CN216328292U - Cooperative robot pull-back pipeline package - Google Patents
Cooperative robot pull-back pipeline package Download PDFInfo
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- CN216328292U CN216328292U CN202122035473.3U CN202122035473U CN216328292U CN 216328292 U CN216328292 U CN 216328292U CN 202122035473 U CN202122035473 U CN 202122035473U CN 216328292 U CN216328292 U CN 216328292U
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- 244000208734 Pisonia aculeata Species 0.000 title claims abstract description 20
- 230000000452 restraining effect Effects 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 abstract description 6
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of robots, and provides a cooperative robot pull-back pipeline packet which comprises a flexible corrugated pipe, wherein a cable is arranged in the flexible corrugated pipe; the front end fixed subassembly, connect on the execution of robot serves, and be used for the one end of fixed flexible bellows, terminal fixed subassembly, the setting is on the robot that is close to base department, a another end for fixed flexible bellows, the subassembly kick-backs, set up on the robot between front end fixed subassembly and terminal fixed subassembly, a middle part for the fixed flexible bellows of restriction, and can stretch the flexible bellows of subassembly department of kick-backing when the execution of robot holds the action, when the execution of robot held the reseing, the flexible bellows that the subassembly can make its connection of kick-backing contracts. The utility model adjusts the position and the number of the fixed points according to the field operation of the robot, meets the different requirements on the length of the terminal tool cable according to different actions in the operation process, and perfects the centralized management of the cable.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a cooperative robot pull-back pipeline packet.
Background
The cooperative robot is a robot that can cooperate with a human on a production line, and can fully utilize the efficiency of the robot and the intelligence of the human, so that the cooperative robot plays more and more roles in industrial production and life. Due to the characteristic of automatic control of the cooperative robot, more pipelines are needed to realize connection and communication among all parts, and in the moving process of the robot, especially a multi-degree-of-freedom mechanical arm applied to industrial production, the moving range is large, the moving direction is variable, and the pipelines move along with the movement. In the operation process of the cooperative robot, different requirements are required for the length of the end tool cable according to different actions, so that a pipeline package structure meeting different cable lengths of the cooperative robot needs to be provided urgently.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is as follows: to overcome the deficiencies in the prior art, the present invention provides a collaborative robot pullback pipeline package.
The technical scheme adopted for solving the technical problems is as follows: a cooperative robot pull-back pipeline pack comprises a flexible corrugated pipe, a front end fixing assembly, a rebounding assembly and a tail end fixing assembly, wherein a cable is arranged inside the flexible corrugated pipe; the front end fixed component is connected on the execution end of the robot and is used for fixing one end of the flexible corrugated pipe, the terminal fixed component is arranged on the robot body close to the base and is used for fixing the other end of the flexible corrugated pipe, the rebounding component is arranged on the robot body between the front end fixed component and the terminal fixed component and is used for limiting the middle of the fixed flexible corrugated pipe, the flexible corrugated pipe at the rebounding component can be stretched when the execution end of the robot acts, and the rebounding component can enable the connected flexible corrugated pipe to retract when the execution end of the robot resets. The flexible corrugated pipe has good flexibility and can move and deform for a long time. When the execution end of the cooperative robot acts, the corrugated pipe at the rebound assembly can be stretched, and the action requirement of the robot is met.
Furthermore, the front end fixing assembly comprises a connecting plate, a fixing seat, a corrugated pipe inner clamp and a wire dividing head, wherein one end of the connecting plate is provided with an avoidance hole and a fixing hole and is connected to the execution end of the robot through the fixing hole, the other end of the connecting plate extends outwards and is bent upwards or downwards to form an inverted L-shaped structure, the end part of the connecting plate is fixedly connected with the fixing seat, the fixing seat is provided with an inner clamp hole which penetrates axially, the corrugated pipe inner clamp is arranged in the inner clamp hole, the middle part of the corrugated pipe inner clamp is provided with a corrugated pipe fixing hole, and the inner wall of the corrugated pipe fixing hole is provided with a concave-convex structure matched with the appearance of the corrugated pipe and used for limiting when the corrugated pipe is fixed; the corrugated pipe is characterized in that a wire distributing head is arranged on the leading-out side of a cable clamped in the corrugated pipe, a wire passing hole extending along the axial direction is arranged on the wire distributing head, a plurality of wire distributing grooves parallel to the wire passing hole are formed in the periphery of the wire passing hole, and an opening is formed in one side of each wire distributing groove and communicated with the wire passing hole. The front end fixing assembly effectively clamps the corrugated pipe and fixes a cable inside the corrugated pipe.
After the cable is threaded out from the corrugated pipe, the cable which does not need to be distinguished particularly directly passes through the wire passing hole of the wire distributing head, and the cable which needs to be concerned particularly can be embedded into the wire distributing groove to be distinguished, so that the separability of the cable is improved.
Furthermore, in order to facilitate the installation of the flexible corrugated pipe with the cable in a penetrating way, the fixing seat is provided with a buckle and a rotating shaft which are used for opening and locking the fixing seat. Just can place flexible corrugated pipe in the fixing base through opening the buckle, can lock the buckle again after putting.
Furthermore, in order to realize the length adjustment of the flexible corrugated pipe extending to one side of the execution end, the springback assembly comprises two corrugated pipe restraining assemblies arranged on the robot body at intervals, the corrugated pipe restraining assemblies are connected through a guide fixing plate, the corrugated pipe restraining assembly on one side, close to the robot body, of the guide fixing plate is fixed on the robot body, the flexible corrugated pipe penetrates through the corrugated pipe restraining assembly on one side, far away from the robot body, of the guide fixing plate, and the flexible corrugated pipe can move axially in the corrugated pipe restraining assembly; and a friction ball is fixedly connected to the flexible corrugated pipe between the corrugated pipe restraint assemblies, and a spring is sleeved on the friction ball and the flexible corrugated pipe between the corrugated pipe restraint assemblies close to one side of the execution end.
When the actuating end moves to stretch the flexible corrugated pipe, the flexible corrugated pipe is stressed to stretch to one side of the actuating end, and the requirement of a movement stroke is met; meanwhile, the friction ball between the corrugated pipe restraint assemblies can synchronously move close to the execution end along with the flexible corrugated pipe, and at the moment, the friction ball compresses the spring to generate elastic potential energy on the spring; when the movement stroke of the actuating end is reduced, the pulling force of the actuating end on the flexible corrugated pipe disappears, the flexible corrugated pipe retracts under the action of the spring, the situation that the flexible corrugated pipe of the actuating end has too much redundant length is avoided, and the friction ball plays a role in limiting the telescopic length of the flexible corrugated pipe. In the process of spring extension, the guide fixing plate plays a guide role in the spring.
Specifically, the corrugated pipe restraint assembly comprises a throat hoop, a T-shaped connecting block, a sliding inner clamp and a fixing seat, the throat hoop is sleeved on the robot body, two ends of the throat hoop are connected to the T-shaped connecting block, one side, far away from the throat hoop, of the T-shaped connecting block is fixedly connected with the fixing seat through screws, an inner clamping hole which penetrates axially is formed in the fixing seat, the sliding inner clamp is arranged in the inner clamping hole, and a corrugated pipe sliding hole is formed in the middle of the sliding inner clamp. The inner wall of the sliding inner clamp is meshed with the flexible corrugated pipe in a tooth form.
Preferably, the standard stroke of the resilient assembly is 150 mm.
Further, the terminal fixing assembly comprises a hose clamp, a T-shaped connecting block, a fixing base, a corrugated pipe inner clamp and a wire dividing head, the hose clamp is arranged on the robot body in a sleeved mode, two ends of the hose clamp are connected to the T-shaped connecting block, one side, far away from the hose clamp, of the T-shaped connecting block is fixedly connected with the fixing base through screws, an inner clamping hole which penetrates axially is formed in the fixing base, the corrugated pipe inner clamp is arranged in the inner clamping hole, a corrugated pipe fixing hole is formed in the middle of the hose inner clamp, the wire dividing head is arranged on the cable leading-out side of the hose inner clamp, a wire passing hole extending axially is formed in the wire dividing head, a plurality of wire dividing grooves parallel to the wire passing hole are formed in the periphery of the wire passing hole, and an opening is formed in one side of the wire dividing grooves and communicated with the wire passing hole. The terminal fixed subassembly effectively presss from both sides tight bellows, the inside cable of fixed bellows.
After the cable is threaded out from the corrugated pipe, the cable which does not need to be distinguished particularly directly passes through the wire passing hole of the wire distributing head, and the cable which needs to be concerned particularly can be embedded into the wire distributing groove to be distinguished, so that the separability of the cable is improved.
Further, when the sizes of all shafts of the cooperative robot are larger, in order to fix the flexible corrugated pipe, the cooperative robot further comprises at least one middle fixing component, and the middle fixing component is arranged on the robot body between the rebounding component and the tail end fixing component. The middle fixing component is additionally arranged on the flexible corrugated pipe between the rebounding components and between the tail end fixing components, so that the flexible corrugated pipe is restrained and fixed, the corrugated pipe is effectively clamped, and a cable in the corrugated pipe is fixed.
Specifically, the middle fixing assembly comprises a throat hoop, a T-shaped connecting block, a fixing seat and a corrugated pipe inner clamp, the throat hoop is sleeved on the robot body, two ends of the throat hoop are connected to the T-shaped connecting block, one side, far away from the throat hoop, of the T-shaped connecting block is fixedly connected with the fixing seat through screws, the corrugated pipe inner clamp is arranged in an inner clamping hole of the fixing seat, and a corrugated pipe fixing hole is formed in the middle of the corrugated pipe inner clamp.
Furthermore, in order to avoid the flexible corrugated pipe to produce friction with the robot body in each axis motion process of the robot and cause abrasion to the flexible corrugated pipe, corrugated pipe fixed points are formed at positions of the front end fixed assembly, the rebound assembly, the middle fixed assembly and the tail end fixed assembly, and friction balls are arranged on the flexible corrugated pipe between the corrugated pipe fixed points. Keep apart flexible bellows and robot through the friction ball, improve the security, prolong flexible bellows's life, general friction ball sets up according to the contact surface of bellows and robot, and the place that has the contact places the friction ball.
The utility model has the beneficial effects that: according to the pull-back pipeline package of the cooperative robot, the positions and the number of the fixed points can be adjusted according to the field operation of the robot, the different requirements of the cooperative robot on the length of the end tool cable according to different actions in the operation process are met, the field operation cable can be managed in a centralized mode more perfectly, the service life of the cable is prolonged, and the field operation environment is more attractive.
Drawings
The utility model is further illustrated by the following figures and examples.
FIG. 1 is a schematic structural diagram of the preferred embodiment of the present invention.
Fig. 2 is a perspective view of the front end fixing assembly.
FIG. 3 is a top view of the front end mounting assembly.
Fig. 4 is a schematic sectional view of a-a in fig. 3.
Figure 5 is a perspective view of the rebound assembly.
Fig. 6 is a schematic structural view of the guide fixing plate.
Fig. 7 is a schematic structural view of a bellows restraint assembly.
Fig. 8 is a schematic structural view of the intermediate fixing member.
Fig. 9 is a schematic view of the structure of the end fixing assembly.
Fig. 10 is a schematic structural view of the dividing head.
In the figure: 1. the robot comprises a robot body, 2, an execution end, 3, a base, 4, a front end fixing component, 41, a connecting plate, 42, an avoidance hole, 43, a fixing hole, 44, a fixing seat, 44a, a rotating shaft, 44b, a buckle, 45, a corrugated pipe inner clamp, 46, a corrugated pipe fixing hole, 47, a wire dividing head, 48, a wire passing hole, 49, a wire dividing groove, 5, a rebound component, 51, a corrugated pipe constraint component, 511, a hose clamp, 512, a T-shaped connecting block, 513, a sliding inner clamp, 514, a fixing seat, 52, a guide fixing plate, 521, an adjusting hole, 522, a mounting hole, 53, a friction ball, 54, a spring, 6, a middle fixing component, 61, a hose clamp, 62, a T-shaped connecting block, 63, a corrugated pipe inner clamp, 64, a fixing seat, 7, a tail end fixing component, 71, a hose clamp, 72, a T-shaped connecting block, 73, a corrugated pipe inner clamp, 74, a fixing seat, 75, a wire dividing head, 751 and a wire passing hole, 752. a line dividing groove 8, a flexible corrugated pipe 9 and a friction ball.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, and merely illustrates the basic structure of the present invention in a schematic manner, and therefore it shows only the constitution related to the present invention.
As shown in fig. 1, a description is given of a structure of a cooperative robot pull-back pipeline package of the present invention with a six-axis cooperative robot as a carrier, the cooperative robot includes a robot body 1, a base 3 for fixing the robot body 1, and an execution end 2 for executing a preset action by the robot. The pull-back pipeline packet is fixed on the robot body 1 and used for cooperating with wiring of a robot cable. The pull-back pipeline package of the cooperative robot comprises a flexible corrugated pipe 8, a front end fixing component 4, a rebound component 5 and a tail end fixing component 7, wherein a middle fixing component 6 can be arranged between the rebound component 5 and the tail end fixing component 7, or the middle fixing component 6 is not arranged, and the setting is carried out according to the size and the actual requirement of the cooperative robot; the flexible corrugated pipe 8 is used for cable running; front end fixed subassembly 4 connects on the execution end 2 of robot, and is used for the one end of fixed flexible bellows 8, terminal fixed subassembly 7 sets up on the robot body 1 that is close to base 3 department for the other end of fixed flexible bellows 8, resilience subassembly 5 sets up on the robot body 1 between front end fixed subassembly 4 and terminal fixed subassembly 7, is used for the middle part of the fixed flexible bellows 8 of restriction, and can stretch the flexible bellows 8 of resilience subassembly 5 department when the execution end 2 of robot moves, and when the execution end 2 of robot resets, resilience subassembly 5 can make the flexible bellows 8 of its connection retract.
As shown in fig. 2-4, the front end fixing assembly 4 includes a connecting plate 41, a fixing seat 44, a bellows inner clamp 45 and a wire dividing head 47, one end of the connecting plate 41 is provided with a relief hole 42 and a fixing hole 43, and is connected to the execution end 2 of the robot through the fixing hole 43, the other end of the connecting plate 41 extends outwards and bends upwards or downwards to form an inverted L-shaped structure, and the end part is fixedly connected to the fixing seat 44, the fixing seat 44 is provided with an inner clamp hole penetrating axially, the bellows inner clamp 45 is arranged in the inner clamp hole, the middle part of the bellows inner clamp 45 is provided with a bellows fixing hole 46, and the inner wall of the bellows fixing hole 46 is provided with a concave-convex structure matched with the shape of the bellows for limiting when the bellows is fixed; the cable leading-out side of the corrugated pipe inner clamp 45 is provided with a wire dividing head 47, the wire dividing head 47 is provided with a wire passing hole 48 extending along the axial direction, the periphery of the wire passing hole 48 is provided with a plurality of wire dividing grooves 49 parallel to the wire passing hole 48, and one side of each wire dividing groove 49 is provided with an opening communicated with the wire passing hole 48. In the embodiment, five fixing holes are distributed on the connecting plate 41 at the periphery of the avoidance hole 42; the four branch grooves 49 are distributed on one side of the wire through hole 48 along the circumferential direction at equal intervals. After the cables penetrate out of the corrugated pipe, the cables which do not need to be distinguished directly penetrate through the wire passing holes 48 of the wire distributing header 47, the cables which need to be paid special attention can be embedded into the wire distributing grooves 49 to be distinguished, and the separability of the cables is improved. In order to facilitate the installation of the flexible corrugated tube 8 with the cable inserted therein, the fixing seat 44 is provided with a buckle 44b and a rotating shaft 44a for opening and locking the fixing seat 44. The flexible corrugated pipe 8 can be placed in the fixed seat 44 by opening the buckle 44b, and the buckle 44b can be locked after the flexible corrugated pipe is placed.
As shown in fig. 5, the resilient assembly 5 is used for adjusting the length of the flexible bellows 8 extending to the side of the execution end 2, and includes two bellows restraining assemblies 51 arranged on the robot body 1 at intervals, the bellows restraining assemblies 51 are connected through a guide fixing plate 52, the bellows restraining assembly 51 on the side of the guide fixing plate 52 close to the robot body 1 is fixed on the robot body 1, the flexible bellows 8 penetrates through the bellows restraining assembly 51 on the side of the guide fixing plate 52 far from the robot body 1, and the flexible bellows 8 can move axially in the bellows restraining assembly 51; a friction ball 53 is fixedly connected to the flexible corrugated pipe 8 between the corrugated pipe restraint assemblies 51, and a spring 54 is sleeved on the flexible corrugated pipe 8 between the friction ball 53 and the corrugated pipe restraint assembly 51 close to one side of the actuating end 2.
As shown in fig. 6, a strip-shaped adjusting hole is formed in the guide fixing plate 52 along the length direction, and mounting holes connected to the fixing base are formed in the guide fixing plate 52 at both ends of the adjusting hole.
As shown in fig. 7, the corrugated tube restraining component 51 includes a throat hoop 511, a T-shaped connecting block 512, a sliding inner clamp 513 and a fixing seat 514, the throat hoop 511 is sleeved on the robot body 1, two ends of the throat hoop 511 are connected to the T-shaped connecting block 512, one side of the T-shaped connecting block 512, which is far away from the throat hoop 511, is fixedly connected with the fixing seat 514 through a screw, an inner clamp hole which axially penetrates is formed in the fixing seat 514, the sliding inner clamp 513 is arranged in the inner clamp hole, and a corrugated tube sliding hole is formed in the middle of the sliding inner clamp 513. The inner wall of the sliding inner clamp 513 is in tooth-shaped meshing with the flexible corrugated pipe 8. Preferably, the standard stroke of the rebound assembly 5 in this embodiment is 150 mm.
As shown in fig. 8, the middle fixing assembly 6 includes a throat hoop 61, a T-shaped connecting block 62, a fixing seat 64, and a bellows inner clamp 63, the throat hoop 61 is sleeved on the robot body 1, two ends of the throat hoop 61 are connected to the T-shaped connecting block 62, one side of the T-shaped connecting block 62 away from the throat hoop 61 is fixedly connected to the fixing seat 64 through a screw, the bellows inner clamp 63 is arranged in an inner clamp hole of the fixing seat 64, and a bellows fixing hole is arranged in the middle of the bellows inner clamp 63.
As shown in fig. 9, the structure of the terminal fixing component 7 is substantially the same as that of the middle fixing component 6, and only a wire dividing head 75 is added on the basis of the middle fixing component 6, specifically including a throat hoop 71, a T-shaped connecting block 72, a fixing base 74, a bellows inner clamp 73 and a wire dividing head 75, the throat hoop 71 is sleeved on the robot body 1, two ends of the throat hoop 71 are connected to the T-shaped connecting block 72, one side of the T-shaped connecting block 72 away from the throat hoop 71 is fixedly connected to the fixing base 74 through screws, the fixing base 74 is provided with an inner clamp hole axially penetrating through, the bellows inner clamp 73 is arranged in the inner clamp hole, a bellows fixing hole is arranged in the middle of the bellows inner clamp 73, a wire dividing head 75 is arranged on a cable leading-out side of the bellows inner clamp 73, as shown in fig. 10, a wire passing hole 751 axially extending is arranged on the wire dividing head 75, a plurality of wire dividing grooves 752 parallel to the wire passing hole 751 are arranged on the periphery of the wire passing hole 751, and one side of the distributing groove 752 is provided with an opening communicated with the wire passing hole 751. The end fixing assembly 7 effectively clamps the corrugated pipe and fixes the cable in the corrugated pipe. After the cable is threaded out from the corrugated pipe, the cable which does not need to be distinguished particularly directly passes through the wire passing hole of the wire distributing head 75, and the cable which needs to be concerned particularly can be embedded into the wire distributing groove to be distinguished, so that the separability of the cable is improved.
In addition to the above structure, in order to avoid the flexible bellows 8 from rubbing against the robot body 1 during the movement of each axis of the robot and causing abrasion to the flexible bellows 8, the positions of the front end fixing component 4, the rebound component 5, the middle fixing component 6 and the tail end fixing component 7 form bellows fixing points, and friction balls 9 are arranged on the flexible bellows 8 between the bellows fixing points. Keep apart flexible bellows 8 and robot 1 through friction ball 9, improve the security, prolong flexible bellows 8's life, general friction ball 9 sets up according to the contact surface of bellows with robot 1, has the place of contact to place friction ball 9.
The working principle is as follows:
when the actuating end 2 moves to stretch the flexible corrugated pipe 8, the flexible corrugated pipe 8 is stressed to stretch towards one side of the actuating end 2, and the requirement of a movement stroke is met; meanwhile, the friction ball 53 between the bellows restraint assemblies 51 will move along with the flexible bellows 8 to synchronously approach the actuating end 2, and at the moment, the friction ball 53 compresses the spring 54, so that elastic potential energy is generated on the spring 54; when the movement stroke of the actuating end 2 is reduced, the pulling force of the actuating end 2 on the flexible corrugated pipe 8 disappears, and then the flexible corrugated pipe 8 retracts under the action of the spring 54, so that the flexible corrugated pipe 8 of the actuating end 2 is prevented from having excessive redundant length, and the friction ball 53 plays a role in limiting the telescopic length of the flexible corrugated pipe 8. During the extension and contraction of the spring 54, the guide fixing plate 52 guides the spring 54.
In light of the foregoing description of preferred embodiments in accordance with the utility model, it is to be understood that numerous changes and modifications may be made by those skilled in the art without departing from the scope of the utility model. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A collaborative robotic pullback pipeline package, characterized by: the flexible corrugated pipe comprises a flexible corrugated pipe, a front end fixing assembly, a rebounding assembly and a tail end fixing assembly, wherein a cable is arranged in the flexible corrugated pipe; the front end fixed component is connected on the execution end of the robot and is used for fixing one end of the flexible corrugated pipe, the terminal fixed component is arranged on the robot body close to the base and is used for fixing the other end of the flexible corrugated pipe, the rebounding component is arranged on the robot body between the front end fixed component and the terminal fixed component and is used for limiting the middle of the fixed flexible corrugated pipe, the flexible corrugated pipe at the rebounding component can be stretched when the execution end of the robot acts, and the rebounding component can enable the connected flexible corrugated pipe to retract when the execution end of the robot resets.
2. The collaborative robotic pullback pipeline package of claim 1, wherein: the utility model discloses a robot, including front end fixed subassembly, bellows internal clamp, wire separating head, front end fixed subassembly, the execution of robot is served to the one end of connecting plate, and the execution of connecting through the fixed orifices connection is served, the other end of connecting plate outwards extends and upwards perhaps buckles downwards and forms the L shape structure of invering, and tip fixed connection fixing base, be equipped with the internal clamp hole that the axial runs through on the fixing base, the internal clamp that is equipped with of internal clamp, and the middle part of the internal clamp of bellows is equipped with the bellows fixed orifices, the cable lead-out side of the internal clamp of bellows is equipped with the wire separating head, the overhead line hole of crossing that is equipped with along axial extension of wire separating that is equipped with of wire separating hole periphery and a plurality of and cross the parallel wire separating groove of wire hole, and wire separating groove one side is equipped with the opening and crosses the wire separating hole intercommunication.
3. The collaborative robotic pullback pipeline package of claim 2, wherein: the fixing seat is provided with a buckle and a rotating shaft which are used for opening and locking the fixing seat.
4. The collaborative robotic pullback pipeline package of claim 1, wherein: the rebounding assembly comprises two corrugated pipe restraining assemblies arranged on the robot body at intervals, the corrugated pipe restraining assemblies are connected through a guide fixing plate, the corrugated pipe restraining assembly on one side, close to the robot body, of the guide fixing plate is fixed on the robot body, a flexible corrugated pipe penetrates through the corrugated pipe restraining assembly on one side, far away from the robot body, of the guide fixing plate, and the flexible corrugated pipe can move axially in the corrugated pipe restraining assembly; and a friction ball is fixedly connected to the flexible corrugated pipe between the corrugated pipe restraint assemblies, and a spring is sleeved on the friction ball and the flexible corrugated pipe between the corrugated pipe restraint assemblies close to one side of the execution end.
5. The collaborative robotic pullback pipeline package of claim 4, wherein: the corrugated pipe restraint assembly comprises a hose clamp, a T-shaped connecting block, a sliding type inner clamp and a fixing seat, the hose clamp is sleeved on the robot body, two ends of the hose clamp are connected to the T-shaped connecting block, one side, far away from the hose clamp, of the T-shaped connecting block is connected with the fixing seat, an inner clamping hole which penetrates through the fixing seat in the axial direction is formed in the fixing seat, the sliding type inner clamp is arranged in the inner clamping hole, and a corrugated pipe sliding hole is formed in the middle of the sliding type inner clamp.
6. The collaborative robotic pullback pipeline package of claim 1, wherein: the standard stroke of the rebound assembly is 150 mm.
7. The collaborative robotic pullback pipeline package of claim 1, wherein: the terminal fixing assembly comprises a hose clamp, a T-shaped connecting block, a fixing base, a corrugated pipe inner clamp and a wire dividing head, the hose clamp is arranged on the robot body in a sleeved mode, two ends of the hose clamp are connected to the T-shaped connecting block, one side, far away from the hose clamp, of the T-shaped connecting block is connected with the fixing base, an inner clamping hole which penetrates axially is formed in the fixing base, the corrugated pipe inner clamp is arranged in the inner clamping hole, a corrugated pipe fixing hole is formed in the middle of the corrugated pipe inner clamp, the wire dividing head is arranged on the cable leading-out side of the hose clamp, a wire passing hole which extends axially is formed in the wire dividing head, a plurality of wire dividing grooves which are parallel to the wire passing hole are formed in the periphery of the wire passing hole, and an opening is formed in one side of each wire dividing groove and communicated with the wire passing hole.
8. The collaborative robotic pullback pipeline package of any one of claims 1-7, wherein: the robot further comprises at least one middle fixing component, and the middle fixing component is arranged on the robot body between the rebounding component and the tail end fixing component.
9. The collaborative robotic pullback pipeline package of claim 8, wherein: the middle fixing assembly comprises a hose clamp, a T-shaped connecting block, a fixing seat and a corrugated pipe inner clamp, the hose clamp is sleeved on the robot body, two ends of the hose clamp are connected to the T-shaped connecting block, one side, far away from the hose clamp, of the T-shaped connecting block is connected with the fixing seat, the corrugated pipe inner clamp is arranged in an inner clamping hole of the fixing seat, and a corrugated pipe fixing hole is formed in the middle of the corrugated pipe inner clamp.
10. The collaborative robotic pullback pipeline package of claim 8, wherein: bellows fixed points are formed at the positions of the front end fixing component, the rebound component, the middle fixing component and the tail end fixing component, and friction balls are arranged on the flexible bellows between the bellows fixed points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122035473.3U CN216328292U (en) | 2021-08-26 | 2021-08-26 | Cooperative robot pull-back pipeline package |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122035473.3U CN216328292U (en) | 2021-08-26 | 2021-08-26 | Cooperative robot pull-back pipeline package |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216328292U true CN216328292U (en) | 2022-04-19 |
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ID=81168426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122035473.3U Expired - Fee Related CN216328292U (en) | 2021-08-26 | 2021-08-26 | Cooperative robot pull-back pipeline package |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216328292U (en) |
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2021
- 2021-08-26 CN CN202122035473.3U patent/CN216328292U/en not_active Expired - Fee Related
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