阅读说明：本技术 一种气管布置装置及机器人 (Trachea arrangement device and robot ) 是由 腾野 孔令超 饶顺 王荣耀 于 2021-09-23 设计创作，主要内容包括：本发明公开了一种气管布置装置及机器人,属于机器人技术领域,以解决机器人上的气管在摆臂外面,随着机器人的运动容易造成气管剐蹭和拉扯引起气管断裂的问题。本发明一种气管布置装置,包括：气管；安装部件,设有用于固定气管的固定部件；收纳机构,设置在所述安装部件上,用于收纳气管,所述收纳机构设有气管入口和气管出口；气动执行机构,活动安装在所述安装部件上做直线运动,并在所述安装部件上沿运动方向依次设有第一运动位置、第二运动位置和第三运动位置,所述气动执行机构设有供气孔。本发明气管可根据摆臂的运动需要自动伸出一部分,避免预留长度过大造成被扯断和剐蹭的问题。(The invention discloses an air pipe arrangement device and a robot, belongs to the technical field of robots, and aims to solve the problem that air pipes on the robot are cut and rubbed and pulled easily along with the movement of the robot and cause air pipe fracture when the air pipes are arranged outside a swing arm. The invention provides an air pipe arranging device, comprising: an air tube; the mounting component is provided with a fixing component for fixing the air pipe; the accommodating mechanism is arranged on the mounting component and used for accommodating an air pipe, and is provided with an air pipe inlet and an air pipe outlet; the pneumatic actuating mechanism is movably mounted on the mounting part and moves linearly, a first moving position, a second moving position and a third moving position are sequentially arranged on the mounting part along the moving direction, and the pneumatic actuating mechanism is provided with an air supply hole. The air pipe can automatically extend out of a part according to the movement requirement of the swing arm, so that the problems of tearing and rubbing caused by overlarge reserved length are solved.)

1. An airway device, comprising:

an air tube;

the mounting component is provided with a fixing component for fixing the air pipe;

the accommodating mechanism is arranged on the mounting component and used for accommodating a part of length of the air pipe, and the accommodating mechanism is provided with an air pipe inlet and an air pipe outlet;

the pneumatic actuating mechanism is movably mounted on the mounting part to do linear motion, a first motion position, a second motion position and a third motion position are sequentially arranged on the mounting part along the motion direction, and the pneumatic actuating mechanism is provided with an air supply hole;

part of pipe section of the air pipe is led into the containing mechanism from the air pipe inlet and led out from the air pipe outlet, and the air outlet port of the air pipe is inserted into the air supply hole;

when the pneumatic actuator moves on the mounting component from the first movement position to the second movement position, the length of a section of air pipe between the air pipe outlet and the air supply hole is constant;

when the pneumatic actuator moves on the mounting member from the second motion position to the third motion position, the pneumatic actuator pulls the air tube to extend a portion from the air tube outlet;

when the pneumatic actuator moves from the third moving position to the second moving position on the mounting member, the receiving mechanism receives a portion of the air pipe back between the air supply hole and the air pipe outlet.

2. An air duct arrangement as claimed in claim 1 wherein the pneumatic actuator is linearly movable on one side of the mounting member and the air duct outlet and the air supply aperture are on the same side of the mounting member.

3. An air duct arrangement apparatus as claimed in claim 1 wherein said air duct outlet is located adjacent said air supply aperture relative to said air duct inlet.

4. An airway device as claimed in any of claims 1 to 3 wherein the storage means comprises:

the storage box is arranged on the mounting part and is provided with the air pipe inlet and the air pipe outlet;

the elastic component is arranged in the containing box, and the air pipe is in contact with the elastic component;

when the pneumatic actuator moves on the mounting component from the second movement position to the third movement position, the pneumatic actuator pulls the air pipe to press the elastic component to generate elastic deformation, so that the air pipe extends from the air pipe outlet for a part; when the pneumatic actuator moves on the mounting component from the third movement position to the second movement position, the elastic component restores to deform and stores the air pipe back to a part from the air pipe outlet.

5. An air pipe arrangement device as claimed in claim 4, wherein the elastic member is a scroll spring, an inner ring of the scroll spring is fixedly disposed in the storage box, an outer ring of the scroll spring serves as a free portion, and the air pipe is wound around the outer ring of the scroll spring and led out from the air pipe outlet.

6. An air duct arrangement apparatus as claimed in claim 5, wherein the spacing between adjacent layers of said scroll spring is progressively greater along a first direction, said first direction being away from said air duct outlet and towards said air duct inlet.

7. An air pipe deployment device as claimed in claim 6, wherein the air pipe deployment mechanism further comprises a cover plate detachably fixed to the mounting member, a pipe slot is provided on a side of the cover plate on the same side as the mounting member, and the air pipe is introduced from one end of the pipe slot and is introduced from the other end of the pipe slot into the air pipe inlet.

8. An air pipe arranging apparatus as claimed in claim 7, wherein said storage case is fixedly provided on said mounting member, or said storage case is fixedly provided on said mounting member via said cover plate.

9. An air pipe deployment apparatus as claimed in claim 8, wherein the air pipe comprises a plurality of sections, the ends of the plurality of sections being connected in series end to form the air pipe by air pipe connectors, one of the air pipe connectors being fixedly mounted to the other end of the pipe slot of the cover plate.

10. A robot comprising an airway device as claimed in any of claims 1 to 9, the robot having a first swing arm, the mounting member being the first swing arm of the robot.

11. A robot as claimed in claim 10,

a base provided with an air inlet;

the first swing arm is arranged on the base;

and the two ends of the bent pipe are connected to the base and the mounting part, one part of the air pipe is positioned in the bent pipe, one end of the air pipe penetrates out of the bent pipe and penetrates through the fixing part of the mounting part, and the other end of the air pipe is connected to the position of the air inlet.

12. A robot as recited in claim 11, further comprising a second swing arm, said first swing arm being pivotally coupled to said base via said second swing arm, said first swing arm being pivotable relative to said second swing arm, an end of said elbow coupled to said first swing arm being movable with said first swing arm.

Technical Field

The invention relates to the technical field of robots, in particular to an air pipe arrangement device and a robot.

Background

The SCARA robot is an industrial robot commonly used in the 3C industry, and a pneumatic tool fixture and the like are often arranged at the tail end of the SCARA robot for carrying, grabbing and other operations. The pneumatic jig needs to be connected with an air pipe interface on the robot so as to ensure the circulation of the air loop. The traditional SCARA robot only arranges the air pipe interface above the outer cover, and the distance between the air pipe interface and the jig is far, so that a long air pipe is required to be arranged between the air pipe interface of the robot and the air pipe interface of the jig, and the air pipe interface of the robot and the air pipe interface of the jig can be smoothly connected when the screw rod of the robot moves up and down. As shown in fig. 1, an air tube 10 on the robot is hung outside a swing arm of the robot and irregularly swings or rocks along with the movement of the swing arm, and at a post with dense processes, the air tube hung outside a joint arm of the robot is easily scratched or pulled by instruments and the like in an external environment, so that the air tube is damaged.

Disclosure of Invention

In view of the above, the invention discloses an air pipe arrangement device and a robot, which are used for solving the problem that an air pipe on the robot is outside a swing arm, and the air pipe is easily scratched and pulled along with the movement of the robot to cause air pipe fracture.

In order to achieve the above object, the invention adopts the following technical scheme:

the invention discloses in a first aspect a trachea deployment device comprising: an air tube; the mounting component is provided with a fixing component for fixing the air pipe; the accommodating mechanism is arranged on the mounting component and used for accommodating a part of length of the air pipe, and the accommodating mechanism is provided with an air pipe inlet and an air pipe outlet; the pneumatic actuating mechanism is movably mounted on the mounting part to do linear motion, a first motion position, a second motion position and a third motion position are sequentially arranged on the mounting part along the motion direction, and the pneumatic actuating mechanism is provided with an air supply hole; part of pipe section of the air pipe is led into the containing mechanism from the air pipe inlet and led out from the air pipe outlet, and the air outlet port of the air pipe is inserted into the air supply hole; when the pneumatic actuator moves on the mounting component from the first movement position to the second movement position, the length of a section of air pipe between the air pipe outlet and the air supply hole is constant; when the pneumatic actuator moves on the mounting member from the second motion position to the third motion position, the pneumatic actuator pulls the air tube to extend a portion from the air tube outlet; when the pneumatic actuator moves from the third moving position to the second moving position on the mounting member, the receiving mechanism receives a portion of the air pipe back between the air supply hole and the air pipe outlet.

Furthermore, the pneumatic actuating mechanism moves linearly on one side of the mounting part, and the air pipe outlet and the air supply hole are located on the same side of the mounting part.

Further, the air pipe outlet is close to the air supply hole relative to the air pipe inlet.

Further, the storage mechanism includes: the storage box is arranged on the mounting part and is provided with the air pipe inlet and the air pipe outlet; the elastic component is arranged in the containing box, and the air pipe is in contact with the elastic component; when the pneumatic actuator moves on the mounting component from the second movement position to the third movement position, the pneumatic actuator pulls the air pipe to press the elastic component to generate elastic deformation, so that the air pipe extends from the air pipe outlet for a part; when the pneumatic actuator moves on the mounting component from the third movement position to the second movement position, the elastic component restores to deform and stores the air pipe back to a part from the air pipe outlet.

Further, the elastic component is a scroll elastic sheet, the inner ring of the scroll elastic sheet is fixedly arranged in the containing box, the outer ring of the scroll elastic sheet is used as a free part, and the air pipe is wound on the outer ring of the scroll elastic sheet and led out from the outlet of the air pipe.

Furthermore, the distance between two adjacent layers of the scroll elastic sheets is gradually increased along a first direction, and the first direction is far away from the air pipe outlet and close to the air pipe inlet.

Further, the trachea arrangement mechanism still includes the apron, apron detachably fixes on the installation component, the apron with the one side of installation component homonymy is equipped with the tube seat, the trachea is followed tube seat one end is introduced and is followed the other end of tube seat is drawn forth and is got into the trachea entry.

Further, the receiver is fixed to be set up on the installation component, or the receiver passes through the apron is fixed to be set up on the installation component.

The trachea includes the multistage, and multistage trachea port connects the end to end through the trachea and establishes ties and form the air flue, and one of them trachea connects the setting on the apron the other end of chase, another trachea connects as fixed part sets up on the installation component.

In a second aspect of the invention, a robot is disclosed, comprising the air pipe arranging device of the first aspect, the robot having a first swing arm, the mounting part being the first swing arm of the robot.

Further, the robot further includes: a base provided with an air inlet; the first swing arm is arranged on the base; and the two ends of the bent pipe are connected to the base and the mounting part, one part of the air pipe is positioned in the bent pipe, one end of the air pipe penetrates out of the bent pipe and penetrates through the fixing part of the mounting part, and the other end of the air pipe is connected to the position of the air inlet.

Further, the robot still includes the second swing arm, first swing arm passes through the second swing arm rotates to be connected on the base, just first swing arm can be relative the second swing arm rotates, on the return bend with the one end that first swing arm is connected can be along with first swing arm motion.

Has the advantages that: when the pneumatic actuating mechanism moves from a first moving position to a second moving position, the length of a section of air pipe between the air pipe outlet and the air supply hole is fixed, and the reserved length of the air pipe can meet the requirement of the length of the air pipe needed by the pneumatic actuating mechanism to move from the first moving position to the second moving position; meanwhile, in order to prevent the air pipe from being too long and avoid scratching the air pipe in the working process, the accommodating mechanism is arranged to accommodate a part of length of the air pipe between the air pipe outlet and the air supply hole in advance, when the air pipe moves to a third movement position, the length of the air pipe between the air pipe outlet and the air supply hole is the largest, the air pipe is pulled out from the accommodating mechanism, when the air pipe which does not need to be too long is exposed outside, the accommodating mechanism accommodates a part of the air pipe, and the part of the air pipe with the reserved length is exposed outside.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely exemplary embodiments of the present disclosure, and other drawings may be derived by those skilled in the art without inventive effort.

FIG. 1 shows a schematic diagram of a prior art robotic airway arrangement;

FIG. 2 is a schematic structural diagram of a robot adopting an air pipe arrangement mechanism in embodiment 2 of the invention;

FIG. 3 is a schematic view showing the internal structure of the mounting part of the air pipe arranging mechanism according to embodiment 1 of the present invention;

FIG. 4 is a schematic view showing the air tube arranging mechanism of embodiment 1 of the present invention, with the installation parts omitted;

FIG. 5 is a schematic view showing the arrangement of the air pipe arranging mechanism at the installation part in embodiment 1 of the present invention;

FIG. 6 is a bottom view of the air tube arranging mechanism according to embodiment 1 of the present invention;

FIG. 7 is a structural view showing one embodiment of a storage mechanism in example 1 of the present invention;

fig. 8 is a schematic view showing the elastic member of fig. 7 deformed by a scroll shrapnel.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

To further illustrate the technical solution of the present invention, the following specific examples are provided as shown in fig. 2 to 8.

Example 1

In this embodiment, there is provided a trachea deployment device, as shown in figures 2 to 6, comprising: an air tube 10; a mounting member 20 provided with a fixing member 21 for fixing the air tube 10; a receiving mechanism 40 provided on the mounting member 20 for receiving a part of the length of the air tube 10, the receiving mechanism 40 having an air tube inlet a and an air tube outlet b; the pneumatic actuator 50 is movably mounted on the mounting part 20 to do linear motion, a first motion position, a second motion position and a third motion position are sequentially arranged on the mounting part 20 along the motion direction, and the pneumatic actuator 50 is provided with an air supply hole 51; a part of the pipe section of the air pipe 10 is led into the containing mechanism from the air pipe inlet a and led out from the air pipe outlet b, and the air outlet port a of the air pipe is inserted into the air supply hole 51; when the pneumatic actuator 50 moves from the first moving position to the second moving position on the mounting part 20, the length of the section of the air pipe 10 between the air pipe outlet b and the air supply hole 51 is fixed; when the pneumatic actuator 50 moves from the second movement position to the third movement position on the mounting member 20, the pneumatic actuator 50 pulls the air tube 10 to extend a part from the air tube outlet b; when the pneumatic actuator 50 moves from the third moving position to the second moving position on the mounting member 20, the housing mechanism 40 houses a section of the air pipe between the air supply hole 51 and the air pipe outlet b back to a part.

In particular, the air tube 10 in the present embodiment may be formed by connecting a plurality of air tubes, or may be a whole air tube.

In one embodiment, when the pneumatic actuator moves to the first moving position, the second moving position, and the third moving position in sequence, the stroke of the pneumatic actuator increases in sequence, and the air supply hole 51 is gradually separated from the position of the air pipe outlet b. Alternatively, the first moving position may be an initial position of the pneumatic actuator, and the third moving position is a position of a maximum moving stroke of the pneumatic actuator, that is, in the first moving position, a section of the air pipe 10 between the air pipe outlet b and the air supply hole 51 is bent due to a reserved length. When the air tube 10 is moved to the maximum stroke, the air tube 10 is straightened, and the accommodating mechanism 40 accommodates the reserved air tube 10 and extends out of the air tube outlet b.

In an embodiment of this embodiment, the pneumatic actuator 50 includes a pneumatic clamping jaw 52, the pneumatic clamping jaw is connected to the mounting component 20 through a lifting component 53, the lifting component 53 drives the pneumatic clamping jaw 52 to make a linear motion on one side of the mounting component 20, wherein the lifting component 53 may be a ball spline screw (in the prior art, a motor drives the pneumatic clamping jaw to make a rotational motion and a lifting motion, and belongs to a structure commonly used by SCARA robots), or a screw guide rail component or a gear rack component driven by a motor and other prior art to make a linear motion, the pneumatic clamping jaw 52 is installed at a movable end of the lifting component 53, if a screw guide rail component is adopted, two parallel guide rails may be installed on the mounting component 20, a slider is installed on the guide rails, the screw is in threaded connection with the slider, and the screw drives the slider to make a linear motion through the motor drive, the pneumatic clamping jaw 52 is fixedly mounted on the sliding block, and the motor drives the lead screw to select so as to drive the pneumatic clamping jaw 52 to realize linear motion, which is not described in detail in this embodiment.

Further, pneumatic actuator 50 is in linear motion is made to installation component 20 one side, trachea export b with air supply hole 51 is located installation component 20's homonymy avoids the trachea 10 process to appear cutting and rubbing and dragging. In practical applications, the air pipe outlet b is disposed close to the air supply hole 51 relative to the air pipe inlet a, so that the length of the air pipe 10 can be further shortened.

In a preferred embodiment of the present embodiment, as shown in fig. 7 and 8, the storage mechanism 40 includes: a storage case 41 provided on the mounting member 20 and having the air pipe inlet a and the air pipe outlet b; an elastic member 42 provided in the housing case 41, the air tube 10 being in contact with the elastic member 42; when the pneumatic actuator 50 moves on the mounting member 20 from the second movement position to the third movement position, the pneumatic actuator 50 pulls the air tube 10 to press the elastic member 42 to generate elastic deformation, so that the air tube 10 extends from the air tube outlet b by a part; when the pneumatic actuator 50 moves from the third movement position to the second movement position on the mounting member 20, the elastic member 42 is deformed again, and the air tube 10 is partially retracted from the air tube outlet b. Further, elastic component 42 is the scroll shell fragment, scroll shell fragment inner circle is fixed to be set up in receiver 41, and specific can the scroll shell fragment inner circle is fixed with the axle, the axle is fixed in receiver 41, the outer lane of scroll shell fragment is as the free portion, trachea 10 is around on the outer lane of scroll shell fragment and follow trachea export b is drawn forth, through the setting of scroll shell fragment, can make trachea 10 is in reserve certain length in receiver 41, drop when external force is dragged trachea 10's reservation length release to avoid external force excessively to drag and cause the trachea fracture. Preferably, as shown in fig. 8, the distance between two adjacent layers of the spiral shrapnel is gradually increased along a first direction, the first direction is far away from the air pipe outlet b and close to the air pipe inlet a, the accommodating length of the air pipe 10 can be increased, and the longer air pipe 10 is prevented from being exposed.

In this embodiment, the elastic member 42 may also be an assembly formed by a compression spring and a rotating wheel, specifically, an axle is disposed at the center of the rotating wheel, two parallel long grooves are disposed on the storage box 41, the axle is disposed in the long grooves, the compression spring is disposed between the storage box and the axle, when the air tube 10 is pulled, the compression spring is compressed, so that the axle slides in the long grooves, thereby extending the air tube 10, and when the air tube 10 needs to be stored, the compression spring is restored to be deformed, so that the air tube 10 is retracted into the storage box 41. The elastic member 42 in this embodiment is not limited to the above two modes, and may be implemented by other structures such as a spring plate, which are not exemplified here.

In order to further avoid the air tube 10 from being exposed outside and save the internal space of the mounting part 20, preferably, the air tube arrangement mechanism of the present embodiment further includes a cover plate 60, the cover plate 60 is detachably fixed on the mounting part 20, a tube slot 61 is disposed on a side of the cover plate 60 on the same side as the mounting part 20, and the air tube 10 is introduced from one end of the tube slot 61 and is introduced from the other end of the tube slot 61 into the air tube inlet a. The cover plate 60 is fixedly connected to the mounting member 20 by screws and is located on the same side of the mounting member 20 as the pneumatic clamp 52. In the premise that the space inside the mounting part 20 is large, the air pipe 10 may be arranged inside the mounting part 20 and inserted into the air supply hole 51 from the side of the mounting part 20 close to the pneumatic actuator 50 (the air supply hole 51 of the pneumatic gripper) (usually, the air supply hole 51 has an air pipe joint).

Further, the housing case 41 is fixedly provided to the mounting member 20, or the housing case 41 is fixedly provided to the mounting member 20 via the cover plate 60.

Preferably, the air tube 10 includes a plurality of segments, the ports of the plurality of segments of air tube 10 are connected end to end in series through air tube connectors 62 to form an air passage, one air tube connector 10 is disposed at the other end of the tube slot 61 on the cover plate 60, and the other air tube connector is disposed on the mounting part 20 as the fixing part 21. The air pipe 10 is provided with a plurality of sections, which facilitates the replacement and maintenance of the air pipe, especially the section of the pipe between the air pipe joint 62 and the air supply hole 51 on the pipe groove 61 is easy to be damaged, and the air pipe joint 62 is provided to facilitate the removal and replacement of a part of the air pipe 10.

In this embodiment, the fixing member 21 may be a gas pipe joint, fixedly mounted on the mounting member 20, and used for fixing a portion of the pipe section of the gas pipe 10, and the fixing member 21 may also be a pipe clamp. The air pipe connector in the embodiment can be a pneumatic quick-change connector with two insertion ports, so that the air pipe can be conveniently and quickly inserted, pulled out and fixed.

When an air pipe joint 62 is provided at the other end of the pipe groove 61 on the cover plate 60 and is fixed to the cover plate 60, the air pipe joint serves as the fixing member 21 for limiting the length of the air pipe received by the receiving mechanism.

Example 2

The present invention provides a robot, as shown in fig. 2, comprising an air tube arranging device as described in embodiment 1, the robot having a first swing arm, the mounting part serving as the first swing arm of the robot.

Further, the robot further includes: a base 100 provided with an air inlet; the mounting component 20 is rotatably arranged on the base 100, and a speed reduction motor is arranged on the base 100 and used for driving the mounting component 20 to rotate; an elbow 200 having two ends connected to the base 100 and the mounting part 20, wherein a portion of the air tube 10 is located in the elbow 200, when the mounting part 20 rotates relative to the base 100, the elbow 200 can rotate on the base 100 along with the mounting part 200, and one end of the air tube 10 passes through the elbow 200 and passes through the fixing part of the mounting part 20.

The elbow 200 may be a bellows.

Further, the robot still includes second swing arm 300, first swing arm passes through second swing arm 300 rotates to be connected on the base 100, just first swing arm can be relative second swing arm 300 rotates, wherein, second swing arm 300 is realized through first gear motor drive second swing arm 300 is in rotation on the base 100, first swing arm passes through second gear motor drive, can be relative second swing arm 300 rotates, on the return bend with the one end that first swing arm is connected can be along with first swing arm motion realizes that the trachea of robot swing arm when the motion is to pneumatic actuator air feed. Optionally, the movement direction of the pneumatic actuator on the first swing arm is the same as the direction of the axis between the first swing arm and the second swing arm 300.

The trachea layout mechanism described in example 1 can also be applied to other automated applications, which are not illustrated here.

Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.