Anti-winding device for inner pipeline of welding robot arm

Abstract

The present application relates to the technical field of robot arm pipeline, and discloses a welding robot arm inner pipeline anti-winding device, which comprises a fixed base, a driving seat is rotationally connected to the top of the fixed base, and a first execution arm is rotationally connected to the outer wall of the driving seat.The welding robot arm inner pipeline anti-winding device is equipped with independent angle detection components at the hinge joints of each mechanical arm, which can collect the relative swing angle of adjacent arm bodies in real time, and the controller can match the cable winding and unwinding stroke of the servo pipeline winding component according to the joint posture, form a tension closed-loop regulation and control by matching the tension detection carrier roller, sense the cable tension in real time and dynamically correct the winding speed, and maintain the pipeline in a safe tension range; meanwhile, shear thickening fluid type buffer guide components are arranged on each execution arm, which can rely on shear thickening fluid to instantaneously thicken and lock the pipeline during the instant start, instant stop and high-speed reversing of the robot, inhibit the inertial lateral swinging of the pipeline, and avoid the cross winding of multiple pipelines.

Description

Technical Field

[0001] This invention relates to the field of robot arm pipeline technology, specifically to an anti-entanglement device for pipelines inside the arm of a welding robot. Background Technology

[0002] Welding robots, as core equipment in modern industrial automated production lines, are widely used in automobile manufacturing, shipbuilding, aerospace, and heavy machinery. During operation, to meet the tracking requirements of complex weld seams, the outer wall of the robotic arm needs to be covered with numerous pipelines. These pipelines extend from the robot base along each section of the robotic arm to the end effector, providing energy, signal, and media transmission channels for the welding operation.

[0003] Traditional robotic cable management systems typically use black corrugated tubing to protect internal cables, and rigid or elastic clamps to fix the tubing at intervals along a pre-defined path on the outer wall of the robotic arm. Existing clamps provide static constraint on the cables; the constraint force remains fixed after installation and cannot adaptively adjust to the robotic arm's movement. When the robotic arm performs sudden stops, starts, or high-speed reversals, the lateral impact force generated by the inertia of the cables is enormous, often exceeding the clamp's constraint force. This can lead to violent slapping and loosening of the cables within the clamps. Furthermore, in existing solutions, the cable length is fixed during installation, with both ends connected to the base-side equipment and the end effector, respectively. When the robotic arm swings from a retracted to an extended position, the cable path lengthens, stretching the fixed-length cable and generating significant axial tensile force at the joints. Over time, this can easily lead to joint loosening or breakage of the internal conductors. When the robotic arm moves back to a retracted position, excess cable has nowhere to go, resulting in loose accumulation inside the robotic arm and increasing the risk of entanglement. Summary of the Invention

[0004] This invention provides an anti-entanglement device for the inner tubing of a welding robot arm, which solves the problems mentioned in the background art.

[0005] The present invention provides the following technical solution: a pipeline anti-entanglement device for the inner arm of a welding robot, comprising a fixed base, a drive seat rotatably connected to the top of the fixed base, a first actuator arm rotatably connected to the outer wall of the drive seat, a second actuator arm movably hinged to the end of the first actuator arm away from the drive seat, an end actuator arm rotatably connected to the end of the second actuator arm away from the first actuator arm, an angle detection component coaxially provided at the hinge of the drive seat and the first actuator arm, a buffer guide component provided on the outer wall of the end of the first actuator arm away from the drive seat, and a pipeline winding and releasing component provided on the outer wall of the fixed base.

[0006] As a preferred embodiment of the present invention: the angle detection assembly includes a magnetic field indexing reference disk, a sensor mounting bracket, and a magnetic sensing sensor. The magnetic sensing sensor is fixedly mounted on the sensor mounting bracket. The magnetic field indexing reference disk is coaxially fixed to the end face of the drive seat near the first actuator arm. The center of the magnetic field indexing reference disk coincides with the rotation axis of the drive seat. Multiple magnetic field generating units are spaced apart along the circumferential direction on the magnetic field indexing reference disk. The sensor mounting bracket is fixed to one end of the first actuator arm near the hinge axis between the drive seat and the first actuator arm. The detection end of the magnetic sensing sensor faces the magnetic field indexing reference disk and maintains a preset detection gap with the disk surface of the magnetic field indexing reference disk.

[0007] As a preferred embodiment of the present invention: the buffer guide assembly includes a guide support plate, an outer support ring, and an inner support ring. The outer wall of the inner support ring has an installation cavity. A bag is installed in the inner cavity of the installation cavity. The inner support ring is coaxially and movably sleeved in the inner cavity of the outer support ring. The bag is installed between the outer support ring and the inner support ring. The bag is a sealed structure, and its inner cavity is filled with a shear-thickening fluid. The shear-thickening fluid is made by suspending and dispersing nanoscale rigid particles in a Newtonian fluid carrier. The viscosity of the shear-thickening fluid increases with the increase of the shear rate.

[0008] As a preferred technical solution of the present invention: the pipeline winding and releasing assembly includes a servo pipeline winding component and a linkage air-cooling heat dissipation component, wherein the linkage air-cooling heat dissipation component is installed at the end of the servo pipeline winding component away from the fixed base; The servo cable winding component includes a winding housing, an outlet pipe and a conveying hose fixedly mounted on the outer wall of the winding housing, a winding servo motor fixedly mounted at the end of the outlet pipe, a tension detection roller fixedly mounted on the inner wall of the winding housing, a cable winding roller rotatably connected to the inner cavity of the winding housing, an air outlet hole opened on the outer wall of the cable winding roller, a transmission connecting cylinder fixedly mounted at the end of the cable winding roller away from the winding servo motor, and a primary active speed-increasing wheel fixedly mounted on the outer wall of the transmission connecting cylinder.

[0009] As a preferred embodiment of the present invention: the linked air-cooling heat dissipation component includes a heat dissipation shell, a fixed mounting bracket is fixedly mounted on the outer wall of the heat dissipation shell, a fixed plate is fixedly mounted on the inner cavity of the heat dissipation shell, a fan spindle is rotatably connected to the inner cavity of the fixed plate, a centrifugal cooling fan blade is fixedly mounted on the outer wall of the fan spindle, a secondary driven transmission wheel is fixedly mounted on the end of the fan spindle away from the centrifugal cooling fan blade, a first transmission belt is rotatably connected to the outer wall of the secondary driven transmission wheel, a support base is fixedly mounted on the outer wall of the fixed mounting bracket, an intermediate transmission shaft is rotatably connected to the inner cavity of the support base, an intermediate driven wheel is fixedly mounted on the end of the intermediate transmission shaft near the first transmission belt, an intermediate driving wheel is fixedly mounted on the end of the intermediate transmission shaft away from the intermediate driven wheel, a second transmission belt is tensioned and sleeved on the outer wall of the intermediate driving wheel, and a connecting pipe is fixedly mounted on the side of the heat dissipation shell near the winding shell.

[0010] As a preferred embodiment of the present invention: the power output shaft of the winding servo motor passes through the winding housing and is connected to the end of the pipeline winding roller. The outer wall of the pipeline winding roller is wound with a cable, and the cable is attached to the bottom of the tension detection roller.

[0011] As a preferred technical solution of the present invention: the end of the pipeline winding roller passes through the winding shell and is connected to the transmission connecting cylinder; the end of the connecting pipe away from the heat dissipation shell is rotatably connected to the end of the transmission connecting cylinder; and the second transmission belt is tensioned and sleeved between the intermediate drive wheel and the first-stage drive speed-increasing wheel.

[0012] As a preferred embodiment of the present invention: the first transmission belt is tensioned and sleeved between the secondary driven transmission wheel and the intermediate driven wheel, and the outer diameter of the primary active speed-increasing wheel is larger than the outer diameter of the intermediate active wheel.

[0013] As a preferred technical solution of the present invention: the inner cavity of the transmission connecting cylinder is connected to the inner cavity of the pipeline winding roller, the bottom of the winding housing is provided with heat dissipation holes, and the conveying hose passes through and is movably sleeved in the inner cavity of the internal support ring.

[0014] As a preferred technical solution of the present invention: the top of the drive seat, the first execution arm and the second execution arm are all provided with buffer guide components, and the hinge joints between the drive seat and the first execution arm, the first execution arm and the second execution arm, and the second execution arm and the end execution arm are all provided with angle detection components.

[0015] The present invention has the following beneficial effects: 1. The anti-entanglement device for pipelines inside the welding robot's arm uses independent angle detection components at the hinge points of each robotic arm to collect the relative swing angles of adjacent arms in real time. The controller accurately matches the cable winding and unwinding stroke of the servo pipeline winding component based on the joint posture. Combined with tension detection rollers, a tension closed-loop control is formed to sense the cable tension in real time and dynamically correct the winding speed, always keeping the pipeline within a safe tension range. At the same time, shear-thickening fluid buffer guide components are deployed in each section of the actuator arm. During the robot's rapid start, rapid stop, and high-speed reversal, the shear-thickening fluid instantly thickens and locks the pipeline, suppressing the pipeline's inertial lateral swing and preventing multiple bundles of pipelines from crossing and entangled.

[0016] 2. The anti-winding device for pipelines inside the welding robot's upper arm is equipped with a wind-cooled heat dissipation component that is mechanically linked to the pipeline winding roller. The winding servo motor drives the winding roller, which in turn drives the centrifugal cooling fan. A speed-increasing transmission structure is formed by a primary active speed-increasing wheel and an intermediate transmission wheel, ensuring sufficient cooling airflow even when the cable is wound at low speed. The cooling airflow is introduced into the pipeline winding roller through the transmission connecting cylinder and blown out through the air outlet, directly dissipating internal convection heat from the wound and stacked cables. This, combined with the heat dissipation holes at the bottom of the winding housing, forms a complete air duct, quickly dissipating the heat generated by the cable being energized and densely wound, preventing high temperatures from accelerating the aging and embrittlement of the pipeline sheath. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the fixed reference structure of the present invention; Figure 3 This is a schematic diagram of the drive seat structure of the present invention; Figure 4 This is a schematic diagram of the first actuator arm structure of the present invention; Figure 5 This is a schematic diagram of the second actuator structure of the present invention; Figure 6 This is a schematic diagram of the servo pipeline winding component structure of the present invention; Figure 7 This is a schematic diagram of the buffer guiding component structure of the present invention; Figure 8 This is a schematic diagram of the winding shell structure of the present invention; Figure 9 This is a schematic diagram of the delivery hose structure of the present invention; Figure 10 This is a schematic diagram of the heat dissipation housing structure of the present invention; Figure 11 This is a schematic diagram of the pipeline winding roller structure of the present invention; Figure 12 This is a schematic diagram of the second transmission belt structure of the present invention.

[0018] In the diagram: 1. Fixed base; 2. Drive base; 3. First actuator arm; 4. Second actuator arm; 5. End effector arm; 6. Angle detection assembly; 7. Buffer guide assembly; 8. Pipeline winding and releasing assembly; 611. Magnetic field indexing reference plate; 612. Sensor mounting bracket; 613. Magnetic sensitivity detection sensor; 711. Guide support plate; 712. Outer support ring; 713. Inner support ring; 714. Installation cavity; 715. Bag; 81. Servo pipeline winding component; 811. Rewind housing; 812. Outlet tube; 813. Conveyor hose; 814. Rewind servo motor; 815. Tension detection idler; 816. Cable winding roller; 817. Air outlet; 818. Transmission connecting cylinder; 819. First-stage active speed increaser; 82. Linked air-cooled heat dissipation components; 821. Heat sink housing; 822. Mounting bracket; 823. Mounting plate; 824. Fan spindle; 825. Centrifugal cooling fan blades; 826. Secondary driven drive pulley; 827. First drive belt; 828. Support base; 829. Intermediate drive shaft; 8210. Intermediate driven pulley; 8211. Intermediate drive pulley; 8212. Second drive belt; 8213. Connecting pipe. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1-12 The anti-entanglement device for the inner pipeline of the welding robot arm includes a fixed base 1, a drive seat 2 rotatably connected to the top of the fixed base 1, a first execution arm 3 rotatably connected to the outer wall of the drive seat 2, a second execution arm 4 movably hinged to the end of the first execution arm 3 away from the drive seat 2, an end execution arm 5 rotatably connected to the end of the second execution arm 4 away from the first execution arm 3, an angle detection component 6 coaxially provided at the hinge of the drive seat 2 and the first execution arm 3, a buffer guide component 7 provided on the outer wall of the end of the first execution arm 3 away from the drive seat 2, and a pipeline winding and releasing component 8 provided on the outer wall of the fixed base 1.

[0021] In a preferred embodiment: the angle detection component 6 includes a magnetic field indexing reference disk 611, a sensor mounting bracket 612, and a magnetic sensor 613. The magnetic sensor 613 is fixedly mounted on the sensor mounting bracket 612. The magnetic field indexing reference disk 611 is coaxially fixed to the end face of the drive seat 2 near the first actuator arm 3. The center of the magnetic field indexing reference disk 611 coincides with the rotation axis of the drive seat 2. Multiple magnetic field generating units are spaced apart along the circumferential direction on the magnetic field indexing reference disk 611. The sensor mounting bracket 612 is fixed to one end of the first actuator arm 3 near the hinge axis between the drive seat 2 and the first actuator arm 3. The detection end of the magnetic sensor 613 faces the magnetic field indexing reference disk 611 and maintains a preset detection gap with the disk surface of the magnetic field indexing reference disk 611.

[0022] In the above structure, when the first actuator arm 3 swings relative to the drive seat 2, the sensor mounting bracket 612 fixed on the first actuator arm 3 rotates synchronously with the first actuator arm 3, and the magnetic sensing sensor 613 inside the sensor mounting bracket 612 also rotates together. During the rotation, the magnetic sensing sensor 613 passes sequentially through the N-pole permanent magnet and the S-pole permanent magnet in the magnetic field generating unit on the magnetic field indexing reference disk 611, and outputs a sine wave signal and a cosine wave signal with a phase difference of 90°. The main controller of the device receives the sine wave signal and the cosine wave signal, obtains the number of magnetic pole pairs passed through by zero-crossing detection and counting, and calculates the integer angle value. At the same time, according to the instantaneous amplitude of the sine wave signal and the cosine wave signal at the current moment, it performs interpolation subdivision through arctangent operation to obtain the fractional angle value. The integer angle value and the fractional angle value are combined to obtain the real-time swing angle of the first actuator arm 3 relative to the drive seat 2, and continuously outputs it at a sampling frequency of 1kHz-10kHz.

[0023] In a preferred embodiment, the buffer guide assembly 7 includes a guide support plate 711, an outer support ring 712, and an inner support ring 713. The outer wall of the inner support ring 713 has an installation cavity 714. A bag 715 is installed in the inner cavity of the installation cavity 714. The inner support ring 713 is coaxially and movably sleeved in the inner cavity of the outer support ring 712. The bag 715 is installed between the outer support ring 712 and the inner support ring 713. The bag 715 is a sealed structure, and its inner cavity is filled with a shear thickening fluid. The shear thickening fluid is made by suspending and dispersing nanoscale rigid particles in a Newtonian fluid carrier. The viscosity of the shear thickening fluid increases with the increase of the shear rate.

[0024] In the above structure, by passing the robot's cable through the inner cavity of the inner support ring 713, when the robot performs violent movements such as sudden stop, sudden start, or high-speed reversal, the cable generates a large impact lateral force due to inertia. This force is transmitted to the inner support ring 713, attempting to drive it to move rapidly radially. At this time, the radial movement speed of the inner support ring 713 relative to the outer support ring 712 increases sharply, and the shear rate of the shear-thickening fluid in the pouch 715 instantly exceeds the critical value. The hydrodynamic interaction between the nano-silica particles in the fluid causes the particles to instantly form particle clusters, which macroscopically manifests as a sharp increase in fluid viscosity by several orders of magnitude, or even an instantaneous solid-like state. In this state, the pouch 715 provides a large damping force on the radial movement of the inner support ring 713, locking the lateral movement of the inner support ring 713 and effectively suppressing the impact swing of the cable.

[0025] In a preferred embodiment: the pipeline winding and releasing assembly 8 includes a servo pipeline winding component 81 and a linkage air-cooling heat dissipation component 82, the linkage air-cooling heat dissipation component 82 being installed at the end of the servo pipeline winding component 81 away from the fixed base 1. The servo cable winding component 81 includes a winding housing 811. An outlet pipe 812 and a conveying hose 813 are fixedly mounted on the outer wall of the winding housing 811. A winding servo motor 814 is fixedly mounted at the end of the outlet pipe 812. A tension detection roller 815 is fixedly mounted on the inner wall of the winding housing 811. A cable winding roller 816 is rotatably connected to the inner cavity of the winding housing 811. An air outlet 817 is opened on the outer wall of the cable winding roller 816. A transmission connecting cylinder 818 is fixedly mounted on the end of the cable winding roller 816 away from the winding servo motor 814. A primary active speed-increasing wheel 819 is fixedly mounted on the outer wall of the transmission connecting cylinder 818.

[0026] In the above structure, the cable is laid upward along the outer walls of the first actuator arm 3, the second actuator arm 4, and the end actuator arm 5 after passing through the winding housing 811 and rotating in the inner cavity of the winding housing 811. The reserved cable is wound around the cable winding roller 816. As the first actuator arm 3, the second actuator arm 4, and the end actuator arm 5 swing, the winding servo motor 814 drives the rotation of the cable winding roller 816, thereby releasing the cable on the cable winding roller 816. When the first actuator arm 3, the second actuator arm 4, and the end actuator arm 5 swing, the cable is released according to the real-time swing angle of the first actuator arm 3 relative to the drive seat 2, the second actuator arm 4 relative to the first actuator arm 3, and the end actuator arm 5 relative to the corresponding second actuator arm 4. This avoids the cable being unable to be released when the first actuator arm 3 and the second actuator arm 4 swing, which would cause the cable to be subjected to a large traction force in a local area.

[0027] In a preferred embodiment: the linked air-cooled heat dissipation component 82 includes a heat dissipation housing 821, a fixed mounting bracket 822 fixedly mounted on the outer wall of the heat dissipation housing 821, a fixed plate 823 fixedly mounted on the inner cavity of the heat dissipation housing 821, a fan spindle 824 rotatably connected to the inner cavity of the fixed plate 823, a centrifugal cooling fan blade 825 fixedly mounted on the outer wall of the fan spindle 824, and a secondary driven transmission wheel 826 fixedly mounted on the end of the fan spindle 824 away from the centrifugal cooling fan blade 825, the outer wall of the secondary driven transmission wheel 826 being rolledly connected to a first transmission... The outer wall of the drive belt 827 and the fixed mounting bracket 822 is fixedly fitted with a support base 828. The inner cavity of the support base 828 is rotatably connected to an intermediate drive shaft 829. An intermediate driven pulley 8210 is fixedly fitted at one end of the intermediate drive shaft 829 near the first drive belt 827, and an intermediate driving pulley 8211 is fixedly fitted at the other end of the intermediate drive shaft 829 away from the intermediate driven pulley 8210. A second drive belt 8212 is tensioned and sleeved on the outer wall of the intermediate driving pulley 8211. A connecting pipe 8213 is fixedly fitted on the side of the heat dissipation housing 821 near the winding housing 811.

[0028] In the above structure, the fan spindle 824 and centrifugal cooling fan blades 825, which are rotatably connected within the inner cavity of the heat sink housing 821, drive the cable winding servo motor 814 to release the cable when the drive base 2 and the first actuator arm 3 swing. During this process, the cable winding roller 816 drives the transmission connecting cylinder 818 and the first-stage active speed-increasing wheel 819 to rotate, and this rotation is achieved through the second transmission belt 8212, the intermediate transmission shaft 829, and the second-stage driven transmission wheel. The power transmission of 826 causes the fan main shaft 824 to rotate along with the rotation of the cable winding roller 816. When the fan main shaft 824 rotates, it can actively force the external air to be guided to the connecting pipe 8213 and released into the inner cavity of the transmission connecting cylinder 818 through the connecting pipe 8213. The air is then introduced into the inner cavity of the cable winding roller 816 through the transmission connecting cylinder 818 and released through the air outlet 817 to cool the cable wound in the inner cavity of the winding housing 811.

[0029] In a preferred embodiment: the power output shaft of the winding servo motor 814 passes through the winding housing 811 and is connected to the end of the pipeline winding roller 816. The outer wall of the pipeline winding roller 816 is wound with a cable, which is attached to the bottom of the tension detection roller 815.

[0030] In the above structure, excess cable is wound around the cable winding roller 816, and the swing angle of the adjacent robotic arm is measured in real time using the angle detection component 6 preset at the hinge. The zero point of the robotic arm swing angle is preset. When the robotic arm swings, the winding servo motor 814 drives the cable winding roller 816 to rotate, dynamically releasing or winding the cable. Through the tension detection roller 815, the cable can overlap the tension detection roller 815 when it extends upward through the conveying hose 813. The tension of the cable on the tension detection roller 815 is monitored in real time to determine whether the cable is under tension.

[0031] In a preferred embodiment: the end of the pipeline winding roller 816 passes through the winding housing 811 and is connected to the transmission connecting cylinder 818; the end of the connecting pipe 8213 away from the heat dissipation housing 821 is rotatably connected to the end of the transmission connecting cylinder 818; and the second transmission belt 8212 is tensioned and sleeved between the intermediate drive wheel 8211 and the first-stage drive speed-increasing wheel 819.

[0032] In the above structure, by setting a primary active speed-increasing wheel 819 and a transmission connecting cylinder 818 at the end of the pipeline winding roller 816, when the pipeline winding roller 816 rotates to release the cable, it can synchronously drive the primary active speed-increasing wheel 819 and the transmission connecting cylinder 818 to rotate, thereby driving the primary active speed-increasing wheel 819. The power is transmitted through the second transmission belt 8212, thereby synchronously driving the rotation of the intermediate active wheel 8211, the intermediate transmission shaft 829 and the intermediate driven wheel 8210. The power is transmitted to the fan main shaft 824 through the first transmission belt 827, thereby driving the centrifugal cooling fan blades 825. The centrifugal cooling fan blades 825 can rotate in the inner cavity of the heat dissipation housing 821 to transmit cooling air. The cooling air can be guided and released through the connecting pipe 8213 into the inner cavity of the transmission connecting cylinder 818 and transmitted to the pipeline winding roller 816.

[0033] In a preferred embodiment: the first transmission belt 827 is tensioned between the secondary driven transmission wheel 826 and the intermediate driven wheel 8210, and the outer diameter of the primary active speed-increasing wheel 819 is larger than the outer diameter of the intermediate active wheel 8211.

[0034] In the above structure, the intermediate drive shaft 829 is rotatably connected to the inner wall of the support base 828 to support and erect the intermediate drive shaft 829. A first transmission belt 827 is set between the secondary driven drive wheel 826 and the intermediate driven wheel 8210 to transmit power to the intermediate drive shaft 829, thereby driving the secondary driven drive wheel 826, the fan main shaft 824, and the centrifugal cooling fan blades 825. This causes the centrifugal cooling fan blades 825 to rotate in the inner cavity of the heat dissipation housing 821, releasing external air into the connecting pipe 8213 and the transmission connecting cylinder 818, and then guiding it to the inner cavity of the pipeline winding roller 816, thereby achieving the cooling treatment of the heat accumulated in the winding housing 811 of the wound cable.

[0035] In a preferred embodiment: the inner cavity of the transmission connecting cylinder 818 communicates with the inner cavity of the pipeline winding roller 816, the bottom of the winding housing 811 is provided with heat dissipation holes, and the conveying hose 813 passes through and is movably sleeved in the inner cavity of the internal support ring 713.

[0036] In the above structure, through the heat dissipation holes opened at the bottom of the winding housing 811, after the centrifugal cooling fan 825 actively releases external air into the inner cavity of the connecting pipe 8213 and the transmission connecting cylinder 818, it will enter the inner cavity of the pipeline winding roller 816 and be released outward through the air outlet 817, thereby driving the air circulation in the inner cavity of the winding housing 811, so that the air in the inner cavity of the winding housing 811 can be released outward through the heat dissipation holes at the bottom, thereby preventing the heat generated by the cable winding in the inner cavity of the winding housing 811 from not being able to be discharged outward, and the conveying hose 813 passes through the inner cavity of the internal support ring 713 to suppress the vibration of the conveying hose 813 caused by the movement of the robotic arm.

[0037] In a preferred embodiment: the top of the drive base 2, the first actuator arm 3, and the second actuator arm 4 are all provided with a buffer guide assembly 7, and the hinge joints between the drive base 2 and the first actuator arm 3, the first actuator arm 3 and the second actuator arm 4, and the second actuator arm 4 and the end actuator arm 5 are all provided with an angle detection assembly 6.

[0038] In the above structure, the angle detection component 6 set at the hinge of each robotic arm measures the swing angle between two adjacent robotic arms by measuring the relative swing of the magnetic sensor 613 and the magnetic field indexing reference disk 611. The measurement is then used to start the winding servo motor 814 to drive the cable winding roller 816, thereby winding and releasing the cable and preventing the cable from being pulled by the swing of the robotic arm due to its fixed length.

[0039] Working principle: During operation, the welding robot performs multi-degree-of-freedom linkage swing between the drive base 2, the first execution arm 3, the second execution arm 4, and the end execution arm 5. Angle detection components 6 are provided at the hinge of each adjacent robotic arm. The magnetic field indexing reference disk 611 is coaxially fixed to the end face of the preceding robotic arm as a reference reference. The sensor mounting bracket 612 and its internal magnetic sensing sensor 613 are fixed on the following robotic arm and rotate synchronously with it. When two adjacent robotic arms swing relative to each other, the magnetic sensing sensor 613 rotates synchronously around the joint axis with the sensor mounting bracket 612, passing sequentially through the magnetic field generating unit on the magnetic field indexing reference disk 611, where the N and S poles are arranged alternately, and outputs a sine wave signal and a cosine wave signal with a phase difference of 90°. The main controller of the welding robot receives the above signals, uses zero-crossing detection and counting to obtain the number of magnetic pole pairs passed, and calculates the integer angle value. At the same time, based on the instantaneous amplitude of the sine wave signal and the cosine wave signal at the current moment, it performs interpolation subdivision through arctangent operation to obtain the decimal angle value. The integer angle value and the decimal angle value are combined to obtain the real-time swing angle between adjacent robotic arms, and continuously output at a sampling frequency of 1kHz-10kHz. The zero point of the robotic arm swing angle is preset, and the magnitude and direction of the swing angle can be accurately obtained when each robotic arm swings at positive and negative angles. The delivery hose 813 passes through the inner cavity of the inner support ring 713 and is laid along the outer wall of each robotic arm. When the robot is running normally, the delivery hose 813 slides smoothly axially and moves slowly radially within the inner support ring 713 as the robotic arm swings. At this time, the shear thickening fluid in the bladder 715 of the buffer guide assembly 7 is in a low viscosity state, providing a small damping force to the movement of the inner support ring 713, without affecting the normal movement of the cable. When the robot performs sudden stops, starts, or high-speed reversals, the delivery hose 813 generates a large impact lateral force due to inertia. This force is transmitted to the internal support ring 713, attempting to drive it to move radially rapidly. At this moment, the radial movement speed of the internal support ring 713 relative to the external support ring 712 increases dramatically. The shear rate experienced by the shear-thickening fluid inside the bladder 715 instantaneously exceeds a critical value. The hydrodynamic interaction between the nanoscale rigid particles in the fluid causes the particles to instantly form particle clusters. Macroscopically, this manifests as a sharp increase in fluid viscosity by several orders of magnitude, or even instantaneously. The fluid exhibits a near-solid state. In this state, the bladder 715 provides significant damping force to the radial movement of the internal support ring 713, locking the lateral movement of the internal support ring 713 and effectively suppressing the impact-induced swinging of the cable, preventing the cable from detaching from the designed path or colliding and entangled with adjacent pipelines. When the impact force disappears, the shear rate decreases below the critical value, the nanoparticle cluster disintegrates, the fluid automatically returns to a low-viscosity liquid state, and the internal support ring 713 regains its freedom of movement. The above process is completely reversible, with a response time in the millisecond range, requiring no external energy or control signal. A cable winding and release assembly 8 is provided on the outer wall of the fixed base 1. After the cable passes through the inner cavity of the winding housing 811, it is laid upward along the outer walls of the first actuator arm 3, the second actuator arm 4 and the end actuator arm 5. The reserved cable is wound on the cable winding roller 816. Angle detection components 6 at each hinge point detect the swing angle between adjacent robotic arms in real time and transmit the angle data to the main controller. The main controller calculates the change in pipeline path length under the current posture based on the real-time swing angle of each joint and the preset swing angle-cable release amount mapping relationship, and generates control commands for the winding servo motor 814 accordingly. The power output shaft of the winding servo motor 814 drives the pipeline winding roller 816 to rotate, releasing or retracting the cable wound on the pipeline winding roller 816. This allows each robotic arm to accurately release the cable according to the real-time swing angle when swinging, avoiding large traction force on the cable in a local area when the cable length is fixed. As the cable extends upward through the conveying hose 813, it overlaps the tension detection roller 815. The tension detection roller 815 monitors the pressure of the cable on it in real time to determine whether the cable is under tension. When an abnormal increase in tension is detected, the main controller can adjust the release speed or release amount of the winding servo motor 814 to form a tension feedback closed loop, ensuring that the cable is always within the safe tension range. During the process of the cable being released or retrieved by the cable being driven to rotate by the winding servo motor 814 and the cable winding roller 816, the cable winding roller 816 synchronously drives the transmission connecting cylinder 818 and the first-stage active speed-increasing pulley 819 to rotate. The first-stage active speed-increasing pulley 819 transmits power to the intermediate active pulley 8211 through the second transmission belt 8212. The intermediate active pulley 8211 drives the intermediate transmission shaft 829 and the intermediate driven pulley 8210 to rotate. The intermediate driven pulley 8210 transmits power to the second-stage driven transmission pulley 826 through the first transmission belt 827. The second-stage driven transmission pulley 826 drives the fan main shaft 824 and the centrifugal cooling fan blades 825 to rotate within the cavity of the heat sink housing 821. When the centrifugal cooling fan 825 rotates, it actively forces external air into the cooling housing 821, and guides the air to the inner cavity of the transmission connecting cylinder 818 through the connecting pipe 8213. Then, the air is introduced into the inner cavity of the pipeline winding roller 816 through the transmission connecting cylinder 818, and finally released to the outside through the air outlet 817 on the outer wall of the pipeline winding roller 816. The released cooling airflow directly acts on the surface of the cable wound on the pipeline winding roller 816, and forces convection cooling on the heat accumulated by the cable under the dense winding state. At the same time, the heat dissipation holes opened at the bottom of the winding housing 811 promote the air circulation inside the housing, so that the heat can be dissipated to the outside, and avoid the cable from overheating and aging due to long-term dense winding in the inner cavity of the winding housing 811. Furthermore, the outer diameter of the primary active speed-increasing wheel 819 is larger than the outer diameter of the intermediate active wheel 8211, forming a speed-increasing transmission ratio. This ensures that the rotational speed of the centrifugal cooling fan 825 is higher than that of the pipeline winding roller 816, thus ensuring that even when the pipeline winding roller 816 is running at low speed, the fan can still provide sufficient airflow for cooling.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended technical solutions and their equivalents.

Claims

1. A device for preventing the entanglement of pipelines inside the arm of a welding robot, comprising a fixed base (1), a drive seat (2) rotatably connected to the top of the fixed base (1), a first actuator arm (3) rotatably connected to the outer wall of the drive seat (2), a second actuator arm (4) movably hinged to the end of the first actuator arm (3) away from the drive seat (2), and an end actuator arm (5) rotatably connected to the end of the second actuator arm (4) away from the first actuator arm (3), characterized in that: An angle detection component (6) is coaxially provided at the hinge of the drive seat (2) and the first execution arm (3). A buffer guide component (7) is provided on the outer side wall of the first execution arm (3) away from the drive seat (2). A pipeline winding and releasing component (8) is provided on the outer wall of the fixed base (1). The pipeline winding and releasing assembly (8) includes a servo pipeline winding component (81), which includes a winding housing (811). The outer wall of the winding housing (811) is fixedly fitted with an outlet pipe (812) and a conveying hose (813). The end of the outlet pipe (812) is fixedly fitted with a winding servo motor (814). The inner wall of the winding housing (811) is fixedly fitted with a tension detection roller (815). The inner cavity of the winding housing (811) is rotatably connected to a pipeline winding roller (816). The power output shaft of the winding servo motor (814) passes through the winding housing (811) and is connected to the end of the pipeline winding roller (816). The outer wall of the pipeline winding roller (816) is wound with a cable, which overlaps the bottom of the tension detection roller (815). The buffer guide assembly (7) includes an outer support ring (712) and an inner support ring (713). The inner support ring (713) is coaxially and movably sleeved in the inner cavity of the outer support ring (712). A bladder (715) filled with shear thickening fluid is provided between the inner support ring (713) and the outer support ring (712).

2. The anti-entanglement device for the inner pipeline of the welding robot arm according to claim 1, characterized in that: The angle detection component (6) includes a magnetic field indexing reference disk (611), a sensor mounting bracket (612), and a magnetic sensor (613). The magnetic sensor (613) is fixedly mounted on the sensor mounting bracket (612). The magnetic field indexing reference disk (611) is coaxially fixed on the end face of the drive seat (2) near the first execution arm (3). The center of the magnetic field indexing reference disk (611) coincides with the rotation axis of the drive seat (2). Multiple magnetic field generating units are spaced apart along the circumferential direction on the magnetic field indexing reference disk (611). The sensor mounting bracket (612) is fixed on one end of the first execution arm (3) near the hinge axis between the drive seat (2) and the first execution arm (3). The detection end of the magnetic sensor (613) faces the magnetic field indexing reference disk (611) and maintains a preset detection gap with the disk surface of the magnetic field indexing reference disk (611).

3. The anti-entanglement device for the inner pipeline of the welding robot arm according to claim 1, characterized in that: The buffer guide assembly (7) also includes a guide support plate (711), which is fixed to the execution arm. The outer support ring (712) is fixed to the guide support plate (711). The outer wall of the inner support ring (713) is provided with an installation cavity (714). The shear thickening fluid filled in the bag (715) is made by suspending and dispersing nano-sized rigid particles in a Newtonian fluid carrier. The viscosity of the shear thickening fluid increases with the increase of the shear rate.

4. The anti-entanglement device for the inner pipeline of the welding robot arm according to claim 1, characterized in that: The pipeline winding and releasing assembly (8) also includes a linkage air-cooling heat dissipation component (82), which is installed at the end of the servo pipeline winding assembly (81) away from the fixed base (1). The outer wall of the pipeline winding roller (816) is provided with an air outlet (817). The end of the pipeline winding roller (816) away from the winding servo motor (814) is fixedly equipped with a transmission connecting cylinder (818). The outer wall of the transmission connecting cylinder (818) is fixedly equipped with a first-stage active speed-increasing wheel (819).

5. The anti-entanglement device for the inner pipeline of the welding robot arm according to claim 4, characterized in that: The linked air-cooled heat dissipation component (82) includes a heat dissipation shell (821), a fixed mounting bracket (822) is fixedly mounted on the outer wall of the heat dissipation shell (821), a fixed plate (823) is fixedly mounted on the inner cavity of the heat dissipation shell (821), a fan spindle (824) is rotatably connected to the inner cavity of the fixed plate (823), a centrifugal cooling fan blade (825) is fixedly mounted on the outer wall of the fan spindle (824), a secondary driven transmission wheel (826) is fixedly mounted on the end of the fan spindle (824) away from the centrifugal cooling fan blade (825), and a first transmission belt (827) is tumbledly connected to the outer wall of the secondary driven transmission wheel (826). The outer wall of the fixed mounting bracket (822) is fixedly fitted with a support base (828), and the inner cavity of the support base (828) is rotatably connected to an intermediate drive shaft (829). An intermediate driven wheel (8210) is fixedly fitted at one end of the intermediate drive shaft (829) near the first drive belt (827), and an intermediate driving wheel (8211) is fixedly fitted at the other end of the intermediate drive shaft (829) away from the intermediate driven wheel (8210). A second drive belt (8212) is tensioned and sleeved on the outer wall of the intermediate driving wheel (8211). A connecting pipe (8213) is fixedly fitted on the side of the heat dissipation housing (821) near the winding housing (811).

6. The anti-entanglement device for the inner pipeline of the welding robot arm according to claim 5, characterized in that: The end of the pipeline winding roller (816) passes through the winding housing (811) and is connected to the transmission connecting cylinder (818). The end of the connecting pipe (8213) away from the heat dissipation housing (821) is rotatably connected to the end of the transmission connecting cylinder (818). The second transmission belt (8212) is tensioned and sleeved between the intermediate drive wheel (8211) and the first-stage drive speed-increasing wheel (819).

7. The anti-entanglement device for the inner pipeline of the welding robot arm according to claim 6, characterized in that: The first transmission belt (827) is tensioned and sleeved between the secondary driven transmission wheel (826) and the intermediate driven wheel (8210), and the outer diameter of the first-stage active speed-increasing wheel (819) is larger than the outer diameter of the intermediate active wheel (8211).

8. The anti-entanglement device for the inner pipeline of the welding robot arm according to claim 5, characterized in that: The inner cavity of the transmission connecting cylinder (818) is connected to the inner cavity of the pipeline winding roller (816). The bottom of the winding housing (811) is provided with heat dissipation holes. The conveying hose (813) passes through and is movably sleeved in the inner cavity of the internal support ring (713).

9. The anti-entanglement device for the inner pipeline of the welding robot arm according to claim 1, characterized in that: The top of the drive seat (2), the first actuator arm (3), and the second actuator arm (4) are all provided with a buffer guide assembly (7). Angle detection assembly (6) is provided at the hinge joints of the drive seat (2) and the first actuator arm (3), the first actuator arm (3) and the second actuator arm (4), and the second actuator arm (4) and the end actuator arm (5).

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