CN113752299A - Six-axis robot pipeline package device - Google Patents
Six-axis robot pipeline package device Download PDFInfo
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- CN113752299A CN113752299A CN202111090800.3A CN202111090800A CN113752299A CN 113752299 A CN113752299 A CN 113752299A CN 202111090800 A CN202111090800 A CN 202111090800A CN 113752299 A CN113752299 A CN 113752299A
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- 238000004806 packaging method and process Methods 0.000 claims abstract description 46
- 238000005299 abrasion Methods 0.000 abstract description 5
- 238000012856 packing Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004804 winding Methods 0.000 description 11
- 238000005253 cladding Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention provides a six-axis robot pipeline package device, and belongs to the technical field of pipeline packages. The robot comprises a pipeline packaging device, a six-axis robot and a robot mounting seat, wherein one end of the pipeline packaging device is connected with the six axes of the robot, the other end of the pipeline packaging device is connected with the robot mounting seat, and the other end of the pipeline packaging device is connected with the robot mounting seat; the middle part of the pipeline wrapping device is connected with the six-axis robot. The bearing sleeve is integrated in the rotating shaft and is nested in the bearing seat; the bearing seat is locked on the robot mounting seat, the end cover of the bearing seat is locked on the bearing seat, and the pipeline packing groove plate is locked on the rotating shaft; the pipeline is sleeved in the fixed inner clamp to form a whole and is clamped in the fixed seat; the fixing seat is connected with the pipeline packing groove plate. The pipeline package passes through the sliding type inner clamp, the spring is sleeved on the outer surface of the pipeline package, and the pipeline package can slide in the sliding type inner clamp. The cable has the advantages of longer service life, improved operation efficiency, reduced maintenance cost, simple structure, no need of additional power and no interference and abrasion of the cable.
Description
Technical Field
The invention relates to the technical field of pipeline packages, in particular to a six-axis robot pipeline package device.
Background
With the development of the automation industry, robots are widely used in many fields, such as welding, carrying, painting, and cleaning. Present industrial robot's cable mainly distributes in the fuselage outside, the solenoid of protection cable also distributes in the fuselage outside along with the cable, the pipeline package is put the front end installation form and can't be rotary motion along with a robot axle, the pipeline contains and easily takes place cross wear, and then lead to the cable to take place wearing and tearing, this kind of cable installation distribution form can only satisfy the simple regular gesture operation of robot, and need carry out diversely to the robot, under the complicated operational environment of multi-gesture, the cable will appear interfering, the phenomenon of wearing and tearing, the while also can lead to the robot to end the function.
The prior art has the following defects:
1. the cables are distributed on the outer side of the robot body, the pipeline package cannot rotate along with a shaft of the robot in a front end mounting mode, and the pipeline package is prone to cross abrasion.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a six-axis robot pipeline wrapping device which comprises a pipeline wrapping device, a six-axis robot and a robot mounting seat, wherein the six-axis robot comprises a first robot axis, a second robot axis, a third robot axis, a fourth robot axis, a fifth robot axis, a sixth robot axis and a mechanical arm which are sequentially connected; the pipeline packaging device is wound with a six-axis robot, one end of the pipeline packaging device is connected with the six axis of the robot, the other end of the pipeline packaging device is connected with the robot mounting seat, and the other end of the pipeline packaging device is connected with the robot mounting seat; the middle part of the pipeline wrapping device is connected with the six-axis robot. The pipeline packaging device comprises a front end fixing clamp assembly, a pipeline package, a fixing support, a four-axis fixing clamp assembly and a tail end fixing clamp assembly; the front end fixing clamp assembly is sleeved at one end of the pipeline package, the fixing support and the four-axis fixing clamp assembly are sequentially sleeved in the middle of the pipeline package, and the tail end fixing clamp assembly is sequentially sleeved at the other end of the pipeline package. The front end fixing clamp assembly is characterized in that a bearing sleeve is integrated in a rotating shaft, and the rotating shaft is nested in a bearing seat; the bearing seat is locked on the robot mounting seat by screws, the end cover of the bearing seat is locked on the bearing seat by the screws, and the pipeline groove wrapping plate is locked on the rotating shaft by the screws; the pipeline is sleeved in the fixed inner clamp to form a whole and then is integrally clamped in the fixed seat; the fixing seat is connected with the pipeline packing groove plate. A solenoid in the four-shaft fixing clamp assembly penetrates through the sliding type inner clamp, the spring is sleeved on the outer surface of the solenoid, and the solenoid can slide in the sliding type inner clamp. The invention improves the existing pipeline wrapping device, prolongs the service life of the cable, improves the operation efficiency, reduces the maintenance cost, has simple structure, does not need to increase extra power, and can ensure that the cable can not generate interference wear when the robot operates continuously in multiple postures. The structure of the invention has convenient installation, simple structure, low cost and flexible use, and can be widely applied to the scenes needing to be protected by industrial electric cables.
The invention provides a six-axis robot pipeline wrapping device, which comprises:
the six-axis robot comprises six robot axes and a mechanical arm, wherein the six robot axes are respectively a first robot axis, a second robot axis, a third robot axis, a fourth robot axis, a fifth robot axis and a sixth robot axis;
the first shaft of the robot is connected with the second shaft of the robot; the three robot shafts, the four robot shafts, the five robot shafts and the six robot shafts are sequentially connected;
the pipeline packaging device is wound with a six-axis robot, one end of the pipeline packaging device is connected with the six axes of the robot, and the other end of the pipeline packaging device is connected with the robot mounting seat;
the middle part of the pipeline wrapping device is connected with the six-axis robot;
the pipeline packaging device comprises a pipeline package, a front end fixing clamp assembly, a fixing support, a four-axis fixing clamp assembly and a tail end fixing clamp assembly, wherein the front end fixing clamp assembly, the fixing support, the four-axis fixing clamp assembly and the tail end fixing clamp assembly are all used for connecting the pipeline package with the six-axis robot.
Preferably, the front end fixing clamp assembly is sleeved at one end of the pipeline package, the fixing support and the four-axis fixing clamp assembly are sequentially sleeved in the middle of the pipeline package, and the tail end fixing clamp assembly is sequentially sleeved at the other end of the pipeline package.
Preferably, the front end fixing clamp assembly comprises a bearing, a bearing seat, a rotating shaft, a pipeline grooving plate, a bearing seat end cover and a fixing inner clamp;
the bearing and the rotating shaft are integrally nested in the bearing, the bearing block is fixed on the robot mounting seat through a screw, and the end cover of the bearing block is connected to the bearing block through a screw;
the pipeline slot plate is fixed on the rotating shaft through a screw;
the pipeline is sleeved in the fixed inner clamp to form a whole, and the fixed inner clamp is connected with the pipeline wrapping groove plate.
Preferably, the four-axis fixed clamp assembly comprises a spring and a sliding inner clamp, the pipeline package passes through the sliding inner clamp, the spring is sleeved on the outer surface of the pipeline package, and the pipeline package can slide in the sliding inner clamp.
Preferably, the terminal fixation clamp assembly includes a terminal ball sleeve, a wire divider, and an anti-collision ball; the pipeline wound with the spring is sheathed in one end of the tail end spherical sleeve, the other end of the tail end spherical sleeve is provided with the deconcentrator, and the anti-collision ball is sheathed outside the pipeline packet.
Preferably, the top of the robot mounting seat is connected with the front end of the pipeline wrapping device to fix the clamping assembly, and the bottom of the robot mounting seat is connected with a shaft of the robot.
Preferably, the fixed support includes a plurality of, and the pipeline package device is connected with six robots through the fixed support, and the fixed support is installed near two axles of robot and the triaxial of robot respectively.
Preferably, the pipeline package device is further connected with the six-axis robot through a four-axis fixing clamp assembly, and the four-axis fixing clamp assembly is fixedly connected to four axes of the robot through a four-axis mounting frame.
Preferably, the pipeline wrapping device is further connected with the six-axis robot through a tail end fixing clamp assembly, and the tail end fixing clamp assembly is fixedly connected to the six axis of the robot through a tail end mounting frame.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the bearing sleeve is integrated in the rotating shaft and then integrally nested in the bearing seat, the bearing seat is locked on the robot mounting seat by using the screw, the end cover of the bearing seat is locked on the bearing seat by using the screw, the pipeline cladding plate is locked on the rotating shaft by using the screw, the pipeline is sheathed in the fixed inner clamp to be integrated and then integrally clamped in the fixed seat, and the fixed seat is connected with the pipeline cladding plate, so that when a shaft of the robot rotates, the rotating shaft rotates along with the rotating shaft, the pipeline cladding plate and the pipeline cladding are driven to rotate, and the phenomenon that cables are broken and abraded due to the fixed mounting mode of the pipeline cladding is avoided.
2. The pipeline wrapped with the spring is sleeved in one end of the tail end spherical sleeve, so that the pipeline wrapped has rotatability, the other end of the tail end spherical sleeve is provided with the deconcentrator, each cable penetrates through a wire hole of the deconcentrator, so that the plurality of cables can be prevented from being crossed and disordered, and the anti-collision ball is sleeved outside the pipeline wrapped, so that the pipeline wrapped with the robot is prevented from being abraded due to friction.
3. The whole pipeline packaging device can adapt to multi-directional and multi-posture operation of the robot, can protect cables and prolong the service life of the cables.
Drawings
FIG. 1 is a functional schematic diagram of one embodiment of the present invention;
FIG. 2 is a perspective view of the overall structure of one embodiment of the present invention;
FIG. 3 is a perspective view of a line pack arrangement in accordance with one embodiment of the present invention;
FIG. 4 is a cross-sectional view of a front end pinch clamp assembly in accordance with one embodiment of the present invention;
FIG. 5 is a cross-sectional view of a four-axis fixation clamp assembly in accordance with one embodiment of the present invention;
FIG. 6 is a cross-sectional view of a distal end pinch-grip assembly in accordance with one embodiment of the present invention;
in the figure, 1, six-axis robot; 2. a column; 3. a robot mount; 101. a robot shaft; 102. a robot biaxial; 103. three axes of the robot; 104. a robot four-axis; 105. five shafts of the robot; 106. six axes of the robot; 4. a front end fixing clip assembly; 401. a bearing; 402. a bearing seat; 403. a rotating shaft; 404. a pipeline channel-wrapping plate; 405. a bearing block end cover; 406. fixing the inner clamp; 5. a four-axis retaining clip assembly; 501. a spring; 502. a sliding inner clamp; 6. a distal fixation clamp assembly; 601. a wire divider; 602. a terminal spherical sleeve; 603. an anti-collision ball 7 and a pipeline packet; 8. fixing a bracket; 9. a pipeline.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
The invention provides a six-axis robot pipeline wrapping device, which comprises:
the robot comprises a pipeline wrapping device, a six-axis robot 1 and a robot mounting seat 3, wherein the six-axis robot 1 comprises six robot axes and a mechanical arm, and the six robot axes are a first robot axis 101, a second robot axis 102, a third robot axis 103, a fourth robot axis 104, a fifth robot axis 105 and a sixth robot axis 106 respectively;
the first robot shaft 101 is connected with the second robot shaft 102; the three robot shafts 103, the four robot shafts 104, the five robot shafts 105 and the six robot shafts 106 are connected in sequence;
the pipeline packaging device is wound on the six-axis robot 1, one end of the pipeline packaging device is connected with the six-axis robot 106, and the other end of the pipeline packaging device is connected with the robot mounting seat 3;
the middle part of the pipeline wrapping device is connected with the six-axis robot 1;
the pipeline packaging device comprises a pipeline package 7, a front end fixing clamp assembly 4, a fixing support 8, a four-axis fixing clamp assembly 5 and a tail end fixing clamp assembly 6, wherein the front end fixing clamp assembly 4, the fixing support 8, the four-axis fixing clamp assembly 5 and the tail end fixing clamp assembly 6 are all used for connecting the pipeline package 7 with the six-axis robot 1.
According to a specific embodiment of the present invention, the front fixing clip assembly 4 is fitted around one end of the hose package 7, the fixing bracket 8 and the four-axis fixing clip assembly 5 are sequentially fitted around the middle of the hose package 7, and the rear fixing clip assembly 6 is sequentially fitted around the other end of the hose package 7.
According to a specific embodiment of the present invention, the front end fixing clamp assembly 4 includes a bearing 401, a bearing housing 402, a rotating shaft 403, a pipeline sheathing plate 404, a bearing housing end cover 405, and a fixing inner clamp 406;
the bearing 401 and the rotating shaft 403 are integrally nested in the bearing 401, the bearing seat 402 is fixed on the robot mounting seat 3 through screws, and the bearing seat end cover 405 is connected on the bearing seat 402 through screws;
the pipeline slot plate 404 is fixed on the rotating shaft 403 by screws;
the pipeline packet 7 is sleeved in the fixed inner clamp 406 to form a whole, and the fixed inner clamp 406 is connected with the pipeline packet slot plate 404.
According to one embodiment of the invention, the four-axis stationary clamp assembly 5 includes a spring 501 and a sliding inner clamp 502, the pipeline package 7 passes through the sliding inner clamp 502, the spring 501 is sleeved on the outer surface of the pipeline package 7, and the pipeline package 7 can slide in the sliding inner clamp 502.
According to one embodiment of the present invention, the tip retaining clip assembly 6 includes a tip ball sleeve 602, a wire divider 601, and a bump ball 603; the pipeline packet 7 wound with the spring 501 is sleeved in one end of the tail end spherical sleeve 602, the deconcentrator 601 is arranged at the other end of the tail end spherical sleeve 602, and the anti-collision ball 603 is sleeved outside the pipeline packet 7.
According to one embodiment of the invention, the top of the robot mount 3 is connected to the front end of the hose wrapping device to secure the clamp assembly 4, and the bottom of the robot mount 3 is connected to a robot shaft 101.
According to a specific embodiment of the present invention, the fixed bracket 8 comprises a plurality of fixed brackets, the pipeline package device is connected with the six-axis robot 1 through the fixed brackets 8, and the fixed brackets 8 are respectively installed near the two robot axes 102 and the three robot axes 103.
According to one embodiment of the invention, the pipeline wrapping device is further connected to the six-axis robot 1 through a four-axis stationary clamp assembly 5, and the four-axis stationary clamp assembly 5 is fixedly connected to the four-axis robot 104 through a four-axis mounting bracket.
According to one embodiment of the invention, the coil wrapping device is also connected to the six-axis robot 1 by an end mounting clamp assembly 6, the end mounting clamp assembly 6 being fixedly attached to the six-axis robot 106 by an end mounting bracket.
Example 1
The six-axis robot bobbin-winding device according to the present invention will be described in detail below, according to one embodiment of the present invention.
The invention provides a six-axis robot pipeline wrapping device, which comprises:
the robot comprises a pipeline wrapping device, a six-axis robot 1 and a robot mounting seat 3, wherein the six-axis robot 1 comprises six robot axes and a mechanical arm, and the six robot axes are a first robot axis 101, a second robot axis 102, a third robot axis 103, a fourth robot axis 104, a fifth robot axis 105 and a sixth robot axis 106 respectively;
the first robot shaft 101 is connected with the second robot shaft 102; the three robot shafts 103, the four robot shafts 104, the five robot shafts 105 and the six robot shafts 106 are connected in sequence;
the pipeline packaging device is wound on the six-axis robot 1, one end of the pipeline packaging device is connected with the six-axis robot 106, and the other end of the pipeline packaging device is connected with the robot mounting seat 3;
the middle part of the pipeline wrapping device is connected with the six-axis robot 1;
the pipeline packaging device comprises a pipeline package 7, a front end fixing clamp assembly 4, a fixing support 8, a four-axis fixing clamp assembly 5 and a tail end fixing clamp assembly 6, wherein the front end fixing clamp assembly 4, the fixing support 8, the four-axis fixing clamp assembly 5 and the tail end fixing clamp assembly 6 are all used for connecting the pipeline package 7 with the six-axis robot 1.
Referring to fig. 1, the whole pipeline package is wound on the machine body, a front end fixing clamp assembly 4 is fixed at the position of a robot mounting seat 3, a pipeline package 7 is sleeved in the front end fixing clamp assembly 4, and when a shaft 101 of the robot rotates, the front end fixing clamp assembly 4 can rotate along with the rotation of the robot mounting seat for solving the problem that the pipeline package 7 is folded. The four-axis fixing clamp assembly 5 is fixed near the four axes 104 of the robot, the spring 501 is sleeved on the outer surface of the pipeline packet 7, the pipeline packet 7 penetrates through the sliding type inner clamp 502, so that the pipeline packet 7 has elasticity, and when the four axes 104 of the robot do stretching movement, the pipeline packet 7 is in the sliding type inner clamp 502, so that the problem of abrasion of the pipeline packet 7 is solved. The end fixing clamp assembly 6 is fixed near the six-axis 106 of the robot, the pipeline is orderly distributed by the deconcentrator 601, and the pipeline package 7 has the rotatability by the end spherical sleeve 602, so that the problem of torsional abrasion of the pipeline package 7 when the six-axis 106 of the robot rotates is solved.
Example 2
The six-axis robot bobbin-winding device according to the present invention will be described in detail below, according to one embodiment of the present invention.
The invention provides a six-axis robot pipeline wrapping device, which comprises:
the robot comprises a pipeline wrapping device, a six-axis robot 1 and a robot mounting seat 3, wherein the six-axis robot 1 comprises six robot axes and a mechanical arm, and the six robot axes are a first robot axis 101, a second robot axis 102, a third robot axis 103, a fourth robot axis 104, a fifth robot axis 105 and a sixth robot axis 106 respectively;
the first robot shaft 101 is connected with the second robot shaft 102; the three robot shafts 103, the four robot shafts 104, the five robot shafts 105 and the six robot shafts 106 are connected in sequence;
the pipeline packaging device is wound on the six-axis robot 1, one end of the pipeline packaging device is connected with the six-axis robot 106, and the other end of the pipeline packaging device is connected with the robot mounting seat 3; the middle part of the pipeline wrapping device is connected with the six-axis robot 1;
the pipeline packaging device comprises a pipeline package 7, a front end fixing clamp assembly 4, a fixing support 8, a four-axis fixing clamp assembly 5 and a tail end fixing clamp assembly 6, wherein the front end fixing clamp assembly 4, the fixing support 8, the four-axis fixing clamp assembly 5 and the tail end fixing clamp assembly 6 are all used for connecting the pipeline package 7 with the six-axis robot 1.
The front end fixing clamp assembly 4 is sleeved at one end of a pipeline package 7, the fixing support 8 and the four-axis fixing clamp assembly 5 are sequentially sleeved in the middle of the pipeline package 7, and the tail end fixing clamp assembly 6 is sequentially sleeved at the other end of the pipeline package 7.
The top of the robot mounting seat 3 is connected with the front end of the solenoid device to fix the clamping assembly 4, and the bottom of the robot mounting seat 3 is connected with a robot shaft 101.
The fixed support 8 comprises a plurality of pipeline packs, the pipeline packs are connected with the six-axis robot 1 through the fixed support 8, and the fixed support 8 is respectively arranged near the two-axis 102 and the three-axis 103 of the robot.
The pipeline winding device is further connected with the six-axis robot 1 through a four-axis fixing clamp assembly 5, and the four-axis fixing clamp assembly 5 is fixedly connected to a four-axis 104 of the robot through a four-axis mounting frame.
The coil package device is also connected with the six-axis robot 1 through the end fixing clamp assembly 6, and the end fixing clamp assembly 6 is fixedly connected to the six-axis robot 106 through an end mounting frame.
Example 3
The six-axis robot bobbin-winding device according to the present invention will be described in detail below, according to one embodiment of the present invention.
The invention provides a six-axis robot pipeline wrapping device, which comprises:
the robot comprises a pipeline wrapping device, a six-axis robot 1 and a robot mounting seat 3, wherein the six-axis robot 1 comprises six robot axes and a mechanical arm, and the six robot axes are a first robot axis 101, a second robot axis 102, a third robot axis 103, a fourth robot axis 104, a fifth robot axis 105 and a sixth robot axis 106 respectively;
the first robot shaft 101 is connected with the second robot shaft 102; the three robot shafts 103, the four robot shafts 104, the five robot shafts 105 and the six robot shafts 106 are connected in sequence;
the pipeline packaging device is wound on the six-axis robot 1, one end of the pipeline packaging device is connected with the six-axis robot 106, and the other end of the pipeline packaging device is connected with the robot mounting seat 3;
the middle part of the pipeline wrapping device is connected with the six-axis robot 1;
the pipeline packaging device comprises a pipeline package 7, a front end fixing clamp assembly 4, a fixing support 8, a four-axis fixing clamp assembly 5 and a tail end fixing clamp assembly 6, wherein the front end fixing clamp assembly 4, the fixing support 8, the four-axis fixing clamp assembly 5 and the tail end fixing clamp assembly 6 are all used for connecting the pipeline package 7 with the six-axis robot 1.
The front end fixing clamp assembly 4 is sleeved at one end of a pipeline package 7, the fixing support 8 and the four-axis fixing clamp assembly 5 are sequentially sleeved in the middle of the pipeline package 7, and the tail end fixing clamp assembly 6 is sequentially sleeved at the other end of the pipeline package 7.
The front end fixing clamp assembly 4 comprises a bearing 401, a bearing seat 402, a rotating shaft 403, a pipeline cladding plate 404, a bearing seat end cover 405 and a fixing inner clamp 406;
the bearing 401 and the rotating shaft 403 are integrally nested in the bearing 401, the bearing seat 402 is fixed on the robot mounting seat 3 through screws, and the bearing seat end cover 405 is connected on the bearing seat 402 through screws;
the pipeline slot plate 404 is fixed on the rotating shaft 403 by screws;
the pipeline packet 7 is sleeved in the fixed inner clamp 406 to form a whole, and the fixed inner clamp 406 is connected with the pipeline packet slot plate 404.
The top of the robot mounting seat 3 is connected with the front end of the solenoid device to fix the clamping assembly 4, and the bottom of the robot mounting seat 3 is connected with a robot shaft 101.
The fixed support 8 comprises a plurality of pipeline packs, the pipeline packs are connected with the six-axis robot 1 through the fixed support 8, and the fixed support 8 is respectively arranged near the two-axis 102 and the three-axis 103 of the robot.
The pipeline winding device is further connected with the six-axis robot 1 through a four-axis fixing clamp assembly 5, and the four-axis fixing clamp assembly 5 is fixedly connected to a four-axis 104 of the robot through a four-axis mounting frame.
The coil package device is also connected with the six-axis robot 1 through the end fixing clamp assembly 6, and the end fixing clamp assembly 6 is fixedly connected to the six-axis robot 106 through an end mounting frame.
Referring to fig. 4, a bearing 401 is sleeved on a rotating shaft 403 to form a whole, the bearing 401 is then integrally nested in a bearing seat 402, the bearing seat 402 is locked on a robot mounting seat 3 by screws, a bearing seat end cover 405 is locked on the bearing seat 402 by screws, a pipeline wrapping plate 404 is locked on the rotating shaft 403 by screws, a pipeline package 7 is sleeved on a fixed inner clamp 406 to form a whole, the whole is clamped in the fixed seat, and the fixed seat is connected with the pipeline wrapping plate 404, so that when the robot shaft 101 rotates, the rotating shaft 403 rotates along with the rotation of the robot shaft, the pipeline wrapping plate 404 and the pipeline package 7 are driven to rotate, and cable breakage and abrasion caused by the fixed mounting mode of the pipeline package 7 are avoided.
Example 4
The six-axis robot bobbin-winding device according to the present invention will be described in detail below, according to one embodiment of the present invention.
The invention provides a six-axis robot pipeline wrapping device, which comprises:
the robot comprises a pipeline wrapping device, a six-axis robot 1 and a robot mounting seat 3, wherein the six-axis robot 1 comprises six robot axes and a mechanical arm, and the six robot axes are a first robot axis 101, a second robot axis 102, a third robot axis 103, a fourth robot axis 104, a fifth robot axis 105 and a sixth robot axis 106 respectively;
the first robot shaft 101 is connected with the second robot shaft 102; the three robot shafts 103, the four robot shafts 104, the five robot shafts 105 and the six robot shafts 106 are connected in sequence;
the pipeline packaging device is wound on the six-axis robot 1, one end of the pipeline packaging device is connected with the six-axis robot 106, and the other end of the pipeline packaging device is connected with the robot mounting seat 3;
the middle part of the pipeline wrapping device is connected with the six-axis robot 1;
the pipeline packaging device comprises a pipeline package 7, a front end fixing clamp assembly 4, a fixing support 8, a four-axis fixing clamp assembly 5 and a tail end fixing clamp assembly 6, wherein the front end fixing clamp assembly 4, the fixing support 8, the four-axis fixing clamp assembly 5 and the tail end fixing clamp assembly 6 are all used for connecting the pipeline package 7 with the six-axis robot 1.
The front end fixing clamp assembly 4 is sleeved at one end of a pipeline package 7, the fixing support 8 and the four-axis fixing clamp assembly 5 are sequentially sleeved in the middle of the pipeline package 7, and the tail end fixing clamp assembly 6 is sequentially sleeved at the other end of the pipeline package 7.
The four-shaft fixed clamp assembly 5 comprises a spring 501 and a sliding inner clamp 502, the pipeline package 7 passes through the sliding inner clamp 502, the spring 501 is sleeved on the outer surface of the pipeline package 7, and the pipeline package 7 can slide in the sliding inner clamp 502.
The top of the robot mounting seat 3 is connected with the front end of the solenoid device to fix the clamping assembly 4, and the bottom of the robot mounting seat 3 is connected with a robot shaft 101.
The fixed support 8 comprises a plurality of pipeline packs, the pipeline packs are connected with the six-axis robot 1 through the fixed support 8, and the fixed support 8 is respectively arranged near the two-axis 102 and the three-axis 103 of the robot.
The pipeline winding device is further connected with the six-axis robot 1 through a four-axis fixing clamp assembly 5, and the four-axis fixing clamp assembly 5 is fixedly connected to a four-axis 104 of the robot through a four-axis mounting frame.
The coil package device is also connected with the six-axis robot 1 through the end fixing clamp assembly 6, and the end fixing clamp assembly 6 is fixedly connected to the six-axis robot 106 through an end mounting frame.
Referring to fig. 5, the pipeline packet 7 passes through the sliding inner clamp 502, the spring 501 is sleeved on the outer surface of the pipeline packet 7, when the four-axis robot 104 acts, the pipeline packet 7 slides in the sliding inner clamp 502, the spring 501 enables the pipeline packet 7 to have stretchability, and the phenomenon that the pipeline packet 7 interferes and is abraded along with multi-posture operation of the robot is avoided.
Example 5
The six-axis robot bobbin-winding device according to the present invention will be described in detail below, according to one embodiment of the present invention.
The invention provides a six-axis robot pipeline wrapping device, which comprises:
the robot comprises a pipeline wrapping device, a six-axis robot 1 and a robot mounting seat 3, wherein the six-axis robot 1 comprises six robot axes and a mechanical arm, and the six robot axes are a first robot axis 101, a second robot axis 102, a third robot axis 103, a fourth robot axis 104, a fifth robot axis 105 and a sixth robot axis 106 respectively;
the first robot shaft 101 is connected with the second robot shaft 102; the three robot shafts 103, the four robot shafts 104, the five robot shafts 105 and the six robot shafts 106 are connected in sequence;
the pipeline packaging device is wound on the six-axis robot 1, one end of the pipeline packaging device is connected with the six-axis robot 106, and the other end of the pipeline packaging device is connected with the robot mounting seat 3;
the middle part of the pipeline wrapping device is connected with the six-axis robot 1;
the pipeline packaging device comprises a pipeline package 7, a front end fixing clamp assembly 4, a fixing support 8, a four-axis fixing clamp assembly 5 and a tail end fixing clamp assembly 6, wherein the front end fixing clamp assembly 4, the fixing support 8, the four-axis fixing clamp assembly 5 and the tail end fixing clamp assembly 6 are all used for connecting the pipeline package 7 with the six-axis robot 1.
The front end fixing clamp assembly 4 is sleeved at one end of a pipeline package 7, the fixing support 8 and the four-axis fixing clamp assembly 5 are sequentially sleeved in the middle of the pipeline package 7, and the tail end fixing clamp assembly 6 is sequentially sleeved at the other end of the pipeline package 7.
The end fixing clamp assembly 6 comprises an end spherical sleeve 602, a wire divider 601 and an anti-collision ball 603; the pipeline packet 7 wound with the spring 501 is sleeved in one end of the tail end spherical sleeve 602, the deconcentrator 601 is arranged at the other end of the tail end spherical sleeve 602, and the anti-collision ball 603 is sleeved outside the pipeline packet 7.
The top of the robot mounting seat 3 is connected with the front end of the solenoid device to fix the clamping assembly 4, and the bottom of the robot mounting seat 3 is connected with a robot shaft 101.
The fixed support 8 comprises a plurality of pipeline packs, the pipeline packs are connected with the six-axis robot 1 through the fixed support 8, and the fixed support 8 is respectively arranged near the two-axis 102 and the three-axis 103 of the robot.
The pipeline winding device is further connected with the six-axis robot 1 through a four-axis fixing clamp assembly 5, and the four-axis fixing clamp assembly 5 is fixedly connected to a four-axis 104 of the robot through a four-axis mounting frame.
The coil package device is also connected with the six-axis robot 1 through the end fixing clamp assembly 6, and the end fixing clamp assembly 6 is fixedly connected to the six-axis robot 106 through an end mounting frame.
Referring to fig. 6, the pipeline packet 7 wound with the spring 501 is sleeved inside one end of the terminal spherical sleeve 602, so that the pipeline packet 7 has rotation, in order to avoid the crossing and disorder of a plurality of cables, a wire splitter 601 is arranged at the other end of the terminal spherical sleeve 602, each cable passes through a wire hole of the wire splitter 601, and an anti-collision ball 603 is sleeved outside the pipeline packet 7 to prevent the pipeline packet 7 from being abraded due to friction with a robot. The whole pipeline package device can adapt to the multi-directional and multi-posture operation of the robot, can protect cables and prolong the service life of the cables.
Example 6
The six-axis robot bobbin-winding device according to the present invention will be described in detail below, according to one embodiment of the present invention.
The invention provides a six-axis robot pipeline wrapping device, which comprises:
the robot comprises a pipeline wrapping device, a six-axis robot 1 and a robot mounting seat 3, wherein the six-axis robot 1 comprises six robot axes and a mechanical arm, and the six robot axes are a first robot axis 101, a second robot axis 102, a third robot axis 103, a fourth robot axis 104, a fifth robot axis 105 and a sixth robot axis 106 respectively;
the first robot shaft 101 is connected with the second robot shaft 102; the three robot shafts 103, the four robot shafts 104, the five robot shafts 105 and the six robot shafts 106 are connected in sequence;
the pipeline packaging device is wound on the six-axis robot 1, one end of the pipeline packaging device is connected with the six-axis robot 106, and the other end of the pipeline packaging device is connected with the robot mounting seat 3;
the middle part of the pipeline wrapping device is connected with the six-axis robot 1;
the pipeline packaging device comprises a pipeline package 7, a front end fixing clamp assembly 4, a fixing support 8, a four-axis fixing clamp assembly 5 and a tail end fixing clamp assembly 6, wherein the front end fixing clamp assembly 4, the fixing support 8, the four-axis fixing clamp assembly 5 and the tail end fixing clamp assembly 6 are all used for connecting the pipeline package 7 with the six-axis robot 1.
The front end fixing clamp assembly 4 is sleeved at one end of a pipeline package 7, the fixing support 8 and the four-axis fixing clamp assembly 5 are sequentially sleeved in the middle of the pipeline package 7, and the tail end fixing clamp assembly 6 is sequentially sleeved at the other end of the pipeline package 7.
The front end fixing clamp assembly 4 comprises a bearing 401, a bearing seat 402, a rotating shaft 403, a pipeline cladding plate 404, a bearing seat end cover 405 and a fixing inner clamp 406;
the bearing 401 and the rotating shaft 403 are integrally nested in the bearing 401, the bearing seat 402 is fixed on the robot mounting seat 3 through screws, and the bearing seat end cover 405 is connected on the bearing seat 402 through screws;
the pipeline slot plate 404 is fixed on the rotating shaft 403 by screws;
the pipeline packet 7 is sleeved in the fixed inner clamp 406 to form a whole, and the fixed inner clamp 406 is connected with the pipeline packet slot plate 404.
The four-shaft fixed clamp assembly 5 comprises a spring 501 and a sliding inner clamp 502, the pipeline package 7 passes through the sliding inner clamp 502, the spring 501 is sleeved on the outer surface of the pipeline package 7, and the pipeline package 7 can slide in the sliding inner clamp 502.
The end fixing clamp assembly 6 comprises an end spherical sleeve 602, a wire divider 601 and an anti-collision ball 603; the pipeline packet 7 wound with the spring 501 is sleeved in one end of the tail end spherical sleeve 602, the deconcentrator 601 is arranged at the other end of the tail end spherical sleeve 602, and the anti-collision ball 603 is sleeved outside the pipeline packet 7.
The top of the robot mounting seat 3 is connected with the front end of the solenoid device to fix the clamping assembly 4, and the bottom of the robot mounting seat 3 is connected with a robot shaft 101.
The fixed support 8 comprises a plurality of pipeline packs, the pipeline packs are connected with the six-axis robot 1 through the fixed support 8, and the fixed support 8 is respectively arranged near the two-axis 102 and the three-axis 103 of the robot.
The pipeline winding device is further connected with the six-axis robot 1 through a four-axis fixing clamp assembly 5, and the four-axis fixing clamp assembly 5 is fixedly connected to a four-axis 104 of the robot through a four-axis mounting frame.
The coil package device is also connected with the six-axis robot 1 through the end fixing clamp assembly 6, and the end fixing clamp assembly 6 is fixedly connected to the six-axis robot 106 through an end mounting frame.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. A six-axis robot solenoid device, comprising:
the six-axis robot comprises six robot axes and a mechanical arm, wherein the six robot axes are respectively a first robot axis, a second robot axis, a third robot axis, a fourth robot axis, a fifth robot axis and a sixth robot axis;
the first shaft of the robot is connected with the second shaft of the robot; the three robot shafts, the four robot shafts, the five robot shafts and the six robot shafts are sequentially connected;
the pipeline packaging device is wound with a six-axis robot, one end of the pipeline packaging device is connected with the six axes of the robot, and the other end of the pipeline packaging device is connected with the robot mounting seat;
the middle part of the pipeline wrapping device is connected with the six-axis robot;
the pipeline packaging device comprises a pipeline package, a front end fixing clamp assembly, a fixing support, a four-axis fixing clamp assembly and a tail end fixing clamp assembly, wherein the front end fixing clamp assembly, the fixing support, the four-axis fixing clamp assembly and the tail end fixing clamp assembly are all used for connecting the pipeline package with the six-axis robot.
2. The six-axis robot solenoid device of claim 1,
the front end fixing clamp assembly is sleeved at one end of the pipeline package, the fixing support and the four-axis fixing clamp assembly are sequentially sleeved in the middle of the pipeline package, and the tail end fixing clamp assembly is sequentially sleeved at the other end of the pipeline package.
3. The six-axis robot pipeline wrapping device according to claim 2, wherein the front end fixing clamp assembly comprises a bearing, a bearing seat, a rotating shaft, a pipeline wrapping plate, a bearing seat end cover and a fixing inner clamp;
the bearing and the rotating shaft are integrally nested in the bearing, the bearing block is fixed on the robot mounting seat through a screw, and the end cover of the bearing block is connected to the bearing block through a screw;
the pipeline slot plate is fixed on the rotating shaft through a screw;
the pipeline is sleeved in the fixed inner clamp to form a whole, and the fixed inner clamp is connected with the pipeline wrapping groove plate.
4. The six-axis robotic line package assembly of claim 1, wherein the four-axis stationary clamp assembly includes a spring and a sliding inner clamp, the line package passing through the sliding inner clamp, the spring being sleeved on an outer surface of the line package, the line package being slidable within the sliding inner clamp.
5. The six-axis robot solenoid assembly of claim 1, wherein the distal retaining clip assembly comprises a distal spherical sleeve, a wire divider, and a crash ball; the pipeline wound with the spring is sheathed in one end of the tail end spherical sleeve, the other end of the tail end spherical sleeve is provided with the deconcentrator, and the anti-collision ball is sheathed outside the pipeline packet.
6. The six-axis robot solenoid assembly of claim 1, wherein the top of the robot mount connects to the front end of the robot solenoid assembly to secure the clamp assembly, and the bottom of the robot mount connects to a robot axis.
7. The six-axis robot pipeline wrapping device according to claim 6, wherein the fixed support comprises a plurality of fixed supports, the pipeline wrapping device is connected with the six-axis robot through the fixed supports, and the fixed supports are respectively installed near the two axes of the robot and the three axes of the robot.
8. The six-axis robot coil assembly of claim 7, wherein the coil assembly is further connected to the six-axis robot by a four-axis stationary clamp assembly, the four-axis stationary clamp assembly being fixedly attached to the four axes of the robot by a four-axis mounting bracket.
9. The six-axis robot coil assembly of claim 8, wherein the coil assembly is further connected to the six-axis robot by an end mounting clamp assembly, the end mounting clamp assembly being fixedly attached to the six-axis robot by an end mounting bracket.
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| CN202111090800.3A CN113752299A (en) | 2021-09-17 | 2021-09-17 | Six-axis robot pipeline package device |
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| CN202111090800.3A CN113752299A (en) | 2021-09-17 | 2021-09-17 | Six-axis robot pipeline package device |
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