The hose and cable fixing structure and the implementation elements of the pipe running technology of the online disassembly tool for the robot arm

Technical realization elements:

3. The purpose of the present invention is to overcome the shortcomings of the prior art and provide a hose and cable fixing structure and a pipe running method of an online disassembly tool for a robot arm, so as to solve the problem of the automatic online disassembly tool for the robot arm. Long hoses are particularly prone to knotting, hooking and entanglement, which affect the normal operation of the entire system. The present invention solves at least part of the problems in the prior art.

4. The present invention is implemented as follows:

5. The present invention provides a hose and cable fixing structure for an online disassembly tool for a robot arm, including a hose and cable storage device, the lower end of the hose and cable storage device is fixed on the shaft of the robot arm, and the lower end of the hose and cable storage device There is a rotating shaft, the middle part of the hose and cable storage device is provided with a swing rod for limiting the position of the hose and cable, the swing rod is rotatably connected with the rotating shaft, and the hose cable connected to the fixed medium source passes through the center hole of the robot arm base It extends into the pendulum rod after passing out, and is connected to an automatic online disassembly tool after passing out from the pendulum rod.

6. Preferably, a guiding device is provided on the upper part of the hose and cable storage device, and the swing rod is connected to the guiding device.

7. Preferably, the swing rod is a hollow tube through which the hose and cable pass.

8. Preferably, the guiding device is an arc-shaped groove connected to the hollow tube.

9. As a preference, a swing rod limit post is arranged obliquely above the rotating shaft.

10. As a preference, a return spring is installed in the middle of the swing rod of the hose and cable storage device.

11. Preferably, the hose and cable fixing structure of the online disassembly tool for the robot arm further includes a hose and cable shield, the hose and cable shield is fixed on the axis of the robot arm, and the hose and cable shield includes a top plate , The top plate is provided with a first groove for the lower end of the mechanical arm to extend into the hose and cable shield, a second groove for the hose and cable storage device to extend into the hose and cable shield, the first groove and The directions of the notches of the second grooves are the same, and along the direction away from the notches, a baffle plate is connected below the edge of the top plate.

12. The present invention provides a hose and cable routing method for an online disassembly tool for a mechanical arm: one end of the hose cable is connected

On the fixed media source, the hose and cable pass through the center hole of the robot arm base from bottom to top, and then extend into the hose and cable storage device, walk along the hose and cable storage device to the upper end of the hose and cable storage device, and After the hose cable is suspended, fix the other end of the hose cable to the automatic online disassembly tool. The hose and cable storage device is fixed on the 1 axis of the robot arm, and it rotates with the 1 axis of the robot arm, and there is also installed on the 1 axis of the robot arm. Hose and cable protection cover, the hanging hose and cable are located on the outside of the hose and cable protection cover.

13. There is a rotating shaft at the lower end of the swing rod of the hose and cable storage device, a reset spring is installed in the middle, and a hose guide device is installed at the upper part. After passing through, pass under the limit column into the pendulum rod, pass through the pendulum rod and the guide device in turn, and then connect with the automatic online disassembly tool.

14. The lower surface and one side of the hose and cable protection cover are missing. The upper surface of the hose and cable protection cover has a first groove, which is matched with the missing side surface to adapt to the movement of the 2 axis of the robotic arm. The hose and cable There are two second grooves on the upper surface of the protective cover for the hose and cable storage device to pass through. The two second grooves are respectively located on both sides of the first groove, and the hose and cable passing through the guide device Hanging on the outside of the hose and cable protection cover, the hose and cable protection cover is used to prevent the hose and cable of the hanging part from being hooked to the base of the robot arm.

15. The present invention has the following beneficial effects:

16. The long hose, cable fixing device and pipe running method provided by the present invention for the robot arm can be automatically disassembled and assembled tools online, including a standard robot arm, a hose and cable storage device, a medium long hose, and can be automatically disassembled and assembled Tools, tools fixed on the robotic arm, hoses, and cable shields. One end of the long hose and cable is connected to a fixed medium source, and the other end is connected to an automatic disassembly tool. The automatic disassembly tool is connected to the tool fixed on the robotic arm and will move with the robotic arm. The hose and cable passing through the center hole of the robot arm can meet the angle change of the tool reaching the end point, and the hose storage device can meet the radius change of the tool reaching the end point, so that it can adapt to long hoses, cable length changes and angle changes. There will be confusion and entanglement of the hose. The outlet of the hose and cable device is at a high position, which can raise the hose and cable to avoid dragging on the floor during work. At the same time, the setting of the hose protective cover can prevent the hanging hose and cable from being hooked during the rotation.

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