Robot pipeline package anti-winding fixing device

Abstract

The utility model relates to an anti-winding fixing device for a pipeline package of a robot. The anti-winding fixing device comprises a first limiting assembly used for limiting a pipeline of the robot, a second limiting assembly used for limiting a first pipeline and a third limiting assembly used for limiting a second pipeline. The first limiting assembly comprises a first limiting frame, a second limiting frame and a third limiting frame, the first limiting frame, the second limiting frame and the third limiting frame are all in a three-face surrounding shape and surround the built-in pipeline and the first pipeline, the first limiting frame is located at the position, away from the second shaft body, of the first shaft body, and the second limiting frame is located at the position, close to the second shaft body, of the first shaft body. The third limiting frame is arranged between the second shaft body and the third shaft body; the second limiting assembly comprises a limiting clamp and a connecting support, the limiting clamp is fixed to the robot through the connecting support, the first pipeline is clamped in the limiting clamp, and the second limiting assembly separates the self-contained pipeline from the first pipeline. The situation of pipeline and pipeline interference can be avoided.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a robot pipeline package anti-winding fixing device. Background Art

[0002] A robot is an intelligent machine capable of semi- or fully autonomous operation. Through programming and automatic control, robots can perform tasks such as movement and movement. Possessing fundamental capabilities such as perception, decision-making, and execution, they can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, contributing to human well-being and expanding the scope of human activities and capabilities.

[0003] In the related art, refer to Figure 1 The six-axis robot includes a first axis, a second axis, a third axis, a fourth axis, a fifth axis and a sixth axis that are hinged in sequence. In order to meet the normal use of the robot, a pipeline package for power supply needs to be installed on the robot. The pipeline package includes a first pipeline and a second pipeline. The first pipeline is set at the first axis to the fourth axis; the second pipeline is set at the third axis to the sixth axis.

[0004] Some robots come with some pipelines. The robot's built-in pipelines are set at the first axis to the fourth axis, and the built-in pipelines are located on the side of the first pipeline close to the robot.

[0005] When the robot is running, the robot's own pipelines and the power supply pipelines installed on the robot will bend and twist with the operation of the robot. After the robot is used for a long time, the robot's own pipelines and the first pipeline are prone to cross-interference, affecting the normal use of the robot. Utility Model Content

[0006] In order to avoid the situation where the robot's own pipelines interfere with the power supply pipelines installed on the robot and affect the normal use of the robot, the present application provides a robot pipeline package anti-entanglement fixing device.

[0007] The present application provides a robot pipe bag anti-entanglement fixing device adopts the following technical solutions:

[0008] A robot pipeline package anti-entanglement fixing device includes a first limiting component for limiting the position of the robot's own pipeline, a second limiting component for limiting the position of the first pipeline, and a third limiting component for limiting the position of the second pipeline;

[0009] The first limiting assembly includes a first limiting frame, a second limiting frame, and a third limiting frame. The first limiting frame, the second limiting frame, and the third limiting frame are all in a three-sided surrounding shape and surround the self-contained pipeline and the first pipeline. The first limiting frame is located at a position where the first axis is far away from the second axis, the second limiting frame is located at a position where the first axis is close to the second axis, and the third limiting frame is set between the second axis and the third axis.

[0010] The second limiting assembly includes a limiting clamp and a connecting bracket, the limiting clamp is fixed to the robot through the connecting bracket, the first pipeline is clamped in the limiting clamp, and the second limiting assembly separates the self-contained pipeline from the first pipeline;

[0011] The third limiting assembly includes a mounting clamp and a mounting bracket. The mounting clamp is fixed to the robot through the mounting bracket, and the second pipeline clamp is arranged in the mounting clamp.

[0012] Preferably, the first limiting frame includes two first side panels and a first middle panel, the first side panels are integrally formed on both sides of the first middle panel, an opening between the two first side panels and opposite to the first middle panel is set as a first opening, the first opening is horizontally facing the robot, and the first side panel located at the bottom is fixed to the first shaft;

[0013] The second limiting frame includes two second side panels and a second middle panel, the second side panels are integrally formed on both sides of the second middle panel, an opening between the two second side panels and opposite to the second middle panel is set as a second opening, the second opening is downwardly facing, and the second side panel located near the first shaft is fixed to the first shaft;

[0014] The third limit frame includes two third side panels and a third middle panel. The third side panels are integrally formed on both sides of the third middle panel. The opening between the two third side panels and opposite to the third middle panel is set as the third opening. The third opening is horizontally facing the robot. A connecting plate is fixedly provided from the second axis to the third axis of the robot, and the two third side panels are fixed to the connecting plate at the same time.

[0015] Preferably, the length direction of the connecting plate is consistent with the extension direction from the second axis to the third axis, the two ends of the connecting plate extend close to the corresponding second axis and third axis, and the third limit frame is arranged at both ends of the length direction of the connecting plate.

[0016] Preferably, the limiting clamp is provided at both ends and the middle of the first pipeline, and the limiting clamp includes a first limiting ring and a second limiting ring, one radial end of the first limiting ring is rotatably connected to one radial end of the second limiting ring, and one radial end of the first limiting ring is fixed to one radial end of the second limiting ring by a connecting bolt, and the connecting bolt passes through the first limiting ring and the second limiting ring and is threadedly connected to a connecting nut;

[0017] The radial middle portion of the first limiting ring is a plane, the connecting bracket corresponds to the limiting clamp one-to-one, and one end of the connecting bracket is fixedly connected to the plane of the limiting clamp;

[0018] The other end of the connecting bracket located at the first axis and away from the second axis is fixed to the first axis, the other end of the connecting bracket located at the first axis and close to the second axis is fixed to the second limit frame, the other end of the connecting bracket located at the second axis to the third axis is fixed to the connecting plate, and the other end of the connecting bracket located at the fourth axis is fixed to the fourth axis.

[0019] Preferably, the mounting clamp is provided at both ends and the middle portion of the second pipeline, and the mounting clamp includes a first mounting ring and a second mounting ring, one radial end of the first mounting ring is rotatably connected to one radial end of the second mounting ring, and one radial end of the first mounting ring is fixed to one radial end of the second mounting ring by a mounting bolt, and the mounting bolt passes through the first mounting ring and the second mounting ring and is threadedly connected to a mounting nut;

[0020] The radial middle portion of the first mounting ring is a plane, the mounting bracket corresponds to the mounting clamp one-to-one, and one end of the mounting bracket is fixedly connected to the plane of the first mounting ring;

[0021] The mounting brackets are provided with four and are respectively a first frame, a second frame, a third frame, and a fourth frame. The first frame, the second frame, and the third frame are all provided at the fourth axis of the robot, and the fourth frame is provided at the sixth axis of the robot.

[0022] A support plate is fixedly provided on the fourth axis of the robot, the other end of the first frame is fixedly connected to an end of the support plate close to the sixth axis, the other end of the second frame is movably connected to an end of the support plate away from the sixth axis, and the other end of the third frame is fixedly connected to the middle part of the support plate through an extension rod.

[0023] Preferably, the second frame includes a first plate body and a second plate body, and a receiving groove for accommodating the second plate body is opened on the side wall of the support plate, and the receiving groove passes through the other side of the support plate in the width direction, and the first plate body is located on the top surface of the support plate, and the side of the first plate body away from the support plate is fixedly connected to the plane of the first mounting ring; the two ends of the first plate body are bent toward the second plate body and form a bending portion, and a fixing bolt is provided on the bending portion, and the fixing bolt passes through the bending portion and the second plate body and is threadedly connected to a fixing nut.

[0024] Preferably, the fourth frame includes a mating clamp, a mounting plate and a mounting rod, the mating clamp is fixedly connected to the plane of the first mounting ring, the mounting plate is fixedly set on the sixth axis, one end of the mounting plate is clamped in the mating clamp, and the other end of the mounting rod is fixedly connected to the mounting plate, and the combination of the mounting plate and the mounting rod is in the shape of a racket.

[0025] In summary, this application has the following beneficial technical effects:

[0026] The first limiting component and the second limiting component separate and limit the robot's own pipeline and the first pipeline to avoid cross-interference between the robot's own pipeline and the first pipeline. The third limiting component limits the second pipeline to avoid affecting the normal operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of a robot pipeline bag anti-entanglement fixing device in an embodiment of the present application.

[0028] Figure 2 It is a schematic diagram of the overall structure of the robot pipe bag anti-entanglement fixing device in an embodiment of the present application, used to show another angle.

[0029] Figure 3 It is a structural schematic diagram used to illustrate the first limiting component and the second limiting component at the first axis in an embodiment of the present application.

[0030] Figure 4 It is used to show the Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0031] Figure 5 It is a structural schematic diagram used to illustrate the first limiting component and the second limiting component at the connecting plate in an embodiment of the present application.

[0032] Figure 6 It is a structural schematic diagram used to illustrate the third limiting component at the support plate in an embodiment of the present application.

[0033] Explanation of the reference numerals: 1. robot; 11. first axis; 12. second axis; 13. third axis; 14. fourth axis; 15. fifth axis; 16. sixth axis; 17. connecting plate; 18. supporting plate; 2. self-contained pipeline; 3. first pipeline; 4. second pipeline; 5. first limiting assembly; 51. first limiting frame; 511. first side plate; 512. first middle plate; 52. second limiting frame; 521. second side plate; 522. second middle plate; 53. third limiting frame; 531. third side plate; 532. third middle plate Intermediate plate; 6. Second limiting assembly; 61. Limiting clamp; 611. First limiting ring; 612. Second limiting ring; 62. Connecting bracket; 7. Third limiting assembly; 71. Mounting clamp; 711. First mounting ring; 712. Second mounting ring; 72. Mounting bracket; 721. First frame; 722. Second frame; 7221. First plate; 7222. Second plate; 723. Third frame; 7231. Extension rod; 724. Fourth frame; 7241. Matching clamp; 7242. Mounting plate; 7243. Mounting rod. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-6 This application is described in further detail.

[0035] An embodiment of the present application discloses a robot cable bag anti-entanglement fixing device.

[0036] Reference Figure 1-2 The robot pipeline package anti-entanglement fixing device includes a first limiting component 5 for limiting the pipeline 2 brought by the robot 1, a second limiting component 6 for limiting the first pipeline 3, and a third limiting component 7 for limiting the second pipeline 4.

[0037] The first limiting assembly 5 includes a first limiting frame 51, a second limiting frame 52, and a third limiting frame 53. The first limiting frame 51, the second limiting frame 52, and the third limiting frame 53 are all in a three-sided surrounding shape and surround the self-contained pipeline 2 and the first pipeline 3. The first limiting frame 51 is located at a position where the first axis 11 is away from the second axis 12, the second limiting frame 52 is located at a position where the first axis 11 is close to the second axis 12, and the third limiting frame 53 is arranged between the second axis 12 and the third axis 13.

[0038] Reference Figure 1-3 The first limit frame 51 includes two first side plates 511 and a first middle plate 512. The first side plates 511 are integrally formed on both sides of the first middle plate 512. The opening between the two first side plates 511 and opposite to the first middle plate 512 is set as the first opening. The first opening is horizontally facing the robot 1. The first side plate 511 located at the bottom is fixed to the first axis 11.

[0039] Reference Figure 4 The second limiting frame 52 includes two second side panels 521 and a second middle panel 522. The second side panels 521 are integrally formed on both sides of the second middle panel 522. The opening between the two second side panels 521 and opposite to the second middle panel 522 is set as a second opening. The second opening faces downward. The second side panel 521 located near the first shaft body 11 is fixed to the first shaft body 11.

[0040] Reference Figure 5 The third limiting frame 53 includes two third side panels 531 and a third middle panel 532. The third side panels 531 are integrally formed on either side of the third middle panel 532. The opening between the two third side panels 531 and opposite the third middle panel 532 is defined as a third opening, which faces horizontally toward the robot 1. A connecting plate 17 is fixedly disposed between the second and third axis bodies 12 and 13 of the robot 1. The two third side panels 531 are also fixed to the connecting plate 17. The length direction of the connecting plate 17 is consistent with the direction in which the second and third axis bodies 12 and 13 extend. The ends of the connecting plate 17 extend close to the corresponding second and third axis bodies 12 and 13. The third limiting frame 53 is disposed at both ends of the connecting plate 17 along its length.

[0041] Reference Figure 1-3 The second limiting assembly 6 includes a limiting clamp 61 and a connecting bracket 62. The limiting clamp 61 is fixed to the robot 1 through the connecting bracket 62. The first pipeline 3 is clamped in the limiting clamp 61. The second limiting assembly 6 separates the self-contained pipeline 2 and the first pipeline 3.

[0042] The limiting clamps 61 are disposed at both ends and the middle of the first pipeline 3 .

[0043] The limiting clamp 61 includes a first limiting ring 611 and a second limiting ring 612. One radial end of the first limiting ring 611 is rotatably connected to one radial end of the second limiting ring 612. One radial end of the first limiting ring 611 is fixed to one radial end of the second limiting ring 612 by a connecting bolt. The connecting bolt passes through the first limiting ring 611 and the second limiting ring 612 and is threadedly connected with a connecting nut. The connecting bolt and the connecting nut cooperate to fix the first limiting ring 611 and the second limiting ring 612.

[0044] Reference Figure 1-5The radial middle part of the first limiting ring 611 is a plane, the connecting bracket 62 corresponds to the limiting clamp 61 one by one, and one end of the connecting bracket 62 is fixedly connected to the plane of the limiting clamp 61; the other end of the connecting bracket 62 located at the first axis body 11 and away from the second axis body 12 is fixed to the first axis body 11, and the other end of the connecting bracket 62 located at the first axis body 11 and close to the second axis body 12 is fixed to the second limiting frame 52; the other end of the connecting bracket 62 located at the second axis body 12 to the third axis body 13 is fixed to the connecting plate 17, and the connecting bracket 62 located at the second axis body 12 to the third axis body 13 is located on the periphery of the third limiting frame 53; the other end of the connecting bracket 62 located at the fourth axis body 14 is fixed to the fourth axis body 14.

[0045] Reference Figure 1 、 2 6. The third limiting assembly 7 includes a mounting clamp 71 and a mounting bracket 72. The mounting clamp 71 is fixed to the robot 1 through the mounting bracket 72. The second pipeline 4 is clamped in the mounting clamp 71.

[0046] The mounting clamp 71 is arranged at both ends and the middle of the second pipeline 4. The mounting clamp 71 includes a first mounting ring 711 and a second mounting ring 712. One radial end of the first mounting ring 711 is rotatably connected to one radial end of the second mounting ring 712. One radial end of the first mounting ring 711 and one radial end of the second mounting ring 712 are fixed by a mounting bolt. The mounting bolt passes through the first mounting ring 711 and the second mounting ring 712 and is threadedly connected with a mounting nut. The mounting bolt and the mounting nut cooperate to fix the first mounting ring 711 and the second mounting ring 712.

[0047] The radial middle part of the first mounting ring 711 is a plane, the mounting bracket 72 corresponds one-to-one to the mounting clamp 71, and one end of the mounting bracket 72 is fixedly connected to the plane of the first mounting ring 711; four mounting brackets 72 are provided, and the four mounting brackets 72 are respectively the first frame 721, the second frame 722, the third frame 723, and the fourth frame 724. The first frame 721, the second frame 722, and the third frame 723 are all arranged at the fourth axis 14 of the robot 1 and correspond one-to-one to the mounting clamp 71, and the fourth frame 724 is arranged at the sixth axis 16 of the robot 1.

[0048] A support plate 18 is fixedly provided on the fourth axis 14 of the robot 1, the other end of the first frame 721 is fixedly connected to the end of the support plate 18 close to the sixth axis 16, the other end of the second frame 722 is movably connected to the end of the support plate 18 away from the sixth axis 16, and the other end of the third frame 723 is fixedly connected to the middle part of the support plate 18 through an extension rod 7231.

[0049] The second frame 722 includes a first plate body 7221 and a second plate body 7222. A receiving groove for accommodating the second plate body 7222 is opened on the side wall of the support plate 18, and the receiving groove passes through the other side of the support plate 18 in the width direction. The first plate body 7221 is located on the top surface of the support plate 18, and the side of the first plate body 7221 away from the support plate 18 is fixedly connected to the plane of the first mounting ring 711; the two ends of the first plate body 7221 are bent toward the second plate body 7222 to form a bent portion, and a fixing bolt is provided on the bent portion. The fixing bolt passes through the bent portion and the second plate body 7222 and is threadedly connected to a fixing nut.

[0050] The fourth frame 724 includes a matching clamp 7241, a mounting plate 7242 and a mounting rod 7243. The matching clamp 7241 is fixedly connected to the plane of the first mounting ring 711. The mounting plate 7242 is fixedly set on the sixth axis 16. One end of the mounting plate 7242 is clamped in the matching clamp 7241. The other end of the mounting rod 7243 is fixedly connected to the mounting plate 7242. The combination of the mounting plate 7242 and the mounting rod 7243 is in the shape of a racket.

[0051] The first limiting component 5 and the second limiting component 6 separate and limit the robot 1's own pipeline 2 and the first pipeline 3 to avoid cross-interference between the robot 1 and the first pipeline 3. The third limiting component 7 limits the second pipeline 4 to avoid affecting the normal operation of the robot 1.

[0052] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A robot pipe bag anti-entanglement fixing device, characterized by: It comprises a first limiting component (5) for limiting the position of a pipeline (2) provided by the robot (1), a second limiting component (6) for limiting the position of the first pipeline (3), and a third limiting component (7) for limiting the position of the second pipeline (4); The first limiting component (5) comprises a first limiting frame (51), a second limiting frame (52), and a third limiting frame (53); the first limiting frame (51), the second limiting frame (52), and the third limiting frame (53) are all in a three-sided surrounding shape and surround the self-contained pipeline (2) and the first pipeline (3); the first limiting frame (51) is located at a position where the first shaft (11) is far away from the second shaft (12); the second limiting frame (52) is located at a position where the first shaft (11) is close to the second shaft (12); and the third limiting frame (53) is arranged between the second shaft (12) and the third shaft (13); The second limiting assembly (6) comprises a limiting clamp (61) and a connecting bracket (62); the limiting clamp (61) is fixed to the robot (1) via the connecting bracket (62); the first pipeline (3) is clamped in the limiting clamp (61); and the second limiting assembly (6) separates the self-contained pipeline (2) from the first pipeline (3); The third limiting assembly (7) comprises a mounting clamp (71) and a mounting bracket (72); the mounting clamp (71) is fixed to the robot (1) via the mounting bracket (72); and the second pipeline (4) is clamped in the mounting clamp (71).

2. The robot dress pack anti-entanglement fixing device according to claim 1, characterized in that: The first limiting frame (51) includes two first side panels (511) and a first middle panel (512), the first side panels (511) are integrally formed on both sides of the first middle panel (512), an opening between the two first side panels (511) and opposite to the first middle panel (512) is set as a first opening, the first opening is horizontally oriented toward the robot (1), and the first side panel (511) located below is fixed to the first shaft (11); The second limiting frame (52) includes two second side panels (521) and a second middle panel (522), the second side panels (521) are integrally formed on both sides of the second middle panel (522), an opening between the two second side panels (521) and opposite to the second middle panel (522) is set as a second opening, the second opening faces downward, and the second side panel (521) located near the first shaft (11) is fixed to the first shaft (11); The third limiting frame (53) includes two third side panels (531) and a third middle panel (532), the third side panels (531) are integrally formed on both sides of the third middle panel (532), an opening between the two third side panels (531) and opposite to the third middle panel (532) is set as a third opening, the third opening is horizontally oriented toward the robot (1), a connecting plate (17) is fixedly provided at the second axis (12) to the third axis (13) of the robot (1), and the two third side panels (531) are fixed to the connecting plate (17) at the same time.

3. The robot dress bag anti-entanglement fixing device according to claim 2, characterized in that: The length direction of the connecting plate (17) is consistent with the extension direction from the second shaft (12) to the third shaft (13), and the two ends of the connecting plate (17) extend close to the corresponding second shaft (12) and third shaft (13), and the third limit frame (53) is arranged at the two ends of the length direction of the connecting plate (17).

4. The robot dress pack anti-entanglement fixing device according to claim 1, characterized in that: The limiting clamp (61) is arranged at both ends and the middle of the first pipeline (3), and the limiting clamp (61) includes a first limiting ring (611) and a second limiting ring (612). One radial end of the first limiting ring (611) is rotatably connected to one radial end of the second limiting ring (612). One radial end of the first limiting ring (611) and one radial end of the second limiting ring (612) are fixed by a connecting bolt. The connecting bolt passes through the first limiting ring (611) and the second limiting ring (612) and is threadedly connected to a connecting nut. The radial middle portion of the first limiting ring (611) is a plane, the connecting bracket (62) corresponds to the limiting clamp (61) one by one, and one end of the connecting bracket (62) is fixedly connected to the plane of the limiting clamp (61); The other end of the connecting bracket (62) located at the first shaft (11) and away from the second shaft (12) is fixed to the first shaft (11), the other end of the connecting bracket (62) located at the first shaft (11) and close to the second shaft (12) is fixed to the second limit frame (52), the other end of the connecting bracket (62) located at the second shaft (12) to the third shaft (13) is fixed to the connecting plate (17), and the other end of the connecting bracket (62) located at the fourth shaft (14) is fixed to the fourth shaft (14).

5. The robot dress pack anti-entanglement fixing device according to claim 1, characterized in that: The mounting clamp (71) is arranged at both ends and the middle of the second pipeline (4), and the mounting clamp (71) includes a first mounting ring (711) and a second mounting ring (712). One radial end of the first mounting ring (711) is rotatably connected to one radial end of the second mounting ring (712). One radial end of the first mounting ring (711) and one radial end of the second mounting ring (712) are fixed by a mounting bolt. The mounting bolt passes through the first mounting ring (711) and the second mounting ring (712) and is threadedly connected to a mounting nut. The radial middle portion of the first mounting ring (711) is a plane, the mounting bracket (72) corresponds to the mounting clamp (71) one-to-one, and one end of the mounting bracket (72) is fixedly connected to the plane of the first mounting ring (711); The mounting bracket (72) is provided with four and respectively comprises a first frame (721), a second frame (722), a third frame (723), and a fourth frame (724); the first frame (721), the second frame (722), and the third frame (723) are all provided at the fourth axis (14) of the robot (1); and the fourth frame (724) is provided at the sixth axis (16) of the robot (1); A support plate (18) is fixedly provided on the fourth axis (14) of the robot (1); the other end of the first frame (721) is fixedly connected to an end of the support plate (18) close to the sixth axis (16); the other end of the second frame (722) is movably connected to an end of the support plate (18) away from the sixth axis (16); and the other end of the third frame (723) is fixedly connected to the middle part of the support plate (18) via an extension rod (7231).

6. The robot dress pack anti-entanglement fixing device according to claim 5, characterized in that: The second frame (722) includes a first plate (7221) and a second plate (7222), and a receiving groove for receiving the second plate (7222) is provided on the side wall of the support plate (18), and the receiving groove passes through the other side of the support plate (18) in the width direction. The first plate (7221) is located on the top surface of the support plate (18), and the side of the first plate (7221) away from the support plate (18) is fixedly connected to the plane of the first mounting ring (711); the two ends of the first plate (7221) are bent toward the second plate (7222) to form a bent portion, and a fixing bolt is provided on the bent portion, and the fixing bolt passes through the bent portion and the second plate (7222) and is threadedly connected to a fixing nut.

7. The robot dress pack anti-entanglement fixing device according to claim 5, characterized in that: The fourth frame (724) includes a matching clamp (7241), a mounting plate (7242) and a mounting rod (7243), the matching clamp (7241) is fixedly connected to the plane of the first mounting ring (711), the mounting plate (7242) is fixedly set on the sixth axis (16), one end of the mounting plate (7242) is clamped in the matching clamp (7241), and the other end of the mounting rod (7243) is fixedly connected to the mounting plate (7242), and the combination of the mounting plate (7242) and the mounting rod (7243) is in the shape of a racket.

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