A robot for facilitating the disassembly and assembly of external air pipe

Abstract

The utility model discloses a robot that is convenient for disassembling and assembling an external air pipe, comprising a base, a control box and a multi-joint manipulator; the base is placed on an external bearing surface, the control box is arranged on the base, the control box is electrically connected to the multi-joint manipulator and is used to control the multi-joint manipulator to transfer materials, the output end of the multi-joint manipulator has a first material-picking piece for picking up and placing materials, the multi-joint manipulator or / and the control box are provided with a movable buckle, the input end of the first material-picking piece is connected with an air pipe for transmitting power to the first material-picking piece, and the air pipe is detachably connected to the multi-joint manipulator or / and the control box via the movable buckle. By installing the movable buckle on the robot arm, a first receiving groove for accommodating the air pipe is arranged on the movable buckle, and movable clamping parts are installed on both sides of the first receiving groove to close the first receiving groove, so that the air pipe is stably fixed on the robot arm, preventing the air pipe from falling off or bending or falling off during use, thereby improving the stability of the robot.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular discloses a robot which is convenient for disassembling and assembling an external air pipe. Background Art

[0002] At present, robots with multi-joint manipulators are usually used to stack materials. A vacuum suction cup is installed at the output end of the multi-joint manipulator to transfer the materials. However, in actual application, due to the influence of many factors, the negative pressure air pipe that provides negative pressure to the vacuum suction cup often gets entangled or even torn. Therefore, in the prior art, an air pipe bracket is used to fix the air pipe on the robot's mechanical arm. However, this method fixes the negative pressure air pipe to the mechanical arm, which makes it inconvenient to disassemble and assemble the negative pressure air pipe during maintenance and replacement. Utility Model Content

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the utility model is to provide a robot that is convenient for disassembling and assembling an external air tube, thereby solving the technical problem of inconvenient disassembly and assembly of the negative pressure air tube in the prior art.

[0004] To achieve the above-mentioned purpose, the utility model provides a robot that is easy to disassemble and assemble an external air pipe, comprising a base, a control box and a multi-joint manipulator; the base is placed on an external bearing surface, the control box is arranged on the base, the control box is electrically connected to the multi-joint manipulator and is used to control the multi-joint manipulator to move materials, the output end of the multi-joint manipulator has a first material picking piece for picking up and placing materials, the multi-joint manipulator and / or the control box are provided with a movable buckle, the input end of the first material picking piece is connected to an air pipe for transmitting power to the first material picking piece, and the air pipe is detachably connected to the multi-joint manipulator and / or the control box via the movable buckle.

[0005] Furthermore, the multi-joint manipulator includes a manipulator arm assembly, and the movable buckle includes a first connecting piece connected to the manipulator arm assembly, and a buckle arranged on the first connecting piece for limiting the trachea on the manipulator arm assembly.

[0006] Furthermore, the buckle is connected to the first connecting member via a detachable fastener.

[0007] Furthermore, the first connecting member is a T-shaped throat clamp, and the buckle is detachably connected to the T-shaped throat clamp by bolts.

[0008] Furthermore, the buckle has a first accommodating groove for accommodating the trachea, and the buckle is provided with a first clamping part and a second clamping part on both sides close to the first accommodating groove. The first clamping part and the second clamping part are used to close or reduce the first accommodating groove to limit the trachea on the buckle.

[0009] Furthermore, the first clamping part and the second clamping part are made of flexible materials.

[0010] Furthermore, the movable buckle also includes a rotating shaft arranged on the buckle, and the first clamping part and / or the second clamping part are rotatably arranged on the buckle via the rotating shaft.

[0011] Furthermore, a locking strip is provided on the second clamping portion, and the first clamping portion has two elastic arms, which elastically clamp the locking strip. The two clamping portions close the first accommodating groove to limit the trachea on the buckle by means of the snap-fit ​​cooperation between the locking strip and the two elastic arms.

[0012] Furthermore, the first accommodating groove is recessed from the end of the buckle toward the direction close to the robotic arm assembly and / or the control box, and the first accommodating groove forms a first arc-shaped surface with the contact end surface of the trachea, and the arc line of the first arc-shaped surface is a major arc. The clamping portion contacts the end surface of the trachea to form a second arc-shaped surface, and the arc line of the second arc-shaped surface is a minor arc.

[0013] Furthermore, the multi-joint manipulator also includes a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint and a seventh joint used in conjunction with a manipulator arm assembly, and the manipulator arm assembly includes a first manipulator arm and a second manipulator arm; a control system for driving the multi-joint manipulator to reciprocate and transfer materials is provided in an electric control box, the first joint is rotatably arranged on the control box and is electrically connected to the control system, the second joint is rotatably connected to the first joint, the rotation axis of the second joint and the rotation axis of the first joint are arranged perpendicular to each other, the first manipulator arm is connected between the second joint and the third joint, the third joint and the fourth joint are coaxially rotatably connected, the second manipulator arm is connected between the fourth joint and the fifth joint, the fifth joint and the sixth joint are rotatably connected, the seventh joint and the sixth joint are rotatably connected, the rotation axes of the second joint, the third joint, the fourth joint and the sixth joint are arranged parallel to each other, and the rotation axis of the seventh joint and the rotation axis of the seventh joint are arranged perpendicular to each other.

[0014] Furthermore, the first material picking component includes a second connecting component connected to the free end of the seventh joint, a suction plate arranged on the second connecting component, a flexible buffer pad is provided on the suction plate, and a plurality of suction nozzles connected to the suction plate are evenly distributed on the buffer pad; a vacuum generator for providing negative pressure to the suction plate is provided in the control box, the vacuum generator is connected to the suction plate via an air pipe and drives the suction plate and the material to generate negative pressure to absorb the material.

[0015] Furthermore, the first joint, the second joint, the third joint, the fifth joint and the seventh joint all include a main housing, a drive motor arranged in the main housing, a transmission assembly connected to the drive motor, and a reducer connected to the transmission assembly; the transmission assembly includes a pinion and a belt, and a large gear is provided at the input end of the reducer, and the pinion and the large gear are connected via a belt drive, and the drive motor is electrically connected to the control system.

[0016] The beneficial effects of the utility model are as follows: the utility model installs an active buckle on the mechanical arm of the robot, and the active buckle consists of a T-shaped throat clamp detachably connected to the mechanical arm and a buckle installed on the T-shaped throat clamp. The buckle is provided with a first clamping part, a second clamping part arranged opposite to the first clamping part and rotatably arranged on the buckle body, the first clamping part is provided with a locking strip, and the second limiting part is provided with two elastic arms for elastically clamping the locking strip. The second clamping part is rotated to make it close to or away from the first clamping part, and the elastic arm and the locking strip are clamped together to stably fix the trachea on the mechanical arm to prevent the trachea from falling off or bending during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the robot of the present utility model;

[0018] Figure 2 for Figure 1 A schematic diagram of the enlarged structure of part A;

[0019] Figure 3 It is a three-dimensional structural schematic diagram of the movable buckle of the utility model;

[0020] Figure 4 for Figure 3 A schematic diagram of the enlarged structure of part B;

[0021] Figure 5 It is a schematic diagram of the planar structure when the clamping part of the utility model closes the first accommodation groove;

[0022] Figure 6 It is a partial cross-sectional view of the first joint of the utility model;

[0023] Figure 7 It is a structural schematic diagram of the multi-joint manipulator of the utility model.

[0024] Reference numerals include:

[0025] 1. Base; 2. Control box; 3. Multi-joint manipulator; 4. First material picking part; 5. Movable buckle; 51. First connecting part; 52. Buckle; 53. First accommodating groove; 54. First clamping part; 55. Second clamping part; 56. Rotating shaft; 57. Locking strip; 58. Elastic arm; 30. First joint; 31. Second joint; 32. First mechanical arm; 33. Third joint; 34. Fourth joint; 35. Second mechanical arm; 36. Fifth joint; 37. Sixth joint; 38. Seventh joint; 40. Second connecting part; 41. Suction plate; 42. Buffer pad; 43. Suction nozzle; 6. Main shell; 61. Driving motor; 62. Transmission assembly; 63. Reducer; 64. Small gear; 65. Large gear; 7. Extension arm. DETAILED DESCRIPTION

[0026] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0027] See also Figures 1 to 7 As shown, the utility model is a robot which is convenient for disassembly and assembly of external air pipes, comprising a base 1, a control box 2 and a multi-joint manipulator 3; the base 1 is placed on an external bearing surface, the control box 2 is arranged on the base 1, the control box 2 is electrically connected to the multi-joint manipulator 3 and is used to control the multi-joint manipulator 3 to move materials, the output end of the multi-joint manipulator 3 has a first material picking component 4 for picking and placing materials, the multi-joint manipulator 3 and / or the control box 2 are provided with a movable buckle 5, the input end of the first material picking component 4 is connected with an air pipe for transmitting power to the first material picking component 4, and the air pipe is detachably connected to the multi-joint manipulator 3 and / or the control box 2 via the movable buckle 5.

[0028] In this embodiment, the movable buckle 5 is detachably mounted on the multi-joint manipulator 3. The multi-joint manipulator 3 has two mechanical arms, and there are four movable buckles 5. The number of movable buckles 5 corresponds to the number of mechanical arms. Two movable buckles 5 are respectively mounted at both ends of the mechanical arms, so as to realize the fixed installation of the external air pipe, and prevent the air pipe from bending, breaking, etc. during the operation of the robot, thereby affecting the normal operation of the multi-joint manipulator 3. In actual use, the number of movable buckles 5 can be 6, 8, etc., or a suitable movable buckle 5 can be selected according to the number of mechanical arms, the material of the air pipe, etc. The setting of the movable buckle 5 also makes the arrangement of the air pipe more regular and beautiful, and prevents entanglement during use and affects the pick-up and placement action of the first material-picking part 4.

[0029] Specifically, the multi-joint manipulator 3 includes a manipulator assembly, and the movable buckle 5 includes a first connecting member 51 connected to the manipulator assembly, and a buckle 52 provided on the first connecting member 51 for limiting the position of the trachea on the manipulator assembly. In this embodiment, the first connecting member 51 is a T-shaped throat clamp, and the T-shaped throat clamp uses its own structure to fasten the buckle 52 on the manipulator, ensuring that the buckle 52 will not shift even under vibration conditions or in long-term working scenarios. This ensures that the buckle 52 can stably limit the position of the trachea on the manipulator, ensuring the normal operation of the robot system.

[0030] Specifically, the buckle 52 is connected to the first connection member 51 via a detachable fastener. In this embodiment, the first connection member 51 is a T-type throat clamp, and the buckle 52 is detachably connected to the T-type throat clamp via the threaded cooperation of the bolt and nut on the T-type throat clamp; this improves the flexibility of the buckle 52, and the buckles 52 of different sizes can be replaced according to actual conditions, such as the diameter of the trachea.

[0031] Specifically, the buckle 52 has a first receiving groove 53 for accommodating the trachea, and the buckle 52 is provided with a first clamping part 54 and a second clamping part 55 on both sides close to the first receiving groove 53. The first clamping part 54 and the second clamping part 55 are used to close or reduce the first receiving groove 53 to limit the trachea on the buckle 52. The first clamping part 54 and the second clamping part 55 can be elastic rubber parts and are rotatably arranged on the buckle 52 body through a torsion spring. The two clamping parts elastically clamp the trachea with the elastic force of the torsion spring, and the trachea can be limited on the buckle 52 without completely closing the first receiving groove 53. In this embodiment, the use scenario of the robot is taken into consideration, and the trachea is fixed on the buckle 52 by closing the first receiving groove 53 with the first clamping part 54 and the second clamping part 55. Compared with the former, this method is more stable for limiting the trachea.

[0032] Specifically, the movable buckle 5 further includes a rotating shaft 56 disposed on the buckle 52, and the first clamping portion 54 and / or the second clamping portion 55 are rotatably disposed on the buckle 52 via the rotating shaft 56. In this embodiment, the second clamping portion 55 is rotatably disposed on the buckle 52, and the first clamping portion 54 is fixedly disposed on the buckle 52, and the air pipe is fixed to the buckle 52 by the second clamping portion 55 rotating relative to the buckle 52 and approaching the first clamping portion 54 to close the first receiving groove 53. Here, the method of closing the first receiving groove 53 can be a pin-hole fit (similar to the fixing method of a watch wristband) or a Velcro method.

[0033] Specifically, the second clamping portion 55 is provided with a locking strip 57, and the first clamping portion 54 has two elastic arms 58, which elastically clamp the locking strip 57. The two clamping portions close the first accommodating groove 53 by means of the snap-fit ​​cooperation between the locking strip 57 and the two elastic arms 58 to limit the air pipe on the buckle 52.

[0034] Specifically, the first receiving groove 53 is formed by being recessed from the end of the buckle 52 toward the direction close to the mechanical arm assembly or / and the control box 2. The first receiving groove 53 forms a first arc surface with the contact end surface of the trachea, and the arc line of the first arc surface is a major arc. The clamping part contacts the end surface of the trachea to form a second arc surface, and the arc line of the second arc surface is a minor arc. The first arc surface is designed as a major arc so that the trachea can be fixed more stably. The trachea is clamped into the first receiving groove 53 by means of the elastic deformation of the trachea itself. When the two clamping parts are not clamped and fixed, the trachea can be positioned once, and the trachea can be further fixed by the cooperation of the clamping part to prevent the trachea from being detached during use.

[0035] Specifically, the multi-joint manipulator 3 also includes a first joint 30, a second joint 31, a third joint 33, a fourth joint 34, a fifth joint 36, a sixth joint 37 and a seventh joint 38 used in conjunction with the manipulator assembly, and the manipulator assembly includes a first manipulator arm 32 and a second manipulator arm 35; a control system for driving the multi-joint manipulator 3 to reciprocate and transfer materials is provided in the electric control box, the first joint 30 is rotatably arranged on the control box 2 and is electrically connected to the control system, the second joint 31 is rotatably connected to the first joint 30, and the rotation axis of the second joint 31 is connected to the first joint The rotation axes of 30 are arranged perpendicular to each other, the first robot arm 32 is connected between the second joint 31 and the third joint 33, the third joint 33 is rotationally connected to the fourth joint 34 coaxially, the second robot arm 35 is connected between the fourth joint 34 and the fifth joint 36, the fifth joint 36 is rotationally connected to the sixth joint 37, and the seventh joint 38 is rotationally connected to the sixth joint 37, the rotation axes of the second joint 31, the third joint 33, the fourth joint 34 and the sixth joint 37 are arranged parallel to each other, and the rotation axis of the seventh joint 38 is arranged perpendicular to the rotation axis of the seventh joint 38.

[0036] Specifically, the first material picking component 4 includes a second connecting component 40 connected to the free end of the seventh joint 38, a suction plate 41 is arranged on the second connecting component 40, a flexible buffer pad 42 is provided on the suction plate 41, and a plurality of suction nozzles 43 connected to the suction plate 41 are evenly distributed on the buffer pad 42; a vacuum generator for providing negative pressure to the suction plate 41 is arranged in the control box 2, and the vacuum generator is connected to the suction plate 41 via an air pipe and drives the suction plate 41 and the material to generate negative pressure to absorb the material.

[0037] During actual use, the first joint 30 rotates 360 degrees relative to the control box 2 and drives all joints and mechanical arms of the multi-joint manipulator 3 to rotate. The second joint 31 can rotate 360 ​​degrees relative to the first joint 30 and drive the joints and mechanical arms other than the first joint 30 to rotate along an axis perpendicular to the rotation axis of the first joint 30. The third joint 33 is connected to the fourth joint 34 by transmission and drives the fourth joint 34 to drive the second mechanical arm 35, the second joint 31, the sixth joint 37, the seventh joint 38 and the suction plate 41 to rotate along the axis of the third joint 33. The fifth joint 36 is connected to the sixth joint 37 by transmission and drives the sixth joint 37 to drive the seventh joint 38 and the suction plate 41 to rotate around the axis of the fifth joint 36. The seventh joint 38 is connected to the sixth joint 37 by transmission and drives the suction plate 41 and the body of the seventh joint 38 to rotate around the axis of the sixth joint 37. When the multi-joint manipulator 3 picks up and places materials, the master joint, the second joint 31, the third joint 33, the fourth joint 34, the fifth joint 36, the sixth joint 37, the seventh joint 38 and the first material picking component 4 work in coordination under the control of the control system in the control box 2 to complete the actions of picking up and placing materials.

[0038] Specifically, the first joint 30, the second joint 31, the third joint 33, the fifth joint 36 and the seventh joint 38 all include a main housing 6, a drive motor 61 arranged in the main housing 6, a transmission assembly 62 connected to the drive motor 61, and a reducer 63 connected to the transmission assembly 62; the transmission assembly 62 includes a pinion 64 and a belt, and the belt can be a toothed belt, a V-belt, etc., and the input end of the reducer 63 is provided with a large gear 65, and the pinion 64 and the large gear 65 are connected via a belt drive, and the drive motor 61 is electrically connected to the control system.

[0039] In actual use, the output shaft of the drive motor 61 drives the small gear 64 to rotate, and the small gear 64 transmits power to the large gear 65 through a belt, so that the output end of the reducer 63 drives the next joint to rotate. This solution makes the overall structure of each joint more compact and beautiful in appearance, and can protect the drive motor 61 and the transmission assembly 62, making the multi-joint manipulator 3 more flexible and changeable, improving the robot's operating efficiency and optimizing the manufacturing cost. In this embodiment, two extension arms are provided on the base 1, which are located on both sides of the base 1 and are used to lower the center of gravity of the robot when it is working to prevent the robot from tipping over when it is working.

[0040] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A robot that facilitates the disassembly and assembly of an external air pipe, comprising a base (1), a control box (2) and a multi-joint manipulator (3); characterized in that: The base (1) is placed on an external bearing surface, the control box (2) is arranged on the base (1), the control box (2) is electrically connected to the multi-joint manipulator (3) and is used to control the multi-joint manipulator (3) to transfer materials, the output end of the multi-joint manipulator (3) has a first material picking piece (4) for picking up and placing materials, the multi-joint manipulator (3) and / or the control box (2) are provided with a movable buckle (5), the input end of the first material picking piece (4) is connected to an air pipe for transmitting power to the first material picking piece (4), and the air pipe is detachably connected to the multi-joint manipulator (3) and / or the control box (2) via the movable buckle (5).

2. A robot that facilitates external air pipe disassembly and assembly according to claim 1, characterized in that: The multi-joint manipulator (3) comprises a manipulator arm assembly, and the movable buckle (5) comprises a first connecting piece (51) detachably connected to the manipulator arm assembly, and a buckle (52) provided on the first connecting piece (51) for limiting the position of the trachea on the manipulator arm assembly.

3. A robot that facilitates external air pipe disassembly and assembly according to claim 2, characterized in that: The buckle (52) is connected to the first connecting member (51) via a detachable fastener.

4. A robot that facilitates external air pipe disassembly and assembly according to claim 2, characterized in that: The buckle (52) has a first receiving groove (53) for receiving the air pipe, and the buckle (52) is provided with a first clamping portion (54) and a second clamping portion (55) on both sides close to the first receiving groove (53), and the first clamping portion (54) and the second clamping portion (55) are used to close or reduce the first receiving groove (53) to limit the air pipe on the buckle (52).

5. A robot that facilitates external air pipe disassembly and assembly according to claim 4, characterized in that: The movable buckle (5) further comprises a rotating shaft (56) arranged on the buckle (52), and the first clamping portion (54) and / or the second clamping portion (55) are rotatably arranged on the buckle (52) via the rotating shaft (56).

6. The robot for facilitating the disassembly and assembly of an external air pipe according to claim 4, characterized in that: The second clamping portion (55) is provided with a locking strip (57), and the first clamping portion (54) has two elastic arms (58), the two elastic arms (58) elastically clamping the locking strip (57), and the two clamping portions close the first accommodating groove (53) by means of the snap-fitting cooperation between the locking strip (57) and the two elastic arms (58), thereby limiting the air pipe on the buckle (52).

7. The robot for facilitating the disassembly and assembly of an external air pipe according to claim 4, characterized in that: The first accommodating groove (53) is recessed from the end of the buckle (52) toward the direction close to the mechanical arm assembly and / or the control box (2), and the first accommodating groove (53) forms a first arc surface on the contact end surface with the trachea, and the arc line on the first arc surface is a major arc. The clamping portion contacts the end surface of the trachea to form a second arc surface, and the arc line on the second arc surface is a minor arc.

8. The robot for facilitating the disassembly and assembly of an external air pipe according to claim 2, characterized in that: The robot arm assembly comprises a first robot arm (32) and a second robot arm (35); the multi-joint robot (3) further comprises a first joint (30), a second joint (31), a third joint (33), a fourth joint (34), a fifth joint (36), a sixth joint (37) and a seventh joint (38) used in conjunction with the robot arm assembly; a control system for driving the multi-joint robot (3) to reciprocate and transfer materials is provided in the electric control box; the first joint (30) is rotatably arranged on the control box (2) and is electrically connected to the control system; the second joint (31) is rotatably connected to the first joint (30); the rotation axis of the second joint (31) is aligned with the axis of the first joint (30); The rotation axes are arranged perpendicularly to each other. The first mechanical arm (32) is connected between the second joint (31) and the third joint (33). The third joint (33) is coaxially rotationally connected to the fourth joint (34). The second mechanical arm (35) is connected between the fourth joint (34) and the fifth joint (36). The fifth joint (36) is rotationally connected to the sixth joint (37). The seventh joint (38) is rotationally connected to the sixth joint (37). The rotation axes of the second joint (31), the third joint (33), the fourth joint (34) and the sixth joint (37) are arranged parallel to each other. The rotation axis of the seventh joint (38) is arranged perpendicularly to the rotation axis of the seventh joint (38).

9. The robot for facilitating the disassembly and assembly of the external air pipe according to claim 8, characterized in that: The first material picking member (4) comprises a second connecting member (40) connected to the free end of the seventh joint (38), a material suction disc (41) arranged on the second connecting member (40), a flexible buffer pad (42) being arranged on the material suction disc (41), and a plurality of suction nozzles (43) connected to the material suction disc (41) being evenly distributed on the buffer pad (42); a vacuum generator for providing negative pressure to the material suction disc (41) is arranged in the control box (2), the vacuum generator is connected to the material suction disc (41) via an air pipe and generates negative pressure between the material suction disc (41) and the material to suck the material.

10. The robot for facilitating the disassembly and assembly of an external air pipe according to claim 8, characterized in that: The first joint (30), the second joint (31), the third joint (33), the fifth joint (36) and the seventh joint (38) all comprise a main housing (6), a drive motor (61) disposed in the main housing (6), a transmission assembly (62) connected to the drive motor (61), and a reducer (63) connected to the transmission assembly (62); the transmission assembly (62) comprises a pinion (64) and a belt, a large gear (65) is provided at the input end of the reducer (63), the pinion (64) and the large gear (65) are connected via a belt drive, and the drive motor (61) is electrically connected to a control system.

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