Novel pipeline package support for robot

Abstract

The utility model discloses a novel pipeline package support for a robot. The novel pipeline package support comprises a mounting support, a rotating rod and a rotating beam. The mounting bracket is mounted on a rear end arm of the robot, the rotating rod is rotatably mounted on the mounting bracket, and the upper end part of the rotating rod extends out of the mounting bracket; the rotating beam is rotatably mounted at the upper end of the rotating rod, the horizontal plane is parallel to the rear-end arm surface, and the vertical plane is perpendicular to the horizontal plane and parallel to the rear-end arm; a supporting distance is formed between the pipeline package fixed on the rotating beam and the arm surface of the rear end arm; according to the pipeline package support, the pipeline package is erected by a certain supporting distance away from the arm face through the mounting support and the rotating rod, the pipeline package is fixed to the rotating beam, and due to the fact that the rotating rod and the rotating beam are both arranged in a rotatable mode, the rotating freedom degrees of the pipeline package in two different directions are provided; the rotating beam is automatically adjusted to provide stretching allowance, stretching of the pipeline package at the point position supporting position is reduced, the pipeline package is made to adapt to the moving posture, and the pipeline package is prevented from touching or being wound around the arm face to be abraded.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm accessory technical field, specifically point to a kind of new pipeline package support for robot. BACKGROUND

[0002] Pipeline package is used to bundle and protect cable, air pipe and oil pipe of industrial robot, prevent mutual entanglement between pipeline, and guide pipeline transmission, prolong the service life of pipeline, general pipeline package is arranged along robot body, since robot constantly changes posture, pipeline package at motion joint is prone to winding, stretching and wear, the pipeline support of prior art is simple in structure, only set up bottom plate, support plate and connecting plate to fix pipeline package, only can avoid wear and tear on the surface of robot body, for the motion joint with relative motion, the winding, stretching and wear problem still exist, pipeline package will be damaged under long-term wear and tear, cause great economic loss. SUMMARY

[0003] The utility model aims at overcoming the defects in the prior art, provide a kind of new pipeline package support for robot, to overcome one or more problems caused by the limitation and defects of related art to a certain extent.

[0004] In order to achieve the above object, the technical scheme of the utility model is as follows:

[0005] A kind of new pipeline package support for robot, including installation support, rotating rod and rotating beam;Pipeline package near motion joint is supported by rotating beam at point, installation support is installed on the rear end arm of robot, and close to motion joint, rotating rod can be rotatably installed on installation support, for realizing the swing of the vertical plane of rotating rod, the upper end of rotating rod extends out of installation support;Rotating beam can be rotatably installed on the upper end of rotating rod, for realizing the horizontal plane rotation of rotating beam, the horizontal plane is parallel to the surface of rear end arm, the vertical plane is perpendicular to the horizontal plane and parallel to the rear end arm;There is a distance between the pipeline package fixed on rotating beam and the surface of rear end arm.

[0006] Further, rotating rod is installed on installation support by rotating pin, and its lower end extends downward from the rotating support point of rotating pin, and counterweight is arranged at the lower end of rotating rod, for maintaining the horizontal state of rotating beam when rear end arm swings.

[0007] More further, installation support includes two installation bottom plates, two support stands and two support beams respectively, two installation bottom plates are installed on rear end arm according to front and back distribution, support stand is height-adjustable "X" shaped frame body, for adjusting distance, a plurality of installation holes for adjusting and supporting support stand are formed in installation bottom plate, two support beams are parallel and erected on two support stands, and rotating pin is vertically connected to two support beams.

[0008] Further, the rotating pin is biased to one side of the support stand at the front end, for adapting to small-range upswing and large-range downswing of the front end arm.

[0009] Further, the rotating beam is a straight rod with a wire hole in the middle, sequentially comprising a front arm segment, a mounting portion and a rear arm segment from front to back, the mounting portion is formed by a lateral extension protrusion of the rotating beam body, the mounting portion is provided with a light hole for rotating cooperation with the upper end of the rotating rod, the front arm segment extends at least to the top of the motion joint, the outlet of the pipeline bag is located on the front arm segment and above or in front of the motion joint, and the inlet of the pipeline bag is located on the rear arm segment.

[0010] Further, the end of the front arm segment is provided with a balance block for balancing the weight of the pipeline bag at the rear end of the pipeline bag support, and the lower surface of the front arm segment is provided with a wire passing groove which is communicated with the wire hole, and the groove opening of the wire passing groove is the outlet.

[0011] Further, the bottom surface of the rotating beam is provided with two arc guide plates, one is located below the inlet, and the other is located below the outlet, both are used for limiting the minimum bending angle of the pipeline bag support.

[0012] Compared with the prior art, the novel pipeline bag support for a robot has the following beneficial effects:

[0013] The pipeline bag support is provided with a certain distance from the arm surface through the installation support and the rotating rod, meanwhile, the pipeline bag is fixed on the rotating beam, since the rotating rod and the rotating beam are both rotatable, the rotating freedom degrees of the pipeline bag in two different directions are provided, so as to adapt to the changing motion posture of the robot or the mechanical arm, when the pipeline bag is subjected to a pulling force, the rotating beam automatically adjusts to provide a stretching allowance, reduces the pulling of the pipeline bag at the point support, makes the pipeline bag adapt to the motion posture, always keeps an extended state, avoids abrasion caused by the pipeline bag touching or winding the arm surface, and improves the service life of the pipeline bag. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a perspective view of the pipeline bag support of the utility model;

[0015] Figure 2 It is Figure 1 It is a perspective view of the rotating beam.

[0016] In the drawing: 1, installation bottom plate; 2, support stand; 3, support beam; 4, rotating pin; 5, rotating rod; 6, counterweight; 7, rotating beam; 71, front arm segment; 72, rear arm segment; 73, mounting portion; 74, wire hole; 75, wire passing groove; 8, balance block; 9, pipeline bag; 10, arc guide plate. DETAILED DESCRIPTION

[0017] Clearly and completely describe the technical scheme in the embodiments of the utility model with reference to the drawings of the embodiments of the utility model, obviously, the described embodiments are only the best embodiments of the utility model, and not all the embodiments, based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without creative labor belong to the scope of protection of the utility model;

[0018] The embodiment provides a novel pipeline package support for a robot, which is used for erecting a pipeline package 9 near a motion joint of a robot or a mechanical arm, wherein the pipeline package support is mainly used for a robot or a mechanical arm with a rear arm and a front arm with relative motion, the rear arm and the front arm both have horizontal rotation and vertical swing motion, and the rear arm and the front arm also have relative rotation motion, in order to prevent the pipeline package 9 from being abraded, wound and stretched when the rear arm and the front arm perform the above motion, like Figures 1-2 , the pipeline package support comprises a mounting support, a rotating rod 5 and a rotating beam 7, the pipeline package 9 near the motion joint is arranged in and clamped in a wire hole 74 of the rotating beam 7, point erection and point support of the pipeline package 9 near the motion joint are realized, the mounting support is used as overall support, the mounting support is detachably mounted on the rear arm of the robot along the arm shaft direction, and the front end of the mounting support is close to the motion joint, the rotating beam 7 is relatively rotatably connected with the upper end of the rotating rod 5, the rotating beam 7 is along the vertical direction, and the rotating beam 7 and the rotating rod 5 form a T-shaped structure, a first rotation freedom degree of the pipeline package 9 in a horizontal plane is provided, the rotating rod 5 is rotatably mounted on the mounting support, and a second rotation freedom degree of the pipeline package 9 in a vertical plane is provided, therefore, when the front arm is vertically rotated relative to the rear arm, the pipeline package 9 drags and drives the rotating rod 5 to vertically swing along a rotating pin shaft 4, so that tension at the point support is avoided, when the front arm is horizontally rotated relative to the rear arm, the pipeline package 9 drives the rotating beam 7 to horizontally rotate along the rotating rod 5, so that the pipeline package 9 adapts to the posture of the mechanical arm, when the front arm rotates relative to the rear arm axis, the rotating beam 7 simultaneously combines two kinds of rotation to adapt to the posture change, and abrasion of the pipeline package 9 wound around the arm surface is avoided;

[0019] Because the mounting support has a certain height, meanwhile, the upper end of the rotating rod 5 extends out of the mounting support by a certain length, so that the pipeline package 9 fixed on the rotating beam 7 has enough separation distance from the arm surface of the rear arm, the pipeline package 9 is separated from the body of the robot or the mechanical arm and the mounting support, and damage caused by relative friction in dragging is prevented; because the separation distance is related to mounting conditions, motion ranges and connections of each point of the pipeline package 9, in the actual configuration process, the separation distance needs to be adjusted according to the actual situation of each joint, therefore, the mounting support is a height-adjustable structure, and the mounting support is further described with reference to Figure 1It comprises two installation base plates 1, two support stands 2 and two support beams 3, the two installation base plates 1 are parallel and detachably installed on the rear end arm, the support stand 2 is a height-adjustable "X" shaped frame body, the height can be adjusted by rotating the two support rods, a plurality of installation holes are formed on the installation base plate 1, after the height of the support stand 2 is adjusted, the two installation holes are selected to fix the two support rods, the two support beams 3 are used to install the rotating pin 4, the rotating pin 4 is parallel and fixedly arranged on the two support stands 2, the rotating rod 5 is rotatably arranged in the middle of the rotating pin 4, in order to prevent the rotating pin 4 from moving, nuts are arranged at the two ends of the rotating pin 4, the two ends of the rotating pin 4 are arranged on the two support beams 3 and locked by the nuts;

[0020] According to the analysis of the operating posture of the robot or the mechanical arm, when the rear arm swings, the front arm usually remains in a horizontal state, in order to adapt to the posture, the lower end of the rotating rod 5 extends downward from the rotating support point of the rotating pin 4, and a counterweight 6 is arranged at the lower end of the rotating rod 5, under the action of the gravity of the counterweight 6, the rotating beam 7 remains in a horizontal state when the rear arm rotates, so that the pipeline bag 9 remains in a parallel state with the movement joint and the front arm, and the arrangement of the counterweight 6 can make the pipeline bag 9 automatically restore to a vertical state after the dragging force disappears;

[0021] At the same time, since the downward swinging angle range of the front arm is large and the upward swinging angle range is small, in order to provide sufficient swinging space for the counterweight 6 and make the installation support structure as compact as possible, the rotating pin 4 is biased to one side of the support stand 2 of the front end, and the erection point of the pipeline bag 9 is biased forward, and the higher the erection point is close to the movement joint, the more favorable it is to obtain a larger movement range.

[0022] As a further technical solution, in order to prevent the pipeline bag 9 from rubbing against the robot or the mechanical arm body, the erection distance and the support point width need to be cooperatively designed, for example, if the mechanical arm body is long or the distance between the erection points is long, the erection distance or the support point width should be increased, therefore, the support point needs to have a certain width, the pipeline bag 9 is fixed by being arranged in the wire hole 74 in the middle of the rotating beam 7, the wire hole 74 has a certain length, which extends from the front arm section of the rotating beam 7 to the near rear arm section 72, the near front arm section 71 extends to the top or front side of the movement joint, the outlet of the pipeline bag 9 is located on the near front arm section 71 and above the movement joint, the inlet of the pipeline bag 9 is located on the near rear arm section 72, and the inlet can be the port of the wire hole 74; the installation part 73 is formed by a lateral extension protrusion of the rotating beam body, and a light hole for rotating cooperation with the upper end of the rotating rod is arranged on the installation part 73;

[0023] Because the pipeline package 9 behind the pipeline package support is long, under the gravity traction, the rotating beam 7 is inclined when the rotating beam 7 rotates with the rotating rod 5, which is easy to cause the pipeline package 9 behind to rub against the arm surface, therefore, the balance block 8 is arranged at the end of the near front arm section 71 of the rotating beam 7, to form a balanced state lever mechanism with the center of the rotating column axis as the fulcrum, the balance block 8 is adjustably connected with the end of the near front arm section 71 through the threaded rod, the lever arm length is adjusted by adjusting the screwing depth of the threaded rod, to keep the rotating beam 7 horizontal in the initial state of the rear arm, to ensure the erection effect of the pipeline package 9;

[0024] Therefore, correspondingly, the outlet of the near front arm section 71 cannot be led out by the port, and a threading groove 75 needs to be arranged on the lower surface of the near front arm section 71, the threading groove 75 penetrates to the wire hole 74, and the slot of the threading groove 75 is the outlet, in order to reduce the friction, the edges of the outlet and the inlet should be chamfered;

[0025] As a further technical solution, if the pipeline package 9 is threaded into or out of the wire hole 74 at a small angle, even at a perpendicular angle to the rotating beam 7, stress concentration is easy to occur at the bending part, and the pulling and loosening friction caused by the posture change is easy to cause damage to the bending part first, therefore, the minimum bending angle of the pipeline package 9 needs to be limited, the bottom surface of the rotating beam 7 is provided with two arc guide plates 10, as shown in Figure 2 , the two arc guide plates 10 can be independently installed arc plates, or can be a one-piece structure of a plate strip, the plate strip is bent at both ends to form two arc guide plates 10, one arc guide plate 10 is located directly below the inlet, and the other arc guide plate 10 is located directly below the outlet, respectively guiding the hole entry posture of the pipeline package 9 behind the inlet and the pipeline package 9 in front of the outlet to an arc structure tangent to the wire hole 74, to avoid too small bending angle, and to improve the service life of the pipeline package 9.

[0026] The orientation words mentioned in the present text, such as "upper", "lower", "end", "side", "front", "rear", "horizontal", "vertical", are described in the coordinate or orientation relationship shown in Figures 1-2 , or in the wire direction of the pipeline package 9. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation;

[0027] In addition, in addition to being used to represent the orientation or position relationship, the above-mentioned part of the terms can also be used to represent other meanings, for example, the terms "upper", "inner" and the like can also be used to represent a certain dependent relationship or connection relationship in some cases. Those skilled in the art can understand the specific meaning of these terms in the present application according to the specific situation.

[0028] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A new type of pipeline bundle support for robots, characterized by, The utility model relates to a kind of robot pipe line support structures, including: Installation support, rotating rod and rotating beam;The pipeline package near motion joint is supported by point by the rotating beam, the installation support is installed on the rear end arm of robot, and is close to the motion joint, the rotating rod can be rotatably installed on the installation support, for realizing the swing of the rotating rod in vertical plane, the upper end of the rotating rod extends out of the installation support;The rotating beam can be rotatably installed on the upper end of the rotating rod, for realizing the rotation of the rotating beam in horizontal plane, the horizontal plane is parallel to the rear end arm surface, the vertical plane is perpendicular to the horizontal plane and parallel to the rear end arm axis;The fixed pipeline package on the rotating beam has a distance from the rear end arm surface.

2. A novel pipeline bundle support for robots as claimed in claim 1, wherein: The rotating rod is installed on the installation support by rotating pin shaft, and its lower end extends downward from the rotating support point of the rotating pin shaft, and a counterweight is arranged at the lower end of the rotating rod, for maintaining the horizontal state of the rotating beam when the rear end arm swings.

3. A novel pipeline bundle support for robots as claimed in claim 2, wherein: The installation support includes two installation base plates, two support stands and two support beams respectively, the two installation base plates are installed on the rear end arm in front and back, the support stand is an "X" shaped frame body with adjustable height, for adjusting the distance, a plurality of installation holes for adjusting and installing the support stand are formed in the installation base plate, the two support beams are parallel and erected on the two support stands, and the rotating pin shaft is vertically connected to the two support beams.

4. A novel pipeline bundle support for robots as claimed in claim 3, wherein: The rotating pin shaft is biased to the side of the support stand at the front end, for adapting to the small range upswing and large range downswing of the front end arm.

5. A novel pipeline bundle support for robots as claimed in claim 4, wherein: The rotating beam is a straight rod with wire hole in the middle, which includes front arm segment, mounting portion and rear arm segment from front to back, the mounting portion is formed by lateral extension protrusion of the rotating beam beam body, the mounting portion is provided with a light hole for rotating cooperation with the upper end of the rotating rod, the front arm segment extends at least to the top of the motion joint, the outlet of the pipeline package is located on the front arm segment and above or front of the motion joint, and the inlet of the pipeline package is located on the rear arm segment.

6. A novel line package holder for robots as claimed in claim 5, wherein: The end of the front arm segment is provided with a balance block for balancing the weight of the pipeline package at the rear end of the pipeline package support, and the lower surface of the front arm segment is provided with a wire slot, which penetrates the wire hole, and the slot opening of the wire slot is the outlet.

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