WO2022041748A1 - 一种吊挂式工业机器人用线路整理机构及其使用方法 - Google Patents

一种吊挂式工业机器人用线路整理机构及其使用方法 Download PDF

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Publication number
WO2022041748A1
WO2022041748A1 PCT/CN2021/086562 CN2021086562W WO2022041748A1 WO 2022041748 A1 WO2022041748 A1 WO 2022041748A1 CN 2021086562 W CN2021086562 W CN 2021086562W WO 2022041748 A1 WO2022041748 A1 WO 2022041748A1
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WIPO (PCT)
Prior art keywords
seat
wire
plate
spring
routing
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PCT/CN2021/086562
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English (en)
French (fr)
Inventor
李定国
潘晓平
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南京涵曦月自动化科技有限公司
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Publication of WO2022041748A1 publication Critical patent/WO2022041748A1/zh

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
    • H02G11/006—Arrangements of electric cables or lines between relatively-movable parts using extensible carrier for the cable, e.g. self-coiling spring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
    • H02G3/02—Details
    • H02G3/04—Protective tubing or conduits, e.g. cable ladders or cable troughs
    • H02G3/0456—Ladders or other supports

Definitions

  • the invention relates to the field of line finishing mechanisms, in particular to a line finishing mechanism for a hanging industrial robot, and more particularly to a line finishing mechanism for a hanging industrial robot and a method for using the same.
  • a robot is a machine whose movement can be controlled by an external computer program. It belongs to intelligent industrial production equipment.
  • a suspended industrial robot is a robot that is suspended and fixed by means of a gantry and a slide rail. It is mainly used in industrial production. When the workpiece is ground, welded, drilled, polished, etc., it is a kind of industrial robot. When the industrial robot is working, it needs to use wires for power supply, and the wires need to be sorted by a sorting mechanism. There will be clutter and staggered phenomena;
  • the existing line arrangement mechanism for hanging industrial robots has certain shortcomings in use. First, it does not have the function of shock absorption, and the entire mechanism is vulnerable to high vibration caused by the work of the industrial robot, which affects the mechanism. At the same time, it is also easy to cause the looseness of various components of the line finishing mechanism, which is not conducive to use; secondly, it is impossible to ensure that the wires have good stability when the robot moves, and the wires may be too long or too short. This phenomenon reduces the use effect of the line arrangement mechanism; in addition, it facilitates the installation and disassembly of the wires and reduces the convenience of use.
  • the main purpose of the present invention is to provide a line arrangement mechanism for a hanging industrial robot, which can effectively solve the problem that the background technology does not have a shock absorption function, and the entire mechanism is susceptible to high vibration caused by the work of the industrial robot, which affects the stability of the mechanism.
  • the use effect of the line arrangement mechanism is reduced; in addition, the installation and disassembly of the wires are convenient, and the technical problem of the convenience of use is reduced.
  • the technical scheme adopted in the present invention is:
  • a line arranging mechanism for a hanging type industrial robot comprises a gantry frame, a robot is slidably installed on the front part of the gantry frame, and a support rod is movably connected to the upper part of the gantry frame through an anti-vibration mechanism, and the anti-vibration mechanism includes There are a fixed seat, a shock-proof seat, a sealing washer, a shock-proof plate, a through hole, a first spring, a spring seat, a spring rod, a limit plate, a fixed buckle and a second spring.
  • a beam is fixedly connected between the struts, and a wire routing mechanism is arranged outside the beam.
  • the wire routing mechanism includes an active wire routing seat, a driven wire routing seat, a ball and a rolling groove.
  • the driven wire routing mechanism A wire fixing mechanism is fixedly installed on the bottom of the seat.
  • the fixing seat is fixedly installed on the upper side of the gantry
  • the shock-proof seat is fixedly installed on the upper part of the fixing seat
  • the sealing washer is fixedly installed at the inner top position of the shock-proof seat
  • the The shock-proof plate is fixedly installed on the bottom of the support rod
  • the support rod is movably connected to the inside of the shock-proof seat through the shock-proof plate
  • the through hole is opened on the upper surface of the shock-proof plate
  • the first spring is placed inside the shock-proof seat and is located in the shock-proof seat.
  • the bottom position of the plate, the spring seat is fixedly installed on the upper part of the robot, the spring rod is movably connected to the upper part of the spring seat, the limit plate is fixedly installed on the bottom end of the spring rod and located inside the spring seat, the fixed The buckle is fixedly installed on the bottom of the limiting plate, and the two ends of the second spring are respectively fixedly connected with the inner bottom of the spring seat and the fixing buckle.
  • the interior of the shock-proof seat is filled with damping oil, and the number of the shock-proof seat is two.
  • both the active cable routing seat and the driven cable routing seat are sleeved on the outside of the beam, the balls are embedded and installed on the inner wall of the driven cable routing seat, and the rolling groove is opened on the outside of the beam. surface, the balls are slidably connected with the rolling grooves.
  • the number of the active cable routing seat is one, and the number of the driven cable routing seat is six.
  • the top end of the spring rod is fixedly connected with the bottom of the active wire routing seat, and the active wire routing seat vertically corresponds to the upper part of the robot.
  • the wire fixing mechanism includes a fixing frame, a fixed wire plate, a movable wire plate, a threaded column, a handle, a wire groove, a pressing block and a pressing groove
  • the fixing frame is fixedly installed on the driven
  • the fixed cable plate is fixedly installed at the inner top position of the fixed frame
  • the movable cable plate is movably installed on the inner side of the fixed frame and located below the bottom of the fixed cable plate
  • the threaded column penetrates through the active cable plate
  • the handle is fixedly installed on the bottom end of the threaded column
  • the wire groove is opened on the lower surface of the fixed wire plate
  • the pressing block is fixedly installed on the upper part of the movable wire plate
  • the pressing The groove is formed on the upper surface of the pressing block.
  • the threaded column is threadedly connected to the movable wire plate, and the number of the wire grooves and the pressing blocks are both three.
  • a method of using a line finishing mechanism for a hanging industrial robot specifically comprises the following steps:
  • Step 1 Use the wire fixing mechanism to fix the wires. First, pass the wires through the inner side of the fixing frame at the bottom of the six driven wire routing bases and one active wire routing base, and place the wires between the fixed wire plate and the movable wire plate at the same time. , and then set the length of the wire between each driven wire seat and the active wire seat, use the handle to turn the threaded post, and the threaded post drives the movable wire plate to move upward through the action of the thread, thereby pressing the compression block on the Inside the wire slot, the wires are compressed through the wire slot and the compression slot. The number of wire slots and compression blocks is three, and three wires can be fixed at the same time. After each wire fixing mechanism is operated separately, the wire can be completed. Wiring and fixing work;
  • Step 2 During work, the robot will frequently move at the front of the gantry. During the movement, the robot drives the spring rod to move through the spring seat. At the same time, the spring rod drives the active cable seat to move.
  • the rolling of the rolling groove has low sliding resistance.
  • the active wiring seat pushes each driven wiring seat to contact each other, so that the wires between the two driven wiring seats are bent.
  • the wire When the seat moves to the other side, the wire will be pulled, which will cause each driven wire seat to spread out, ensuring that the wire can supply power to the robot;
  • Step 3 When the robot is working, vibration will be generated, and the vibration will be transmitted to the shock-proof seat through the fixed seat, causing the support rod to move on the top of the shock-proof seat, the shock-proof plate to move inside the shock-proof seat, and the shock-proof plate to compress the first spring. It forms a damping effect with the damping oil inside the shock-proof seat. It is better for the strut to prevent shocks. At the same time, the distance changes during vibration.
  • the spring rod drives the second spring to contract or expand through the fixed buckle at the bottom of the limit plate.
  • the robot By setting the anti-vibration mechanism, the robot will generate vibration when it is working, and the vibration will be transmitted to the anti-vibration base through the fixed seat, causing the support rod to move on the top of the anti-vibration base, the anti-vibration plate to move inside the anti-vibration base, and the anti-vibration plate to compress the first spring, while the The hole and the damping oil inside the anti-vibration seat form a damping effect, which is better for the strut to prevent shock, and the distance changes during vibration.
  • the spring rod drives the second spring to contract or expand through the fixed buckle at the bottom of the limit plate, which can play a role in
  • the excellent shock absorption effect avoids the strong vibration of the entire line arrangement mechanism when the robot is working, improves the stability of the line arrangement mechanism, and also avoids the loosening of the various parts of the line arrangement mechanism due to vibration;
  • the spring seat drives the spring rod to move, and the spring rod drives the active cable routing seat to move.
  • the active cable tray pushes the driven cable trays to contact each other, so that the wires between the two driven cable trays are bent.
  • the active cable tray moves to the other side, it will pull the wires.
  • Pulling the wires will cause each driven cable seat to spread out, ensuring that the wires can supply power to the robot, and can ensure that when the robot is moving, it can ensure the fixed trajectory of the wires, and avoid the phenomenon that the wires are too long or too short, which is more conducive to use;
  • the wires are passed through the inner side of the fixing frame at the bottom of the six driven wire routing bases and one active wire routing base, and the wires are placed between the fixed wire plate and the movable wire plate at the same time, and then the wires are set in each The length between each driven wire seat and the active wire seat, use the handle to turn the threaded post, and the threaded post drives the movable wire plate to move upward through the action of the thread, so as to press the pressing block inside the wire groove, and pass the wire The groove and the pressing groove press the wires.
  • the number of wire grooves and pressing blocks is three, and three wires can be fixed at the same time.
  • FIG. 1 is a schematic diagram of the overall structure of a line arrangement mechanism for a hanging industrial robot according to the present invention
  • Fig. 2 is a schematic diagram of the internal structure of the shock-proof seat of a circuit arrangement mechanism for a hanging type industrial robot according to the present invention
  • FIG. 3 is a schematic diagram of the internal structure of a spring seat of a circuit arrangement mechanism for a hanging type industrial robot according to the present invention
  • FIG. 4 is a side view of a driven wire routing seat and a beam rod of a line arrangement mechanism for a hanging industrial robot according to the present invention
  • FIG. 5 is a split view of a driven wire routing seat and a beam of a line arrangement mechanism for a hanging industrial robot according to the present invention, and a cross-sectional view of the driven wire routing seat;
  • FIG. 6 is a demonstration diagram of a wire fixing mechanism of a line arrangement mechanism for a hanging type industrial robot according to the present invention.
  • a line arrangement mechanism for a hanging industrial robot includes a gantry 1, a robot 2 is slidably installed in the front center of the gantry 1, and the upper part of the gantry 1 is movably connected by an anti-vibration mechanism 3
  • the shockproof mechanism 3 includes a fixed seat 301, a shockproof seat 302, a sealing washer 303, a shockproof plate 304, a through hole 305, a first spring 306, a spring seat 307, a spring rod 308, a limit plate 309, and a fixed buckle 3010 and the second spring 3011
  • the number of struts 4 is two
  • a beam 5 is fixedly connected between the two struts 4
  • the outside of the beam 5 is provided with a routing mechanism 6, and the routing mechanism 6 includes an active routing seat 601.
  • a driven wire routing seat 602, a ball 603 and a rolling groove 604, a wire fixing mechanism 7 is fixedly installed on the bottom of the driven wire routing seat 602;
  • the fixed seat 301 is fixedly installed on the upper side of the gantry frame 1
  • the shock-proof seat 302 is fixedly installed on the upper part of the fixed seat 301
  • the sealing washer 303 is fixedly installed on the inner top position of the shock-proof seat 302
  • the shock-proof plate 304 is fixedly installed on the support rod 4.
  • the support rod 4 is movably connected to the inside of the anti-vibration seat 302 through the anti-vibration plate 304, the through hole 305 is opened on the upper surface of the anti-vibration plate 304, the first spring 306 is placed inside the anti-vibration seat 302 and is located below the anti-vibration plate 304,
  • the spring seat 307 is fixedly installed on the upper part of the robot 2
  • the spring rod 308 is movably connected to the upper part of the spring seat 307
  • the limit plate 309 is fixedly installed on the bottom end of the spring rod 308 and located inside the spring seat 307
  • the fixing buckle 3010 is fixedly installed on the limit.
  • the bottom of the seat plate 309, the two ends of the second spring 3011 are respectively fixedly connected to the inner bottom of the spring seat 307 and the fixing buckle 3010; the interior of the shock-proof seat 302 is filled with damping oil, and the number of the shock-proof seat 302 is two; active wiring
  • the seat 601 and the driven cable seat 602 are both sleeved on the outside of the beam 5, the ball 603 is embedded in the inner wall of the driven cable seat 602, the rolling groove 604 is opened on the outer surface of the beam 5, the ball 603 slides with the rolling groove 604 connection;
  • the number of the active wire routing seat 601 is one, and the number of the driven wire routing seat 602 is six;
  • the top of the spring rod 308 is fixedly connected with the bottom of the active wire routing seat 601, and the active wire routing seat 601 is vertically corresponding to the The upper part of the robot 2;
  • the wire fixing mechanism 7 includes a fixing frame 701, a fixed wire plate 702, a movable wire plate 703,
  • a method of using a line finishing mechanism for a hanging industrial robot specifically comprises the following steps:
  • Step 1 Use the wire fixing mechanism 7 to fix the wires.
  • the number of the wire groove 706 and the pressing block 707 is three, which can be fixed at the same time Three wires, after each wire fixing mechanism 7 is operated respectively, the wiring and fixing of the wires can be completed;
  • Step 2 During work, the robot 2 will frequently move at the front of the gantry 1. While moving, the robot 2 drives the spring rod 308 to move through the spring seat 307, and at the same time the spring rod 308 drives the active wire seat 601 to move, and the wire is routed actively.
  • the seat 601 is rolled by the ball 603 in the rolling groove 604 outside the beam 5, and the sliding resistance is small.
  • the active wire routing seat 601 pushes each driven wire routing seat 602 to contact each other, so that the two slave wire routing seats 602 are in contact with each other.
  • the wires between the movable wire routing bases 602 are bent, and when the active wire routing base 601 moves to the other side, the wires will be pulled, and the pulling of the wires will cause each driven wire routing base 602 to spread out, ensuring that the wires can supply power to the robot 2;
  • Step 3 When the robot 2 is working, vibration will be generated, and the vibration will be transmitted to the anti-vibration base 302 through the fixed base 301, causing the support rod 4 to move on the top of the anti-vibration base 302, the anti-vibration plate 304 to move inside the anti-vibration base 302, and the anti-vibration plate 304
  • the first spring 306 is compressed, and at the same time the through hole 305 and the damping oil inside the anti-vibration seat 302 form a damping effect.
  • the fixing buckle 3010 drives the second spring 3011 to contract or expand.
  • the robot 2 will generate vibration when working, and the vibration is transmitted to the anti-vibration base 302 through the fixed seat 301, causing the support rod 4 to move on the top of the anti-vibration base 302, and the anti-vibration plate 304 to move inside the anti-vibration base 302 , the anti-vibration plate 304 compresses the first spring 306, and at the same time, the through hole 305 and the damping oil inside the anti-vibration seat 302 form a damping effect.
  • the fixing buckle 3010 at the bottom of the plate 309 drives the second spring 3011 to contract or expand, which can play an excellent shock absorption effect, avoid the strong vibration phenomenon of the entire line arrangement mechanism when the robot 2 is working, and improve the stability of the line arrangement mechanism. At the same time, it also avoids the phenomenon of loosening of various parts of the circuit arrangement mechanism due to vibration; by setting the routing mechanism 6, when the robot 2 moves, the spring seat 307 drives the spring rod 308 to move, and the spring rod 308 drives the active routing seat 601 to move. , the active line seat 601 rolls through the rolling groove 604 outside the beam 5 by the ball 603, and the sliding resistance is small.
  • the active line seat 601 pushes each driven line seat 602 to contact each other, Bending the wires between the two driven wire routing bases 602, when the active wire routing base 601 moves to the other side, it will pull the wires, which will cause the driven wire routing bases 602 to spread out, ensuring that the wires can be
  • the power supply of robot 2 can ensure that when robot 2 is moving, it can ensure the fixed moving trajectory of the wire, avoid the phenomenon that the wire is too long or the wire is too short, which is more convenient for use; by setting the wire fixing mechanism 7, the wire is passed through six
  • the driven cable routing seat 602 and the inner side of the fixed frame 701 at the bottom of an active cable routing seat 601, place the wires between the fixed cable plate 702 and the movable cable plate 703 at the same time, and then set the wires on each driven cable routing seat 602 and the length between it and the active wire routing seat 601, the handle 705 is used to rotate the threaded post 704, and the threaded post 704 drives the mov
  • the number of the wire slot 706 and the pressing block 707 is three, and three wires can be fixed at the same time. After each wire fixing mechanism 7 is operated separately, the wiring of the wires can be completed. And fixing work, can facilitate the disassembly and installation of the wire, and improve the convenience of use.

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Abstract

本发明公开了一种吊挂式工业机器人用线路整理机构及其使用方法，包括龙门架，所述龙门架的前部居中位置滑动安装有机器人，所述龙门架的上部通过防震机构活动连接有支杆，所述防震机构包括有固定座、防震座、密封垫圈、防震板、通孔、第一弹簧、弹簧座、弹簧杆、限位板、固定扣和第二弹簧，所述支杆的数量为两根，两根所述支杆之间固定连接有横梁。本发明所述的一种吊挂式工业机器人用线路整理机构，能够起到优异的减震功效，提高了线路整理机构的稳定性，同时也避免线路整理机构各个零部件因震动产生松脱的现象，其次，能够避免出现电线过长或者电线过短的现象，更加利于使用，此外，能够方便电线的拆卸和安装，提高了使用的便捷性。

Description

一种吊挂式工业机器人用线路整理机构及其使用方法 技术领域
本发明涉及线路整理机构领域，具体涉及一种吊挂式工业机器人用线路整理机构，更具体涉及一种吊挂式工业机器人用线路整理机构及其使用方法。
 背景技术
机器人，是一种可以通过外部电脑程序控制其运动的机器，属于智能化工业生产设备，吊挂式工业机器人是一种通过龙门架、滑轨等方式进行悬挂固定的机器人，主要为了在工业生产的时候对工件进行打磨、焊接、钻孔、抛光等工作，属于工业机器人的一种，吊挂时工业机器人在工作时，需要使用到电线进行供电，而电线则需要整理机构进行整理，不然就会出现杂乱、交错的现象；
但是现有的吊挂式工业机器人用线路整理机构在使用时存在着一定的不足之处有待改善，首先，不具备减震功能，整个机构容易受到工业机器人的工作产生较高的震动，影响机构的稳定性，同时也容易导致线路整理机构的各个部件产生松脱的现象，不利于使用；其次，不能够保证电线在机器人运动时具有很好的稳定性，电线会出现过长或者过短的现象，降低了线路整理机构的使用效果；此外，方便电线的安装与拆卸，降低了使用的便捷性。
 技术问题
本发明的主要目的在于提供一种吊挂式工业机器人用线路整理机构，可以有效解决背景技术中的不具备减震功能，整个机构容易受到工业机器人的工作产生较高的震动，影响机构的稳定性，同时也容易导致线路整理机构的各个部件产生松脱的现象，不利于使用；其次，不能够保证电线在机器人运动时具有很好的稳定性，电线会出现过长或者过短的现象，降低了线路整理机构的使用效果；此外，方便电线的安装与拆卸，降低了使用的便捷性技术问题。
 技术解决方案
为实现上述目的，本发明采取的技术方案为：
一种吊挂式工业机器人用线路整理机构，包括龙门架，所述龙门架的前部居中位置滑动安装有机器人，所述龙门架的上部通过防震机构活动连接有支杆，所述防震机构包括有固定座、防震座、密封垫圈、防震板、通孔、第一弹簧、弹簧座、弹簧杆、限位板、固定扣和第二弹簧，所述支杆的数量为两根，两根所述支杆之间固定连接有横梁，所述横梁的外部设有走线机构，所述走线机构包括有主动走线座、从动走线座、滚珠和滚槽，所述从动走线座的底部固定安装有电线固定机构。
作为本发明的进一步方案，所述固定座固定安装在龙门架的上部一侧位置，所述防震座固定安装在固定座的上部，所述密封垫圈固定安装在防震座的内部顶部位置，所述防震板固定安装在支杆的底部，所述支杆通过防震板活动连接在防震座的内部，所述通孔开设在防震板的上表面，所述第一弹簧放置在防震座的内部位于防震板的下方位置，所述弹簧座固定安装在机器人的上部，所述弹簧杆活动连接在弹簧座的上部，所述限位板固定安装在弹簧杆的底端位于弹簧座的内部，所述固定扣固定安装在限位板的底部，所述第二弹簧的两端分别与弹簧座的内部底部和固定扣固定连接。
作为本发明的进一步方案，所述防震座的内部填充有阻尼油，所述防震座的数量为两个。
作为本发明的进一步方案，所述主动走线座和从动走线座均套设在横梁的外部，所述滚珠嵌入安装在从动走线座的内壁，所述滚槽开设在横梁的外表面，所述滚珠与滚槽滑动连接。
作为本发明的进一步方案，所述主动走线座的数量为一个，所述从动走线座的数量为六个。
作为本发明的进一步方案，所述弹簧杆的顶端与主动走线座的底部固定连接，所述，且主动走线座垂直对应在机器人的上部。
作为本发明的进一步方案，所述电线固定机构包括有固定架、固定线板、活动线板、螺纹柱、手柄、电线槽、压紧块和压紧槽，所述固定架固定安装在从动走线座的底部，所述固定线板固定安装在固定架的内部顶部位置，所述活动线板活动安装在固定架的内侧位于固定线板的底部下方位置，所述螺纹柱贯穿活动线板与固定线板活动连接，所述手柄固定安装在螺纹柱的底端，所述电线槽开设在固定线板的下表面，所述压紧块固定安装在活动线板的上部，所述压紧槽开设在压紧块的上表面。
作为本发明的进一步方案，所述螺纹柱与活动线板螺纹连接，所述电线槽和压紧块的数量均为三个。
一种吊挂式工业机器人用线路整理机构的使用方法，该使用方法具体包括以下步骤：
步骤一：利用电线固定机构将电线固定上，首先将电线穿过六个从动走线座和一个主动走线座底部的固定架内侧，同时将电线置于固定线板与活动线板之间，然后设置好电线在每个从动走线座以及与主动走线座之间的长度，利用手柄转动螺纹柱，螺纹柱通过螺纹作用带动活动线板向上移动，从而将压紧块压紧在电线槽的内部，通过电线槽与压紧槽将电线压紧，电线槽与压紧块的数量为三个，可以同时固定三根电线，分别操作好每个电线固定机构后，即可完成电线的布线和固定工作；
步骤二：在工作时，机器人会在龙门架的前部频繁移动，移动的同时机器人通过弹簧座带动弹簧杆移动，同时弹簧杆带动主动走线座移动，主动走线座通过滚珠在横梁外部的滚槽的滚动，滑动阻力小，当机器人向一侧移动的时候，主动走线座推动各个从动走线座相互接触，使得两个从动走线座之间的电线弯曲，当主动走线座向另一侧移动的时候，会拉动电线，拉动电线导致各个从动走线座散开，保证电线能够为机器人供电；
步骤三：在机器人工作的时候会产生震动，震动通过固定座传递至防震座，导致支杆在防震座的顶部活动，防震板在防震座的内部活动，防震板压缩第一弹簧，同时通孔与防震座内部的阻尼油形成阻尼效果，较好的为支杆进行防震，同时震动时产生了距离改变，弹簧杆通过限位板底部的固定扣带动第二弹簧收缩或者扩张。
 有益效果
通过设置防震机构，机器人工作的时候会产生震动，震动通过固定座传递至防震座，导致支杆在防震座的顶部活动，防震板在防震座的内部活动，防震板压缩第一弹簧，同时通孔与防震座内部的阻尼油形成阻尼效果，较好的为支杆进行防震，同时震动时产生了距离改变，弹簧杆通过限位板底部的固定扣带动第二弹簧收缩或者扩张，能够起到优异的减震功效，避免机器人工作时导致整个线路整理机构产生强烈的震动现象，提高了线路整理机构的稳定性，同时也避免线路整理机构各个零部件因震动产生松脱的现象；
通过设置走线机构，机器人移动的时候通过弹簧座带动弹簧杆移动，同时弹簧杆带动主动走线座移动，主动走线座通过滚珠在横梁外部的滚槽的滚动，滑动阻力小，当机器人向一侧移动的时候，主动走线座推动各个从动走线座相互接触，使得两个从动走线座之间的电线弯曲，当主动走线座向另一侧移动的时候，会拉动电线，拉动电线导致各个从动走线座散开，保证电线能够为机器人供电，能够保证机器人在移动的时候，能够保证电线固定的活动轨迹，避免出现电线过长或者电线过短的现象，更加利于使用；
通过设置电线固定机构，将电线穿过六个从动走线座和一个主动走线座底部的固定架内侧，同时将电线置于固定线板与活动线板之间，然后设置好电线在每个从动走线座以及与主动走线座之间的长度，利用手柄转动螺纹柱，螺纹柱通过螺纹作用带动活动线板向上移动，从而将压紧块压紧在电线槽的内部，通过电线槽与压紧槽将电线压紧，电线槽与压紧块的数量为三个，可以同时固定三根电线，分别操作好每个电线固定机构后，即可完成电线的布线和固定工作，能够方便电线的拆卸和安装，提高了使用的便捷性。
 附图说明
图1为本发明一种吊挂式工业机器人用线路整理机构的整体结构示意图；
图2为本发明一种吊挂式工业机器人用线路整理机构的防震座内部结构示意图；
图3为本发明一种吊挂式工业机器人用线路整理机构的弹簧座内部结构示意图；
图4为本发明一种吊挂式工业机器人用线路整理机构的从动走线座与横梁杆侧视图；
图5为本发明一种吊挂式工业机器人用线路整理机构的从动走线座与横梁拆分图以及从动走线座剖面图；
图6为本发明一种吊挂式工业机器人用线路整理机构的电线固定机构演示图。
图中：1、龙门架；2、机器人；3、防震机构；301、固定座；302、防震座；303、密封垫圈；304、防震板；305、通孔；306、第一弹簧；307、弹簧座；308、弹簧杆；309、限位板；3010、固定扣；3011、第二弹簧；4、支杆；5、横梁；6、走线机构；601、主动走线座；602、从动走线座；603、滚珠；604、滚槽；7、电线固定机构；701、固定架；702、固定线板；703、活动线板；704、螺纹柱；705、手柄；706、电线槽；707、压紧块；708、压紧槽。
 本发明的实施方式
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。
如图1-6所示，一种吊挂式工业机器人用线路整理机构，包括龙门架1，龙门架1的前部居中位置滑动安装有机器人2，龙门架1的上部通过防震机构3活动连接有支杆4，防震机构3包括有固定座301、防震座302、密封垫圈303、防震板304、通孔305、第一弹簧306、弹簧座307、弹簧杆308、限位板309、固定扣3010和第二弹簧3011，支杆4的数量为两根，两根支杆4之间固定连接有横梁5，横梁5的外部设有走线机构6，走线机构6包括有主动走线座601、从动走线座602、滚珠603和滚槽604，从动走线座602的底部固定安装有电线固定机构7；
固定座301固定安装在龙门架1的上部一侧位置，防震座302固定安装在固定座301的上部，密封垫圈303固定安装在防震座302的内部顶部位置，防震板304固定安装在支杆4的底部，支杆4通过防震板304活动连接在防震座302的内部，通孔305开设在防震板304的上表面，第一弹簧306放置在防震座302的内部位于防震板304的下方位置，弹簧座307固定安装在机器人2的上部，弹簧杆308活动连接在弹簧座307的上部，限位板309固定安装在弹簧杆308的底端位于弹簧座307的内部，固定扣3010固定安装在限位板309的底部，第二弹簧3011的两端分别与弹簧座307的内部底部和固定扣3010固定连接；防震座302的内部填充有阻尼油，防震座302的数量为两个；主动走线座601和从动走线座602均套设在横梁5的外部，滚珠603嵌入安装在从动走线座602的内壁，滚槽604开设在横梁5的外表面，滚珠603与滚槽604滑动连接；主动走线座601的数量为一个，从动走线座602的数量为六个；弹簧杆308的顶端与主动走线座601的底部固定连接，，且主动走线座601垂直对应在机器人2的上部；电线固定机构7包括有固定架701、固定线板702、活动线板703、螺纹柱704、手柄705、电线槽706、压紧块707和压紧槽708，固定架701固定安装在从动走线座602的底部，固定线板702固定安装在固定架701的内部顶部位置，活动线板703活动安装在固定架701的内侧位于固定线板702的底部下方位置，螺纹柱704贯穿活动线板703与固定线板702活动连接，手柄705固定安装在螺纹柱704的底端，电线槽706开设在固定线板702的下表面，压紧块707固定安装在活动线板703的上部，压紧槽708开设在压紧块707的上表面；螺纹柱704与活动线板703螺纹连接，电线槽706和压紧块707的数量均为三个。
一种吊挂式工业机器人用线路整理机构的使用方法，该使用方法具体包括以下步骤：
步骤一：利用电线固定机构7将电线固定上，首先将电线穿过六个从动走线座602和一个主动走线座601底部的固定架701内侧，同时将电线置于固定线板702与活动线板703之间，然后设置好电线在每个从动走线座602以及与主动走线座601之间的长度，利用手柄705转动螺纹柱704，螺纹柱704通过螺纹作用带动活动线板703向上移动，从而将压紧块707压紧在电线槽706的内部，通过电线槽706与压紧槽708将电线压紧，电线槽706与压紧块707的数量为三个，可以同时固定三根电线，分别操作好每个电线固定机构7后，即可完成电线的布线和固定工作；
步骤二：在工作时，机器人2会在龙门架1的前部频繁移动，移动的同时机器人2通过弹簧座307带动弹簧杆308移动，同时弹簧杆308带动主动走线座601移动，主动走线座601通过滚珠603在横梁5外部的滚槽604的滚动，滑动阻力小，当机器人2向一侧移动的时候，主动走线座601推动各个从动走线座602相互接触，使得两个从动走线座602之间的电线弯曲，当主动走线座601向另一侧移动的时候，会拉动电线，拉动电线导致各个从动走线座602散开，保证电线能够为机器人2供电；
步骤三：在机器人2工作的时候会产生震动，震动通过固定座301传递至防震座302，导致支杆4在防震座302的顶部活动，防震板304在防震座302的内部活动，防震板304压缩第一弹簧306，同时通孔305与防震座302内部的阻尼油形成阻尼效果，较好的为支杆4进行防震，同时震动时产生了距离改变，弹簧杆308通过限位板309底部的固定扣3010带动第二弹簧3011收缩或者扩张。
本发明通过设置防震机构3，机器人2工作的时候会产生震动，震动通过固定座301传递至防震座302，导致支杆4在防震座302的顶部活动，防震板304在防震座302的内部活动，防震板304压缩第一弹簧306，同时通孔305与防震座302内部的阻尼油形成阻尼效果，较好的为支杆4进行防震，同时震动时产生了距离改变，弹簧杆308通过限位板309底部的固定扣3010带动第二弹簧3011收缩或者扩张，能够起到优异的减震功效，避免机器人2工作时导致整个线路整理机构产生强烈的震动现象，提高了线路整理机构的稳定性，同时也避免线路整理机构各个零部件因震动产生松脱的现象；通过设置走线机构6，机器人2移动的时候通过弹簧座307带动弹簧杆308移动，同时弹簧杆308带动主动走线座601移动，主动走线座601通过滚珠603在横梁5外部的滚槽604的滚动，滑动阻力小，当机器人2向一侧移动的时候，主动走线座601推动各个从动走线座602相互接触，使得两个从动走线座602之间的电线弯曲，当主动走线座601向另一侧移动的时候，会拉动电线，拉动电线导致各个从动走线座602散开，保证电线能够为机器人2供电，能够保证机器人2在移动的时候，能够保证电线固定的活动轨迹，避免出现电线过长或者电线过短的现象，更加利于使用；通过设置电线固定机构7，将电线穿过六个从动走线座602和一个主动走线座601底部的固定架701内侧，同时将电线置于固定线板702与活动线板703之间，然后设置好电线在每个从动走线座602以及与主动走线座601之间的长度，利用手柄705转动螺纹柱704，螺纹柱704通过螺纹作用带动活动线板703向上移动，从而将压紧块707压紧在电线槽706的内部，通过电线槽706与压紧槽708将电线压紧，电线槽706与压紧块707的数量为三个，可以同时固定三根电线，分别操作好每个电线固定机构7后，即可完成电线的布线和固定工作，能够方便电线的拆卸和安装，提高了使用的便捷性。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (9)

  1. 一种吊挂式工业机器人用线路整理机构，其特征在于：包括龙门架（1），所述龙门架（1）的前部居中位置滑动安装有机器人（2），所述龙门架（1）的上部通过防震机构（3）活动连接有支杆（4），所述防震机构（3）包括有固定座（301）、防震座（302）、密封垫圈（303）、防震板（304）、通孔（305）、第一弹簧（306）、弹簧座（307）、弹簧杆（308）、限位板（309）、固定扣（3010）和第二弹簧（3011），所述支杆（4）的数量为两根，两根所述支杆（4）之间固定连接有横梁（5），所述横梁（5）的外部设有走线机构（6），所述走线机构（6）包括有主动走线座（601）、从动走线座（602）、滚珠（603）和滚槽（604），所述从动走线座（602）的底部固定安装有电线固定机构（7）。
  2. 根据权利要求1所述的一种吊挂式工业机器人用线路整理机构，其特征在于：所述固定座（301）固定安装在龙门架（1）的上部一侧位置，所述防震座（302）固定安装在固定座（301）的上部，所述密封垫圈（303）固定安装在防震座（302）的内部顶部位置，所述防震板（304）固定安装在支杆（4）的底部，所述支杆（4）通过防震板（304）活动连接在防震座（302）的内部，所述通孔（305）开设在防震板（304）的上表面，所述第一弹簧（306）放置在防震座（302）的内部位于防震板（304）的下方位置，所述弹簧座（307）固定安装在机器人（2）的上部，所述弹簧杆（308）活动连接在弹簧座（307）的上部，所述限位板（309）固定安装在弹簧杆（308）的底端位于弹簧座（307）的内部，所述固定扣（3010）固定安装在限位板（309）的底部，所述第二弹簧（3011）的两端分别与弹簧座（307）的内部底部和固定扣（3010）固定连接。
  3. 根据权利要求1所述的一种吊挂式工业机器人用线路整理机构，其特征在于：所述防震座（302）的内部填充有阻尼油，所述防震座（302）的数量为两个。
  4. 根据权利要求1所述的一种吊挂式工业机器人用线路整理机构，其特征在于：所述主动走线座（601）和从动走线座（602）均套设在横梁（5）的外部，所述滚珠（603）嵌入安装在从动走线座（602）的内壁，所述滚槽（604）开设在横梁（5）的外表面，所述滚珠（603）与滚槽（604）滑动连接。
  5. 根据权利要求1所述的一种吊挂式工业机器人用线路整理机构，其特征在于：所述主动走线座（601）的数量为一个，所述从动走线座（602）的数量为六个。
  6. 根据权利要求1所述的一种吊挂式工业机器人用线路整理机构，其特征在于：所述弹簧杆（308）的顶端与主动走线座（601）的底部固定连接，所述，且主动走线座（601）垂直对应在机器人（2）的上部。
  7. 根据权利要求1所述的一种吊挂式工业机器人用线路整理机构，其特征在于：所述电线固定机构（7）包括有固定架（701）、固定线板（702）、活动线板（703）、螺纹柱（704）、手柄（705）、电线槽（706）、压紧块（707）和压紧槽（708），所述固定架（701）固定安装在从动走线座（602）的底部，所述固定线板（702）固定安装在固定架（701）的内部顶部位置，所述活动线板（703）活动安装在固定架（701）的内侧位于固定线板（702）的底部下方位置，所述螺纹柱（704）贯穿活动线板（703）与固定线板（702）活动连接，所述手柄（705）固定安装在螺纹柱（704）的底端，所述电线槽（706）开设在固定线板（702）的下表面，所述压紧块（707）固定安装在活动线板（703）的上部，所述压紧槽（708）开设在压紧块（707）的上表面。
  8. 根据权利要求7所述的一种吊挂式工业机器人用线路整理机构，其特征在于：所述螺纹柱（704）与活动线板（703）螺纹连接，所述电线槽（706）和压紧块（707）的数量均为三个。
  9. 一种采用权利要求1所述的吊挂式工业机器人用线路整理机构的使用方法，其特征在于，该使用方法具体包括以下步骤：
    步骤一：利用电线固定机构（7）将电线固定上，首先将电线穿过六个从动走线座（602）和一个主动走线座（601）底部的固定架（701）内侧，同时将电线置于固定线板（702）与活动线板（703）之间，然后设置好电线在每个从动走线座（602）以及与主动走线座（601）之间的长度，利用手柄（705）转动螺纹柱（704），螺纹柱（704）通过螺纹作用带动活动线板（703）向上移动，从而将压紧块（707）压紧在电线槽（706）的内部，通过电线槽（706）与压紧槽（708）将电线压紧，电线槽（706）与压紧块（707）的数量为三个，可以同时固定三根电线，分别操作好每个电线固定机构（7）后，即可完成电线的布线和固定工作；
    步骤二：在工作时，机器人（2）会在龙门架（1）的前部频繁移动，移动的同时机器人（2）通过弹簧座（307）带动弹簧杆（308）移动，同时弹簧杆（308）带动主动走线座（601）移动，主动走线座（601）通过滚珠（603）在横梁（5）外部的滚槽（604）的滚动，滑动阻力小，当机器人（2）向一侧移动的时候，主动走线座（601）推动各个从动走线座（602）相互接触，使得两个从动走线座（602）之间的电线弯曲，当主动走线座（601）向另一侧移动的时候，会拉动电线，拉动电线导致各个从动走线座（602）散开，保证电线能够为机器人（2）供电；
    步骤三：在机器人（2）工作的时候会产生震动，震动通过固定座（301）传递至防震座（302），导致支杆（4）在防震座（302）的顶部活动，防震板（304）在防震座（302）的内部活动，防震板（304）压缩第一弹簧（306），同时通孔（305）与防震座（302）内部的阻尼油形成阻尼效果，较好的为支杆（4）进行防震，同时震动时产生了距离改变，弹簧杆（308）通过限位板（309）底部的固定扣（3010）带动第二弹簧（3011）收缩或者扩张。
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