Line pipe support assembly and manipulator thereof
By designing sliding and rotating brackets connected to the conduit of the robotic arm, the dust problem caused by conduit wear was solved, achieving stable movement and rotation, reducing environmental pollution and inspection costs, and improving product quality and equipment reliability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-16
- Publication Date
- 2026-03-13
AI Technical Summary
The conduits of existing robotic arms are prone to wear and tear during operation, generating dust, which leads to environmental pollution and product quality problems, increases inspection costs and the risk of scrapping.
A conduit support assembly was designed, including a sliding support and a rotating support. The sliding support and the rotating support are connected to the forearm and wrist of the robot arm to achieve stable movement and rotation of the conduit and avoid wear.
It effectively reduces dust generation, lowers the risk of product scrap and inspection costs, and improves product manufacturing quality and equipment reliability.
Smart Images
Figure CN223989526U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of robotic arms, and in particular to a conduit support assembly and its robotic arm. Background Technology
[0002] The cable conduit originally supplied with the robotic arm is secured to a fixed bracket with cable ties. During the robotic arm's operation, friction between the cable conduit's binding point and its support frame can generate fine adhesive powder, increasing cleaning difficulty and potentially triggering dust particle count alarms. This can pollute the Class A environment, affect product quality, increase the risk of product scrapping, and raise inspection costs. Utility Model Content
[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. It provides a conduit support assembly and its robotic arm to prevent dust generation caused by conduit wear, reduce the risk of product scrap and inspection costs, improve product quality, and enhance equipment reliability.
[0004] To achieve the above objectives, this utility model provides a conduit support assembly and its robotic arm, a sliding bracket for connecting to the forearm of the robotic arm. The sliding bracket includes a sliding seat, a first base, and a sliding rod. The first base is used to fix the robotic arm to the forearm. One end of the sliding rod is connected to the first base. The sliding seat is provided with a sliding through hole and a first fixing through hole. The sliding seat is slidably connected to the sliding rod through the sliding through hole. The first fixing through hole is used for the conduit to pass through and be fixed.
[0005] A rotating bracket is used to connect to the wrist of a robotic arm. The rotating bracket includes a rotating base, a rotating rod, and a second base. The rotating base is provided with a second fixing through hole. The rotating base is rotatably connected to one end of the rotating rod, and the other end of the rotating rod is connected to the second base. The second base is used to fix the robotic arm to the wrist. The second fixing through hole is used for the conduit to pass through and be fixed.
[0006] As a preferred embodiment, the sliding seat includes a fixed seat body and a sliding tube, the first fixed through hole is disposed in the fixed seat body, one end of the fixed seat body is connected to one end of the sliding tube, and the sliding through hole is disposed in the sliding tube.
[0007] As a preferred embodiment, the sliding through hole, the sliding tube, and the sliding rod extend in the same direction.
[0008] As a preferred embodiment, the fixed base has a first connecting plane on the side facing the sliding tube, and the sliding tube has a second connecting plane on the side facing the fixed base. The first connecting plane and the second connecting plane are connected by a connector.
[0009] As a preferred embodiment, a linear bearing is connected inside the sliding through hole.
[0010] As a preferred embodiment, the first base includes a first connecting piece and a second connecting piece, one end of the sliding rod is connected to the first connecting piece, and the other end of the sliding rod is connected to the second connecting piece. The first connecting piece and the second connecting piece are respectively provided with connecting holes for connecting to the forearm of the robotic arm.
[0011] As a preferred embodiment, the rotating seat is provided with a rotating part, the rotating part is provided with a rotating cavity, a joint bearing is connected in the rotating cavity, and one end of the rotating rod is inserted into the rotating cavity and connected to the joint bearing.
[0012] As a preferred embodiment, the rotating seat includes an upper ring body and a lower ring body, with the two sides of the upper ring body respectively connected to the two sides of the lower ring body to form the second fixing through hole, and the rotating part connected to the side of the lower ring body facing away from the upper ring body.
[0013] A robotic hand includes a conduit, a rear arm, a forearm, a wrist, and an actuator. One end of the rear arm is hinged to one end of the forearm, the wrist is hinged to the other end of the forearm, the actuator is connected to the wrist, a first base is connected to the forearm, a sliding rod extends in the same direction as the forearm, and a second base is connected to the wrist.
[0014] The conduit extends along the rear arm and is fixed to the rear arm, with one end of the conduit passing through and being fixed to the first fixing through hole and the second fixing through hole in sequence.
[0015] Compared with the prior art, the advantages of this utility model embodiment of a conduit support assembly and its robotic arm are as follows: A first base is fixedly connected to the forearm of the robotic arm. A sliding seat is connected to the first base via a sliding rod, and the first base supports the sliding seat. The sliding seat has a first fixed through hole through which the conduit of the robotic arm passes to achieve conduit fixation. The sliding rod passes through the sliding through hole, and the sliding seat is slidably connected to the sliding rod via the sliding through hole, so that when the conduit on the robotic arm moves, it drives the sliding seat to move along the sliding rod, conforming to the movement of the conduit on the robotic arm and preventing wear and dust generation during conduit movement. The rotating support includes a rotating seat, a rotating rod, and a second base. The conduit passes through the second fixed through hole in the rotating seat to achieve conduit fixation. The rotating seat is fixedly connected to the second base via the rotating rod. The rotating base is rotatably connected to one end of the rotating rod, so that the robot arm drives the conduit to rotate during movement. The conduit rotates relative to the second base through the rotating base to match the rotation of the conduit on the robot arm. This avoids wear and dust generation during the rotation of the conduit, reduces the amount of floating dust in the environment, thereby reducing the risk of product scrap and inspection costs, improving product production quality, and enhancing equipment reliability. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model.
[0017] Figure 2 This is a schematic diagram of the structure of the sliding bracket according to an embodiment of the present invention.
[0018] Figure 3 This is a schematic diagram of the structure of the rotating bracket according to an embodiment of the present invention.
[0019] Figure 4 This is a structural diagram of the overall structure of this utility model embodiment in use.
[0020] In the picture:
[0021] 10. Sliding bracket; 11. Sliding seat; 12. Fixed seat body; 13. First connecting plane; 14. Sliding tube; 15. Second connecting plane; 16. First base; 17. First connecting piece; 18. Second connecting piece; 19. Sliding rod; 20. Sliding through hole; 21. First fixed through hole;
[0022] 30. Rotating bracket; 31. Rotating seat; 32. Rotating part; 33. Rotating rod; 34. Second base; 35. Second fixing through hole; 36. Upper ring body; 37. Lower ring body;
[0023] 40. Conduit; 41. Rear arm; 42. Forearm; 43. Wrist; 44. Actuator. Detailed Implementation
[0024] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.
[0025] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" used to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0026] In the description of this utility model, it should be understood that the terms "connected," "linked," and "fixed," etc., used in this utility model should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or a welded connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0027] like Figures 1 to 4 As shown, a preferred embodiment of the present invention provides a conduit support assembly, a sliding bracket 10, for connection to the forearm 42 of a robotic arm. The sliding bracket 10 includes a sliding seat 11, a first base 16, and a sliding rod 19. The first base 16 is used to fix the forearm 42 of the robotic arm, and one end of the sliding rod 19 is connected to the first base 16. The sliding seat 11 is provided with a sliding through hole 20 and a first fixing through hole 21. The sliding seat 11 is slidably connected to the sliding rod 19 through the sliding through hole 20, and the first fixing through hole 21 is used for the conduit 40 to pass through and be fixed.
[0028] The rotating bracket 30 is used to connect to the wrist 43 of the robot. The rotating bracket 30 includes a rotating seat 31, a rotating rod 33 and a second base 34. The rotating seat 31 is provided with a second fixing through hole 35. The rotating seat 31 is rotatably connected to one end of the rotating rod 33, and the other end of the rotating rod 33 is connected to the second base 34. The second base 34 is used to fix the wrist 43 of the robot. The second fixing through hole 35 is used for the conduit 40 to pass through and be fixed.
[0029] One type of robotic arm, such as Figures 1 to 4As shown, it includes a conduit 40, a rear arm 41, a forearm 42, a wrist 43, and an actuator 44. One end of the rear arm 41 is hinged to one end of the forearm 42, the wrist 43 is hinged to the other end of the forearm 42, the actuator 44 is connected to the wrist 43, the first base 16 is connected to the forearm 42, the sliding rod 19 extends in the same direction as the forearm 42, and the second base 34 is connected to the wrist 43.
[0030] The conduit 40 extends along the rear arm 41 and is fixed to the rear arm 41. One end of the conduit 40 passes through and is fixed to the first fixing through hole 21 and the second fixing through hole 35 in sequence.
[0031] The present invention relates to a conduit support assembly and its robotic arm. A first base 16 is fixedly connected to the forearm 42 of the robotic arm. A sliding seat 11 is connected to the first base 16 via a sliding rod 19, providing support for the sliding seat 11. The sliding seat 11 has a first fixing through hole 21 through which the conduit 40 of the robotic arm passes to secure it. The sliding rod 19 passes through a sliding through hole 20, and the sliding seat 11 is slidably connected to the sliding rod 19 via the sliding through hole 20. This allows the sliding seat 11 to move along the sliding rod 19 as the conduit 40 moves on the robotic arm, facilitating the movement of the conduit 40 and preventing wear and dust generation during movement. The rotating support 30 includes a rotating seat 31, a rotating rod 33, and a second base 34. The conduit 40 passes through a second fixing through hole 35 in the rotating seat 31 to secure it. The rotating seat 31 is fixedly connected to the second base 34 via the rotating rod 33. The rotating base 31 is rotatably connected to one end of the rotating rod 33 so that the robot arm drives the conduit 40 to rotate during the movement. The conduit 40 rotates relative to the second base 34 through the rotating base 31 to follow the rotation of the conduit 40 on the robot arm. This avoids wear and dust generation of the conduit 40 during rotation, reduces the amount of floating dust in the environment, thereby reducing the risk of product scrap and inspection costs, improving product production quality, and improving equipment reliability.
[0032] Furthermore, such as Figures 1 to 2 As shown, the sliding seat 11 includes a fixed seat body 12 and a sliding tube 14. A first fixed through hole 21 is provided in the fixed seat body 12, one end of the fixed seat body 12 is fixedly connected to one end of the sliding tube 14, and a sliding through hole 20 is provided in the sliding tube 14. The sliding seat 11 includes a fixed seat body 12 and a sliding tube 14. The fixed seat body 12 and the sliding tube 14 are separately provided so that the connection angle of the fixed seat body 12 on the sliding tube 14 can be adjusted to meet the arrangement requirements of the conduit 40 in different directions.
[0033] Furthermore, such as Figures 1 to 2 As shown, the sliding through hole 20, the sliding tube 14 and the sliding rod 19 extend in the same direction, which improves the sliding stability of the sliding tube 14 and the sliding rod 19.
[0034] Furthermore, such as Figures 1 to 2 As shown, the fixed base 12 has a first connecting plane 13 on the side facing the sliding tube 14, and the sliding tube 14 has a second connecting plane 15 on the side facing the fixed base 12. The first connecting plane 13 and the second connecting plane 15 are connected by a connector to ensure a stable fixation between the sliding tube 14 and the fixed base 12. The connector can be a bolt, screw, pin, or other suitable fastener. The first connecting plane 13 and the second connecting plane 15 are detachably connected by the connector to facilitate the installation, disassembly, and maintenance of the sliding tube 14.
[0035] As one implementation method, such as Figures 1 to 2 As shown, a positioning structure is provided on the first connecting plane 13 and / or the second connecting plane 15 to ensure precise alignment between the sliding tube 14 and the fixed base 12. The positioning structure can be a positioning method using the assembly and mating of protrusions and grooves.
[0036] As one implementation method, such as Figures 1 to 2 As shown, the first connecting plane 13 and the second connecting plane 15 are connected by a number of bolts. The bolts pass through corresponding holes on the first connecting plane 13 and the second connecting plane 15 and are tightened by nuts.
[0037] Furthermore, such as Figures 1 to 2 As shown, a linear bearing is connected inside the sliding through hole 20. The linear bearing fits tightly inside the sliding through hole 20 to achieve smooth linear movement of the sliding tube 14.
[0038] As one implementation method, such as Figures 1 to 2 As shown, the linear bearing is fixed in the sliding through hole 20 by interference fit or other fixing methods to prevent it from loosening during operation.
[0039] As one implementation method, such as Figures 1 to 2 As shown, a ball linear bearing is connected inside the sliding through hole 20, which provides low friction and high precision linear motion.
[0040] Furthermore, such as Figures 1 to 2As shown, the first base 16 includes a first connecting piece 17 and a second connecting piece 18. One end of the sliding rod 19 is connected to the first connecting piece 17, and the other end of the sliding rod 19 is connected to the second connecting piece 18. The first connecting piece 17 and the second connecting piece 18 are respectively provided with connecting holes for connecting to the forearm 42 of the robotic arm. The first connecting piece 17 and the second connecting piece 18 are located at the two ends of the sliding rod 19, and the sliding rod 19 is fixed to the forearm 42 of the robotic arm through the first connecting part and the second connecting piece 18, thereby fixing the sliding base 11 and improving the assembly stability of the sliding rod 19 and the forearm 42. The forearm 42 of the robotic arm is connected by bolts through the connecting holes on the first connecting piece 17 and the second connecting piece 18.
[0041] Furthermore, such as Figure 1 and Figure 3 As shown, the rotating seat 31 has a rotating part 32, and a rotating cavity is provided inside the rotating part 32. A spherical bearing is connected inside the rotating cavity, and one end of the rotating rod 33 is inserted into the rotating cavity and connected to the spherical bearing. The rotating cavity provides installation space for the spherical bearing, and at the same time, the spherical bearing allows the rotating rod 33 to rotate flexibly within the rotating cavity. The main function of the spherical bearing is to reduce rotational friction between the rotating rod 33 and the rotating seat 31. The spherical bearing has a certain tilt angle or rotational freedom, allowing the rotating seat 31 and the rotating rod 33 to rotate relative to each other in multiple directions within a certain range. The conduit 40 is inserted into the second fixed through hole 35, thereby providing the conduit 40 with a certain degree of rotational freedom and avoiding the generation of wear dust.
[0042] Furthermore, such as Figure 1 and Figure 3 As shown, the rotating base 31 includes an upper ring body 36 and a lower ring body 37. The two sides of the upper ring body 36 are connected to the two sides of the lower ring body 37 respectively to form a second fixing through hole 35. A rotating part 32 is connected to the side of the lower ring body 37 opposite to the upper ring body 36. The upper ring body 36 and the lower ring body 37 are connected on both sides to form the second fixing through hole 35, which is formed by the upper ring body 36 and the lower ring body 37 engaging. The rotating part 32 is located on the side of the lower ring body 37 opposite to the upper ring body 36, making the overall structure of the rotating base 31 more stable.
[0043] As one embodiment, such as Figure 1 and Figure 3 As shown, the upper ring body 36 and the lower ring body 37 have screw holes on both sides. The screw passes through the screw holes to connect the upper ring body 36 and the lower ring body 37. At the same time, the distance between the upper ring body 36 and the lower ring body 37 can be adjusted to meet the fixing of conduits 40 of different diameters, and has a wide range of applications.
[0044] In summary, this utility model embodiment provides a conduit support assembly and its robotic arm. A first base 16 is fixed to the forearm 42 of the robotic arm. A sliding seat 11 is connected to the first base 16 via a sliding rod 19, and the first base 16 supports the sliding seat 11. The sliding seat 11 has a first fixing through hole 21 through which the conduit 40 of the robotic arm passes to achieve fixation. The sliding rod 19 passes through the sliding through hole 20, and the sliding seat 11 is slidably connected to the sliding rod 19 via the sliding through hole 20. This allows the sliding seat 11 to move along the sliding rod 19 when the conduit 40 on the robotic arm moves, conforming to the movement of the conduit 40 and preventing wear and dust generation during movement. The rotating support 30 includes a rotating seat 31, a rotating rod 33, and a second base 34. The conduit 40 passes through the second fixing through hole 35 in the rotating seat 31 to achieve fixation. The rotating seat 31 is fixed to the second base 34 via the rotating rod 33. The rotating base 31 is rotatably connected to one end of the rotating rod 33 so that the robot arm drives the conduit 40 to rotate during the movement. The conduit 40 rotates relative to the second base 34 through the rotating base 31 to follow the rotation of the conduit 40 on the robot arm. This avoids wear and dust generation of the conduit 40 during rotation, reduces the amount of floating dust in the environment, thereby reducing the risk of product scrap and inspection costs, improving product production quality, and improving equipment reliability.
[0045] The above are merely preferred embodiments of this utility model. It should be noted that, for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this utility model, and these improvements and substitutions should also be considered within the protection scope of this utility model.
Claims
1. A wire tube support assembly, characterized in that: a sliding support is connected to a forearm of a manipulator, the sliding support comprising a sliding base, a first base and a sliding rod, the first base is fixed to the forearm of the manipulator, one end of the sliding rod is connected to the first base, the sliding base is provided with a sliding through hole and a first fixing through hole, the sliding base is slidably connected to the sliding rod through the sliding through hole, and the first fixing through hole is used for the wire tube to pass through and be fixed; a rotating support is connected to a wrist of the manipulator, the rotating support comprising a rotating base, a rotating rod and a second base, the rotating base is provided with a second fixing through hole, the rotating base is rotatably connected to one end of the rotating rod, the other end of the rotating rod is connected to the second base, the second base is fixed to the wrist of the manipulator, and the second fixing through hole is used for the wire tube to pass through and be fixed. The sliding base comprises a fixed seat body and a sliding tube, the first fixing through hole is arranged on the fixed seat body, one end of the fixed seat body is connected to one end of the sliding tube, and the sliding through hole is arranged on the sliding tube.
2. The conduit hanger assembly of claim 1, wherein: The sliding through hole, the sliding tube and the sliding rod have the same extension direction.
3. The conduit hanger assembly of claim 2, wherein: A first connecting plane is arranged on one side of the fixed seat body facing the sliding tube, a second connecting plane is arranged on one side of the sliding tube facing the fixed seat body, and the first connecting plane and the second connecting plane are connected by a connecting piece.
4. The conduit hanger assembly of claim 2, wherein: A linear bearing is connected in the sliding through hole.
5. The conduit hanger assembly of claim 1, wherein: The first base comprises a first connecting piece and a second connecting piece, one end of the sliding rod is connected to the first connecting piece, the other end of the sliding rod is connected to the second connecting piece, and the first connecting piece and the second connecting piece are respectively provided with connecting holes for connecting the forearm of the manipulator.
6. The conduit hanger assembly of claim 1, wherein: The rotating base is provided with a rotating part, the rotating part is provided with a rotating cavity, a joint bearing is connected in the rotating cavity, and one end of the rotating rod is inserted into the rotating cavity and connected with the joint bearing.
7. The conduit hanger assembly of claim 1, wherein: The rotating base comprises an upper ring body and a lower ring body, the upper ring body is connected to the lower ring body on both sides to form the second fixing through hole, and the rotating part is connected to one side of the lower ring body away from the upper ring body.
8. The conduit hanger assembly of claim 7, wherein: The wire tube support assembly comprises a wire tube, a rear arm, a forearm, a wrist, an actuating mechanism and any one of claims 1-8, one end of the rear arm is hingedly connected to one end of the forearm, the wrist is hingedly connected to the other end of the forearm, the actuating mechanism is connected to the wrist, the first base is connected to the forearm, the sliding rod has the same extension direction as the forearm, and the second base is connected to the wrist.
9. A robot, characterized in that: The wire tube extends along the rear arm and is fixed to the rear arm, and one end of the wire tube passes through and is fixed to the first fixing through hole and the second fixing through hole in sequence.