CN213647615U - Robot arm trachea reset structure - Google Patents

Abstract

The utility model discloses a robot arm trachea structure that resets, including arm and trachea, the arm includes straight line portion and the flexion of being connected with this straight line portion, be provided with the slide guiding device along the arm, this slide guiding device includes two at least slide guiding rings, be connected with the protection spiral spring between two adjacent slide guiding rings, the slide guiding ring that is located the arbitrary one end of slide guiding device is connected with the spiral spring that resets, the spiral spring that should reset is parallel with straight line portion, the trachea is worn to be equipped with slide guiding device and the spiral spring that resets internalization, this tracheal outer wall is connected with the free end of spiral spring that resets, so that the trachea compresses or tensile spiral spring that resets when sliding. The utility model has the advantages that: the trachea receives spacing, support and guard action on the arm, prevents that trachea part from taking place sharp bending, and the trachea can automatic re-setting after the tractive, prevents that the trachea from piling up in the one end bending of arm, and sliding resistance is low, extension trachea life.

Description

Robot arm trachea reset structure

Technical Field

The utility model belongs to the field of automatic handling device, concretely relates to robot arm trachea reset structure.

Background

Automated production is increasingly being produced using automated transfer robots. Some robots use a chuck mechanism or a cylinder-driven jaw to adsorb a workpiece for transportation, for example, a plurality of chucks are arranged at the front end of a mechanical arm to grab a sheet metal in a sheet metal machining process. Like this kind of work scene, sometimes need set up the trachea along the arm and carry out the air feed for the sucking disc or the cylinder of front end. Furthermore, the trachea may stretch or/and bend with the movement of the mechanical wall, and needs to be reset after the movement is completed, which may cause the trachea to partially bend and interfere with other parts. The pipeline of the mechanical arm is protected by mature products in the industry, such as a corrugated pipe and a drag chain, but the pipeline is not suitable for the situation that the air pipe stretches in the working process of the mechanical arm. This is because the air tube slides axially with respect to the bellows or the drag chain fitted around the outer side of the air tube when the air tube is stretched, and if the air tube is inserted into the bellows or the drag chain, the air tube slides with a large resistance, and the air tube is damaged by repeated rubbing for a long time, and the air tube is difficult to return after being stretched. In addition, the air pipe does not need to be completely covered and protected by the corrugated pipe or the drag chain in some occasions, the cost is increased by using the protection structure, and the air pipe is not changed. Therefore, a structure suitable for resetting the air pipe of the mechanical arm, in particular to a robot mechanical arm, needs to be designed.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a robot arm trachea reset structure.

The technical scheme is as follows:

a robot arm air pipe reset structure comprises an arm and an air pipe, wherein the arm comprises a straight part and a bending part connected with the straight part, and the key point is that a sliding guide device is arranged along the arm and comprises at least two sliding guide rings, a protection spiral spring is connected between every two adjacent sliding guide rings, and the two sliding guide rings at the two ends of the sliding guide device are respectively positioned at the two ends of the bending part;

the slide guide ring at any end of the slide guide device is connected with a reset spiral spring, and the reset spiral spring is arranged on the same central line with the connected slide guide ring and is parallel to the linear part;

the air pipe is movably arranged in the sliding guide device and the reset spiral spring in a penetrating mode, a limiting protrusion is arranged on the outer wall of the air pipe and connected with the free end of the reset spiral spring, and therefore the air pipe compresses or stretches the reset spiral spring when sliding.

Design more than adopting, the slip guide ring plays guide and supporting role to the trachea when the trachea receives the tractive to remove, and the protection spiral spring plays support guard action to the trachea, and trachea sliding resistance is low, and the spiral spring that resets is connected with limit structure on the trachea, plays tensile or compression effect to the spiral spring that resets when the trachea removes, and after the tractive force that the trachea received disappears, the spiral spring that resets drove the trachea and resets, prevents that the trachea from piling up in the one end bending of mechanical arm, also prevents that the trachea is local to take place sharp buckling, extension trachea life.

Preferably, the end of the slide guide device near the end of the robot arm is an upstream end, the slide guide ring at the upstream end of the slide guide device is connected to the return coil spring, the return coil spring is located on the upstream side of the slide guide device, the return coil spring is a compression spring, and the limit protrusion abuts against the upstream end of the compression spring.

By adopting the design, the air pipe compresses the pressure spring when being pulled, and the pressure spring pushes the air pipe to reset after the pulling force is relieved.

Preferably, the slide guide device has a downstream end at an end thereof close to the front end of the arm, the slide guide ring at the downstream end of the slide guide device is connected to the return coil spring, the return coil spring is located at a downstream side of the slide guide device, the return coil spring is a tension spring, and a downstream end of the tension spring is connected to the stopper projection.

By adopting the design, the tension spring is stretched when the air pipe is pulled, and the tension spring pushes the air pipe to reset after the pulling force is relieved.

As a preferred technical solution, the sliding guide device includes at least three sliding guide rings, all the sliding guide rings are arranged along the direction of the bending portion, the sliding guide ring located in the middle is located in the middle of the bending portion, and the protection coil springs are respectively connected between any two adjacent sliding guide rings.

Design more than adopting, to the great arm of crookedness, set up a plurality of slip guide rings and help keeping its progressively crooked to the trachea for the trachea slides along arm flexion trend.

As a preferred technical solution, the sliding guide ring includes a ring sleeve, at least three elastic telescopic mechanisms are circumferentially distributed on the ring sleeve, the elastic telescopic mechanisms are disposed on the ring sleeve and radially extend and retract along the ring sleeve, inner ends of the elastic telescopic mechanisms extend into an inner cavity of the ring sleeve, inner ends of each elastic telescopic mechanism are respectively provided with a roller, and a roller of each roller is perpendicular to a center line of the ring sleeve.

By adopting the design, the elastic telescopic mechanisms can adapt to the deformation of the air pipes, and the rollers at the inner ends of the elastic telescopic mechanisms play a role in supporting, limiting and guiding the air pipes.

As the preferred technical scheme, the loop comprises an outer loop and an inner guide sleeve which are sleeved on the same center line;

the middle section of the inner guide sleeve in the axial direction is concave to form an annular groove, and an area between the annular groove and the outer hoop sleeve forms an accommodating cavity of the elastic telescopic mechanism;

correspond every on the tank bottom of annular the via hole has been seted up respectively to the elastic telescoping mechanism, every wear to be equipped with respectively in the via hole the elastic telescoping mechanism, the outer end of elastic telescoping mechanism supports and leans on the inner wall of outer hoop cover.

By adopting the design, the elastic telescopic mechanism is convenient to install, the outer hoop sleeve plays a role in restraining the elastic telescopic mechanism, the outer wall of the sliding guide ring is smooth as a whole, and interference with other parts is not easy to occur during installation.

As a preferred technical scheme, the end part of the inner guide sleeve, which is close to the reset spiral spring or the protection spiral spring, is recessed inwards to form an annular groove, an arc-shaped groove is arranged at the end part of the inner guide sleeve, which is positioned at the same end of the groove, one end of the arc-shaped groove is communicated with the groove, and the other end of the arc-shaped groove extends to the edge of the inner guide sleeve;

the end part of the protection spiral spring is sleeved in the corresponding groove, and a rib of the reset spiral spring or the protection spiral spring extends out of the ring sleeve from the arc-shaped groove;

the outer hoop sleeve tightly embraces the inner guide sleeve and seals the groove and the arc-shaped groove.

By adopting the design, the reset spiral spring and the protection spiral spring are conveniently and firmly connected with the sliding guide ring.

As a preferred technical scheme, the elastic telescopic mechanism comprises an outer cylinder and an inner cylinder, wherein both the outer cylinder and the inner cylinder are provided with an opening at one end and a closed end at the other end, the openings of the outer cylinder and the inner cylinder face opposite, the outer cylinder is sleeved outside the inner cylinder, a pressure spring is arranged in the inner cylinder, and two ends of the pressure spring respectively abut against the closed ends of the outer cylinder and the inner cylinder;

the outer edge of the opening of the outer cylinder body is provided with a limiting flange, the closed end of the outer cylinder body is connected with two oppositely arranged support lugs, and two ends of a wheel shaft of the roller wheel are respectively arranged on the corresponding support lugs in a penetrating manner;

the outer cylinder body is movably arranged in the through hole in a penetrating mode, the limiting flanging is located in the containing cavity, and the closed end of the inner cylinder body abuts against the inner wall of the outer hoop sleeve.

By adopting the design, the inner cylinder and the outer cylinder form a sliding pair and play a role in restraining the pressure spring, so that the roller can float radially when being pressed, and the adaptability to the air pipe is good.

As a preferred technical solution, the outer hoop includes a strip-shaped hoop body, the hoop body is bent into a ring shape, two ends of the hoop body respectively extend outward along a radial direction to form two tension plates, and the two tension plates are connected by a tension bolt;

two the tensioning board is connected with a mounting panel respectively, and two mounting panels are respectively dorsad the tensioning board extends, the mounting panel pastes and leans on the arm, the mounting panel is respectively through the fix with screw the arm surface.

By adopting the design, the sliding guide ring is convenient to be installed on the mechanical arm.

Compared with the prior art, the beneficial effects of the utility model are that: the air pipe is limited, supported and protected on the mechanical arm, so that the local part of the air pipe is prevented from being sharply bent; the sliding guide device can adapt to the change of the curvature of the mechanical arm within a certain range; the reset spiral spring drives the air pipe to reset, so that the air pipe is prevented from being bent and stacked at one end of the mechanical arm, the sliding resistance is low, and the service life of the air pipe is prolonged.

Drawings

Fig. 1 is a schematic structural view of a first embodiment of the present invention, in which a return coil spring is located upstream of a slide guide device;

FIG. 2 is a schematic view of the return coil spring of FIG. 1 being compressed;

fig. 3 is a schematic structural view of a second embodiment of the present invention, in which a return coil spring is located downstream of a slide guide device;

FIG. 4 is a schematic view of the slide guide and the return coil spring;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a schematic view of the structure of the slide guide ring;

FIG. 7 is a cross-sectional view taken along line B-B of FIG. 6;

FIG. 8 is a schematic view of the connection between the inner guide sleeve and the return or shield coil spring;

fig. 9 is a schematic view of the connection of the slide guide ring to the robot arm.

Detailed Description

The present invention will be further described with reference to the following examples and accompanying drawings.

A robot arm air pipe resetting structure comprises a robot arm a and an air pipe b, wherein the robot arm a comprises a straight line part a1 and a bending part a2 connected with the straight line part a1, a sliding guide device is arranged along the robot arm a and comprises at least two sliding guide rings 100, a protective spiral spring 200 is connected between every two adjacent sliding guide rings 100, and the two sliding guide rings 100 at two ends of the sliding guide device are respectively positioned at two ends of the bending part a 2. The end of the sliding guide device close to the tail end of the mechanical arm a is an upstream end, and the end of the sliding guide device close to the front end of the mechanical arm a is a downstream end. A return coil spring 300 is connected to the slide guide ring 100 at either end of the slide guide device, and the return coil spring 300 is disposed concentrically with the connected slide guide ring 100 and parallel to the linear portion a 1. The air tube b is movably inserted into the sliding guide device and the return coil spring 300, a limit protrusion b1 is disposed on the outer wall of the air tube b, and the limit protrusion b1 is connected with the free end of the return coil spring 300, so that the return coil spring 300 is compressed or stretched when the air tube b slides. Because the air tube b is bent and deformed at the bent part a2, the protection coil spring 200 which can be bent and deformed within a certain curvature range can well adapt to the trend of the bent part a2, and plays a role in supporting and protecting the air tube b, so that the air tube b is prevented from being rapidly deformed or even bent, and damage is prevented.

In one embodiment, as shown in fig. 1, the slide guide ring 100 at the upstream end of the slide guide device is connected with the return coil spring 300, the return coil spring 300 is located at the upstream side of the slide guide device, the return coil spring 300 is a compressed spring, and the limit projection b1 abuts against the upstream end of the compressed spring. As shown in fig. 2, when the air pipe b slides towards the front end of the mechanical arm a, the compression spring is compressed, and when the pulling force applied to the air pipe b is released, the elastic force of the compression spring drives the air pipe b to return to the original position.

In another embodiment, as shown in fig. 3, a return coil spring 300 is connected to the slide guide ring 100 at the downstream end of the slide guide, the return coil spring 300 is located at the downstream side of the slide guide, and the return coil spring 300 is a tension spring whose downstream end is connected to the stopper protrusion b 1.

For the mechanical arm with the short length or small bending degree of the bending part a2, the sliding guide device arranged at the bending part a2 comprises two sliding guide rings 100, and a protective coil spring 200 is connected between the two sliding guide rings 100, so that the air pipe b can be protected and slidably guided.

For the mechanical arm with the large length or large bending degree of the bent part a2, the sliding guide device comprises at least three sliding guide rings 100, all the sliding guide rings 100 are arranged along the direction of the bent part a2, wherein the sliding guide ring 100 in the middle is located in the middle of the bent part a2, and the protection coil spring 200 is connected between any two adjacent sliding guide rings 100.

The return coil spring 300 and the protection coil spring 200 may be coil springs of the same specification, and have an inner diameter close to the outer diameter of the air tube b, as shown in fig. 4.

The sliding guide ring 100 includes a ring sleeve, at least three elastic telescopic mechanisms 130 are circumferentially distributed on the ring sleeve, the elastic telescopic mechanisms 130 are arranged on the ring sleeve and are radially telescopic along the ring sleeve, the inner ends of the elastic telescopic mechanisms 130 extend into the inner cavity of the ring sleeve, the inner end of each elastic telescopic mechanism 130 is respectively provided with a roller 140, and the roller axis of each roller 140 is perpendicular to the central line of the ring sleeve.

As shown in fig. 5 and 6, the collar includes an outer collar 120 and an inner guide sleeve 110 which are concentrically arranged. The axial middle section of the inner guide sleeve 110 is recessed to form an annular groove 112, and the area between the annular groove 112 and the outer ferrule 120 forms a receiving chamber of the elastic telescopic mechanism 130. Through holes 111 are formed in the groove bottom of the ring groove 112, the through holes 111 correspond to the elastic telescopic mechanisms 130 one by one, the elastic telescopic mechanisms 130 penetrate through each through hole 111, and the outer ends of the elastic telescopic mechanisms 130 abut against the inner wall of the outer hoop cover 120. The through hole 111 is a square hole or other non-circular hole to prevent the elastic telescopic mechanism 130 from rotating.

As shown in fig. 5 and 7, the elastic telescopic mechanism 130 includes an outer cylinder 131 and an inner cylinder 132, both of which are open at one end and closed at the other end, the openings of the outer cylinder 131 and the inner cylinder 132 face to each other, the outer cylinder 131 is sleeved outside the inner cylinder 132, a compression spring 134 is disposed in the inner cylinder 132, and both ends of the compression spring 134 respectively abut against the closed ends of the outer cylinder 131 and the inner cylinder 132.

The closed end of the inner cylinder 132 abuts against the inner wall of the outer cuff 120. The outer cylinder 131 is movably arranged in the through hole 111 in a penetrating way. The outer edge of the opening of the outer cylinder body 131 is provided with a limiting flange, and the limiting flange is located in the containing cavity. The closed end of the outer cylinder 131 is connected with two oppositely arranged support lugs 133, and two ends of the wheel shaft of the roller 140 are respectively arranged on the corresponding support lugs 133 in a penetrating manner.

As shown in fig. 7 and 8, the end of the inner guide 110 near the shield coil spring 200 or the reset coil spring 300 is recessed to form an annular groove 113, an arc-shaped groove 114 is provided at the end of the inner guide 110 at the same end of the groove 113, one end of the arc-shaped groove 114 is communicated with the groove 113, and the other end of the arc-shaped groove 114 extends to the edge of the inner guide 110. The end of either one of the protection coil spring 200 or the return coil spring 300 is looped around the groove 113, and the rib of the protection coil spring 200 or the return coil spring 300 extends out of the loop from the arc-shaped groove 114. The outer cuff 120 embraces the inner guide sleeve 110 and closes the groove 113 and the arc-shaped groove 114. This connection structure facilitates lengthening or shortening of the slide guide device by increasing or decreasing the number of the slide guide ring 100 and the shield coil spring 200.

The outer cuff 120 may be in the shape of a hoop. In one embodiment, the outer cuff 120 includes a strip-shaped cuff body, which is bent into a ring shape, and two ends of the cuff body extend outward in a radial direction to form two tension plates 121, and the two tension plates 121 are connected by a tension bolt.

Further, the outer cuff 120 is provided with a mounting portion for facilitating mounting on a robot arm. Specifically, the mounting portion is a mounting plate 122. As shown in fig. 9, two mounting plates 122 are connected to each of the two tension plates 121. The mounting plate 122 is provided with a strip-shaped mounting hole. Two mounting plates 122 each extend away from the tensioning plate 121, said mounting plates 122 resting against the robot arm a and then being connected to the robot arm a by means of screws. The outer cuff 120 may also be attached by welding, riveting, or the like.

When the air tube b is inserted into the reset coil spring 300, the sliding guide ring 100 and the protection coil spring 200 support the air tube b, and the sliding guide ring 100 also guides the air tube b in a sliding manner. In the use process of the mechanical arm a, the air pipe b is pulled to move towards the front end of the mechanical arm a, and the limiting protrusion b1 extrudes the pressure spring and enables the pressure spring to be compressed or drives the tension spring to be stretched. After the pulling force of the air tube b is released, the elastic force of the reset spiral spring 300 drives the air tube b to reset, and the air tube b is prevented from being stacked at the front end of the mechanical arm a. Since the protection coil spring 200 of the slide guide device has a bending deformation capability, it is possible to accommodate the robot arm a having a different bent portion a2, and even to accommodate a dynamically deformed bent portion a2, such as bending due to an angle change at a joint of the robot arm a having a joint. The protection coil spring 200 supports and protects the trachea b, and the sliding guide ring 100 guides the trachea, thereby facilitating sliding and restoration of the trachea b.

Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and those skilled in the art can make various similar representations without departing from the spirit and the scope of the present invention.

Claims (9)

1. A robot arm trachea resetting structure, includes arm (a) and trachea (b), arm (a) includes straight line portion (a1) and flexion (a2) that is connected with this straight line portion (a1), its characterized in that: a sliding guide device is arranged along the mechanical arm (a), the sliding guide device comprises at least two sliding guide rings (100), a protective spiral spring (200) is connected between every two adjacent sliding guide rings (100), and the two sliding guide rings (100) at two ends of the sliding guide device are respectively positioned at two ends of the bending part (a 2);

a return coil spring (300) is connected to the slide guide ring (100) at either end of the slide guide device, and the return coil spring (300) is disposed on the same center line as the slide guide ring (100) connected thereto and is parallel to the linear portion (a 1);

the air pipe (b) is movably arranged in the sliding guide device and the reset coil spring (300) in a penetrating manner, a limiting protrusion (b1) is arranged on the outer wall of the air pipe (b), and the limiting protrusion (b1) is connected with the free end of the reset coil spring (300) so that the air pipe (b) compresses or stretches the reset coil spring (300) when sliding.

2. The robot arm trachea reduction structure of claim 1, wherein: one end of the sliding guide device close to the tail end of the mechanical arm (a) is an upstream end, the sliding guide ring (100) at the upstream end of the sliding guide device is connected with the reset spiral spring (300), the reset spiral spring (300) is positioned at the upstream side of the sliding guide device, the reset spiral spring (300) is a compressed spring, and the limit protrusion (b1) abuts against the upstream end of the compressed spring.

3. The robot arm trachea reduction structure of claim 1, wherein: the sliding guide device is characterized in that one end, close to the front end of the mechanical arm (a), of the sliding guide device is a downstream end, the sliding guide ring (100) located at the downstream end of the sliding guide device is connected with the reset spiral spring (300), the reset spiral spring (300) is located on the downstream side of the sliding guide device, the reset spiral spring (300) is a tension spring, and the downstream end of the tension spring is connected with the limiting protrusion (b 1).

4. The robot mechanical arm trachea reduction structure according to any one of claims 1 to 3, wherein: the sliding guide device comprises at least three sliding guide rings (100), all the sliding guide rings (100) are arranged along the trend of the bending part (a2), wherein the sliding guide ring (100) positioned in the middle is positioned in the middle of the bending part (a2), and the protection coil springs (200) are respectively connected between any two adjacent sliding guide rings (100).

5. The robot arm trachea reduction structure of claim 4, wherein: the sliding guide ring (100) comprises a ring sleeve, at least three elastic telescopic mechanisms (130) are circumferentially distributed on the ring sleeve, the elastic telescopic mechanisms (130) are arranged on the ring sleeve and radially extend and retract along the ring sleeve, the inner ends of the elastic telescopic mechanisms (130) extend into the inner cavity of the ring sleeve, the inner end of each elastic telescopic mechanism (130) is provided with a roller (140), and the roller shaft of each roller (140) is perpendicular to the central line of the ring sleeve.

6. The robot arm trachea reduction structure of claim 5, wherein: the ring sleeve comprises an outer ring sleeve (120) and an inner guide sleeve (110) which are sleeved on the same central line;

the axial middle section of the inner guide sleeve (110) is concave to form an annular groove (112), and the area between the annular groove (112) and the outer hoop sleeve (120) forms a containing cavity of the elastic telescopic mechanism (130);

correspond every on the tank bottom of annular (112) via hole (111) have been seted up respectively in elastic telescoping mechanism (130), every wear to be equipped with respectively in via hole (111) elastic telescoping mechanism (130), the outer end of elastic telescoping mechanism (130) supports and leans on the inner wall of outer hoop cover (120).

7. The robot arm trachea reduction structure of claim 6, wherein: the end part of the inner guide sleeve (110) close to the reset coil spring (300) or the protection coil spring (200) is recessed to form an annular groove (113), the end part of the inner guide sleeve (110) at the same end of the groove (113) is provided with an arc-shaped groove (114), one end of the arc-shaped groove (114) is communicated with the groove (113), and the other end of the arc-shaped groove (114) extends to the edge of the inner guide sleeve (110);

the end of the reset spiral spring (300) or the protective spiral spring (200) is hooped by the corresponding groove (113), and the rib of the reset spiral spring (300) or the protective spiral spring (200) extends out of the hoop from the arc-shaped groove (114);

the outer hoop (120) clasps the inner guide sleeve (110) and seals the groove (113) and the arc-shaped groove (114).

8. The robot arm trachea reduction structure of claim 6, wherein: the elastic telescopic mechanism (130) comprises an outer cylinder body (131) and an inner cylinder body (132), wherein one end of the outer cylinder body (131) and the other end of the inner cylinder body (132) are open, the openings of the outer cylinder body (131) and the inner cylinder body (132) face to each other, the outer cylinder body (131) is sleeved outside the inner cylinder body (132), a pressure spring (134) is arranged in the inner cylinder body (132), and two ends of the pressure spring (134) are respectively abutted against the closed ends of the outer cylinder body (131) and the inner cylinder body (132);

the outer edge of the opening of the outer cylinder body (131) is provided with a limiting flange, the closed end of the outer cylinder body (131) is connected with two oppositely arranged support lugs (133), and two ends of a wheel shaft of the roller (140) are respectively arranged on the corresponding support lugs (133) in a penetrating manner;

the outer cylinder body (131) is movably arranged in the through hole (111) in a penetrating mode, the limiting flanging is located in the containing cavity, and the closed end of the inner cylinder body (132) abuts against the inner wall of the outer hoop sleeve (120).

9. The robot arm trachea reduction structure of claim 6, wherein: the outer hoop (120) comprises a strip-shaped hoop body, the hoop body is bent into a ring shape, two ends of the hoop body respectively extend outwards along the radial direction to form two tensioning plates (121), and the two tensioning plates (121) are connected through tensioning bolts;

two tensioning plate (121) are connected with a mounting panel (122) respectively, and two mounting panels (122) are respectively dorsad tensioning plate (121) extend, mounting panel (122) paste and lean on the arm, mounting panel (122) are respectively through the fix with screw in the arm surface.

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