move with the robot.

[0033] A square through hole is provided at the bottom end of the conductive rod 15, and a sliding resistance detection mechanism 9 is movably connected to the hole wall of the square through hole. The sliding resistance detection mechanism 9 includes a U-shaped conductive rod 91 movably connected to the inner wall of the square through hole at the bottom end of the conductive rod 15. Two insulating springs 92 are movably sleeved on the rod wall of the U-shaped conductive rod 91. The two ends of the insulating spring 92 are respectively fixedly connected to the rod walls of the conductive rod 15 and the U-shaped conductive rod 91. The bottom end of the U-shaped conductive rod 91 is fixedly connected to a U-shaped conductive block 93 that matches the conductive core strip 11. The inner wall of the U-shaped conductive block 93 is in movably contact with the outer wall of the conductive core strip 11. The bottom end of the conductive rod 15 is fixedly connected to a first insulating block 94. Two symmetrically distributed power-on strips 95 are fixedly embedded at the bottom end of the first insulating block 94. The upper surface of the U-shaped conductive block 93 is fixedly connected to a second insulating block 96. The upper surface of the second insulating block 96 is fixedly connected to a first metal rod 97 and a second metal rod 97. Rod 98, the bottom end of the first metal rod 97 passes through the lower surface of the second insulating block 96, the top of the U-shaped conductive block 93 is provided with a placement hole for insulating the bottom end of the first metal rod 97, the bottom end of the first metal rod 97 is provided with a movable cavity 99, and the inner wall of the movable cavity 99 is movably connected to the L-shaped metal rod 910, the bottom end of the L-shaped metal rod 910 passes through the lower surface of the first metal rod 97, the bottom end of the first metal rod 97 is provided with a movable through hole matched with the L-shaped metal rod 910, the outer wall of the first metal rod 97 is provided with a vertical through hole matched with the lifting and lowering of the horizontal part of the L-shaped metal rod 910, the upper surface of the second insulating block 96 is fixedly connected to a support bar 911, and the outer wall of the support bar 911 is fixedly embedded with two energized metal rods 912, and the side walls of the support bar 911, the side walls of the horizontal part of the L-shaped metal rod 910 and the side walls of the two energized metal rods 912 are on the same vertical plane.

[0034] The top ends of the first metal rod 97 and the second metal rod 98 are both provided with a first conductive ball 5, and the bottom end of the L-shaped metal rod 910 is provided with a second conductive ball 18. Both the first conductive ball 5 and the second conductive ball 18 can reduce the wear of the contact surface.

[0035] The number of connecting mechanisms 7, conductive core strips 11, sliding resistance detection mechanisms 9, reset switches 73, alarms 74 and conductive connecting rods 17 is the same, and the material hardness of the conductive core strips 11 is lower than the material hardness of the U-shaped conductive block 93. Therefore, when the conductive core strips 11 rub against the U-shaped conductive block 93, the conductive core strips 11 are worn first. The two energized metal rods 912 are electrically connected to the input end of the PLC controller 16 through wires, and the second metal rod 98 is also electrically connected to the input end of the PLC controller 16 through wires. The electric push rod 62 and the micro air pump 65 are electrically connected to the output end of the PLC controller 16 through wires. The above electrical connection is a prior art and will not be repeated here.

[0036] The operating principle of the present invention is described as follows: before the robot needs to translate, the sliding base 1 is fixed to the robot station by the fixing plate 2, and at the same time, the multiple conductive wire ends of the robot harness are connected to the metal frames 71 in the multiple connecting mechanisms 7 in turn through the harness protective tube 86, and are fastened by the fixing bolts 72, and then the porous connecting block 85 in the linkage mechanism 8 is installed on the robot moving base by screws, and the angle of the support rod 81 is adjusted by adjusting the through hole 84 and the bolt and nut connector 82, and then the support rod 81 is fastened by the bolt and nut connector 82, and in addition, the multiple conductive connecting rods 17 are respectively connected to the conductive wires of the harness controlling the robot, and one conductive connecting rod 17 is only connected to one conductive wire;

[0037] When the robot is driven to translate the workstation, the robot drives the insulating movable seat 13 to move through the linkage mechanism 8. The insulating movable seat 13 can ensure reliable sliding through the extension block 19, the movable sleeve 20 and the guide rod 21. During the sliding process of the insulating movable seat 13, it can also ensure that the conductive connecting rod 17, the conductive bottom rod 4, the conductive core bar 11, the U-shaped conductive block 93, the U-shaped conductive rod 91, the conductive rod 15 and the conductive line of the connecting mechanism 7 are unobstructed, and the robot wiring harness will not be bent, damaged or swing greatly during the sliding process. This mechanism enables the sliding device to have the ability to slide and conduct electricity, avoids the conductive wiring harness in the robot pipeline from bending and swinging greatly, and can improve the protection of the robot connection pipeline interface, thereby improving the reliability of the robot's work.

[0038] When the conductive core strip 11 and the U-shaped conductive block 93 expand due to accumulated heat caused by continuous power-on heating and sliding friction, the thermal expansion of the conductive core strip 11 and the U-shaped conductive block 93 can not only increase the friction loss, but also increase the sliding resistance of the device. At the same time, the sliding resistance of the U-shaped conductive block 93 caused by thermal expansion increases, and then the conductive rod 15 and the U-shaped conductive rod 91 will be misaligned. At the same time, the two insulating springs 92 deform to generate restoring force, and the U-shaped conductive block 93 is also misaligned with the U-shaped conductive rod 91. Then the first metal rod 97 and the second metal rod 98 on the second insulating block 96 are misaligned with the first insulating block 94 at the same time, and contact the power strip 95 on one side of the first insulating block 94. At this time, the circuits of the first metal rod 97 and the second metal rod 98 are connected, and the second metal rod 98 sends an electrical signal to the input end of the PLC controller 16, and the PLC controls The device 16 runs the corresponding preset program according to the electrical signal, and controls the micro air pump 65 to be powered on and work for 15 minutes. The micro air pump 65 draws air through the conduit 66 and the porous air nozzle 67 to spray air into the sliding base 1, thereby accelerating the heat dissipation on the conductive core strip 11 and the U-shaped conductive block 93. The dissipated heat is discharged through the rectangular through hole 10 and the top of the support frame 12 to avoid the conductive core strip 11 and the U-shaped conductive block 93 accumulating heat and continuing to expand, thereby reducing the sliding resistance. After the micro air pump 65 is powered on and works for 15 minutes, it automatically cuts off the power and stops blowing. If the conductive core strip 11 and the U-shaped conductive block 93 heat up again, the above steps are repeated to cool down, and the speed of wear of the sliding conductive structure is reduced. This mechanism enables the sliding device to have the function of cooling the sliding conductive structure, thereby reducing the efficiency of wear of the sliding conductive structure, and at the same time ensuring the reliability of the sliding device and the robot.

[0039] As the use time of the sliding device increases, the conductive core strip 11, which has a material hardness lower than that of the U-shaped conductive block 93, is gradually consumed. At this time, the L-shaped metal rod 910 gradually drops under the action of gravity as the conductive core strip 11 is consumed, but the bottom of the L-shaped metal rod 910 is always in contact with the top surface of the conductive core strip 11. Before the conductive core strip 11 is worn and consumed and is about to separate from the U-shaped conductive block 93, the horizontal side end of the L-shaped metal rod 910 is in contact with the two energized metal rods 912. Then the two energized metal rods 912 are connected in circuit and send an electrical signal to the input end of the PLC controller 16. Then the PLC controller 16 starts the preset program for controlling the electric push rod 62 according to the electrical signal. The electric push rod 62 is controlled to gradually extend. Then the electric push rod 62 pushes the piston 63 to move. The piston 63 squeezes the water layer 64 inside the liquid tank 61. Then the water layer 64 enters the bottom end of the sliding base 1 and lifts the height of the rubber sealing plate 3 at the same time. Then the rubber sealing plate 3 is The sealing plate 3 raises the height of the conductive core strip 11 through the conductive bottom rod 4, appropriately expands the connection area between the top of the conductive core strip 11 and the U-shaped conductive block 93, and at the same time, the conductive core strip 11 raises the height of the L-shaped metal rod 910. After the L-shaped metal rod 910 is separated from the two energized metal rods 912, the circuit of the energized metal rod 912 is disconnected, and the PLC controller 16 loses the electrical signal, and then the PLC controller 16 controls the electric push rod 62 to stop pushing the piston 63, so as to avoid the conductive core strip 11 being excessively lifted and the contact area with the U-shaped conductive block 93 being too large, thereby increasing the sliding resistance. Through the above steps, the conductive core strip 11 can be lifted multiple times to realize the ability of automatic compensation for the wear of the conductive core strip 11 and extend the contact time of the conductive core strip 11 with the U-shaped conductive block 93. This mechanism enables the sliding device to have the function of adjusting the position of the conductive core strip 11, and improves the ability of the conductive core strip 11 and the U-shaped conductive block 93 to continuously conduct electricity, thereby improving the reliability of the sliding device and the robot.

[0040] When the conductive core strip 11 is worn and needs to be replaced, the rubber sealing plate 3 is lifted to the highest position, and the bottom of the U-shaped conductive block 93 contacts the reminder round protrusion 75. Then, when the U-shaped conductive block 93 slides, the reminder round protrusion 75 will lift the U-shaped conductive block 93 to a certain height. At this time, the U-shaped conductive block 93, the U-shaped conductive rod 91 and the conductive rod 15 transmit the lifted height. The conductive rod 15 realizes the transmission of the height change through the up and down deformation of the rubber sleeve 14, and finally lifts the metal frame 71 of the connecting mechanism 7. Then the reset switch 73 loses the squeezing constraint of the metal frame 71 and is energized. Then the alarm 74 corresponding to the conductive core strip 11 emits an audible and visual alarm, and reminds the maintenance personnel to replace the corresponding conductive core strip 11 in time, to ensure the stability of continuous conductivity between the conductive core strip 11 and the U-shaped conductive block 93. This mechanism enables the sliding device to have the function of reminding the wear and replacement of the conductive core strip 11, to avoid the situation where the sliding device cannot be used normally due to the maintenance personnel not replacing the conductive core strip 11 in time, and to improve the reliability of the sliding device and the robot.

[0041] 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 robot pipeline sliding device, comprising a sliding base (1), characterized in that: The outer surfaces of both sides of the bottom end of the sliding base (1) are fixedly connected with a fixing plate (2), and the upper surface of the fixing plate (2) is provided with a plurality of fixing through holes, the inner wall of the sliding base (1) is movably sealed with a rubber sealing plate (3), and the upper surface of the rubber sealing plate (3) is parallel and fixedly embedded with a plurality of conductive bottom rods (4), one side end of the conductive bottom rod (4) is fixedly connected with a conductive connecting rod (17), the side end of the conductive connecting rod (17) passes through the outer wall of the sliding base (1), the side wall of the sliding base (1) is provided with a rectangular through hole (10) for moving the conductive connecting rod (17), the top end of the conductive connecting rod (17) is fixedly connected with a conductive core strip (11) by screws, the top end of the conductive connecting rod (17) is provided with a limiting groove that matches the bottom end of the conductive core strip (11), and the bottom side end of the sliding base (1) is fixedly connected with an adjustment mechanism (6); The top of the sliding base (1) is fixedly connected to a support frame (12) by means of a plurality of bolts, the upper surface of the support frame (12) is slidably connected to an insulating movable seat (13), the upper surface of the insulating movable seat (13) is provided with a plurality of mounting through holes, and the hole walls of the mounting through holes are fixedly connected to a rubber sleeve (14), the inner wall of the rubber sleeve (14) is fixedly connected to a conductive rod (15), the plurality of conductive rods (15) are sequentially distributed directly above the plurality of conductive core strips (11), and the top of the conductive rod (15) is fixedly connected to a connecting mechanism (7); The upper surface of the insulating movable seat (13) is fixedly connected with a linkage mechanism (8) and a PLC controller (16); A square through hole is provided at the bottom end of the conductive rod (15), and a sliding resistance detection mechanism (9) is movably connected to the hole wall of the square through hole.

2. A robot pipeline sliding device according to claim 1, characterized in that: The regulating mechanism (6) comprises a liquid tank (61) fixedly connected to the side wall of the sliding base (1); an electric push rod (62) is fixedly embedded in the outer wall of the liquid tank (61); a piston (63) is fixedly connected to the movable end of the electric push rod (62); the outer wall of the piston (63) is sealed and movably connected to the inner wall of the liquid tank (61); the interior of the liquid tank (61) and the bottom cavity of the sliding base (1) are jointly filled with a water layer (64); a micro air pump (65) is fixedly connected to the upper surface of the liquid tank (61); the air supply end of the micro air pump (65) is fixedly connected to a conduit (66); the air outlet end of the conduit (66) passes through the inner wall of the sliding base (1) and is fixedly connected to a multi-porous air nozzle (67).

3. A robot pipeline sliding device according to claim 1, characterized in that: The connection mechanism (7) comprises a metal frame (71) fixedly connected to the top of the conductive rod (15), a screw hole is provided on the upper surface of the metal frame (71), and a fixing bolt (72) is threadedly connected to the hole wall of the screw hole, a reset switch (73) is fixedly embedded in the top of the insulating movable seat (13), an output end of the reset switch (73) is electrically connected to an alarm (74) via a wire, a bottom end of the alarm (74) is fixedly connected to the upper surface of the insulating movable seat (13), and a plurality of reminder round protrusions (75) are fixedly connected to the upper surface of the conductive bottom rod (4).

4. A robot pipeline sliding device according to claim 1, characterized in that: The linkage mechanism (8) comprises a support rod (81) fixedly connected to the upper surface of the insulating movable seat (13), a groove being provided at the top end of the support rod (81), a connecting through hole being provided at the top end of the support rod (81), and a bolt-nut connecting piece (82) being movably connected to the hole wall of the connecting through hole, a deflection rod (83) being movably sleeved on the outer wall of the bolt-nut connecting piece (82), an adjustment through hole (84) being provided on the rod wall of the deflection rod (83) for moving the bolt-nut connecting piece (82), a multi-porous connecting block (85) being fixedly connected to the side end of the deflection rod (83), and a wiring harness protective tube (86) being fixedly connected to the rod wall of the support rod (81).

5. A robot pipeline sliding device according to claim 1, characterized in that: The sliding resistance detection mechanism (9) comprises a U-shaped conductive rod (91) movably connected to the inner wall of a square through hole at the bottom end of a conductive rod (15); two insulating springs (92) are movably sleeved on the rod wall of the U-shaped conductive rod (91); two ends of the insulating spring (92) are respectively fixedly connected to the conductive rod (15) and the rod wall of the U-shaped conductive rod (91); the bottom end of the U-shaped conductive rod (91) is fixedly connected to a U-shaped conductive block (93) matched with a conductive core strip (11); the U-shaped conductive block (93) is fixedly connected to the conductive core strip (11); The inner wall of the U-shaped conductive block (93) is in active contact with the outer wall of the conductive core strip (11), the bottom end of the conductive rod (15) is fixedly connected to a first insulating block (94), the bottom end of the first insulating block (94) is fixedly embedded with two symmetrically distributed current-carrying strips (95), the upper surface of the U-shaped conductive block (93) is fixedly connected to a second insulating block (96), the upper surface of the second insulating block (96) is fixedly connected to a first metal rod (97) and a second metal rod (98), the bottom end of the first metal rod (97) is penetrated by The U-shaped conductive block (93) passes through the lower surface of the second insulating block (96); the top end of the U-shaped conductive block (93) is provided with a placement hole for insulating the bottom end of the first metal rod (97); the bottom end of the first metal rod (97) is provided with a movable cavity (99); and the inner wall of the movable cavity (99) is movably connected to an L-shaped metal rod (910); the bottom end of the L-shaped metal rod (910) passes through the lower surface of the first metal rod (97); the bottom end of the first metal rod (97) is provided with a contact for connecting with the L-shaped metal rod (910). A movable through hole is provided on the outer wall of the first metal rod (97) to match the lifting and lowering of the horizontal part of the L-shaped metal rod (910); a support bar (911) is fixedly connected to the upper surface of the second insulating block (96); two energized metal rods (912) are fixedly embedded on the outer wall of the support bar (911); the side walls of the support bar (911), the side walls of the horizontal part of the L-shaped metal rod (910) and the side walls of the two energized metal rods (912) are on the same vertical plane.

6. A robot pipeline sliding device according to claim 5, characterized in that: The top ends of the first metal rod (97) and the second metal rod (98) are both provided with a first conductive ball (5), and the bottom end of the L-shaped metal rod (910) is provided with a second conductive ball (18).

7. A robot pipeline sliding device according to claim 1, characterized in that: The lower surface of the insulating movable seat (13) is fixedly connected to a plurality of extension blocks (19), the bottom end of the extension block (19) is fixedly connected to a movable sleeve (20), the inner wall of the movable sleeve (20) is movably connected to a guide rod (21), and the side end of the guide rod (21) is fixedly connected to the inner wall of the sliding base (1).

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