CN113878566A - Flexible pipe cable fixing structure of online disassembling tool for mechanical arm and pipe running method - Google Patents
Flexible pipe cable fixing structure of online disassembling tool for mechanical arm and pipe running method Download PDFInfo
- Publication number
- CN113878566A CN113878566A CN202111226759.8A CN202111226759A CN113878566A CN 113878566 A CN113878566 A CN 113878566A CN 202111226759 A CN202111226759 A CN 202111226759A CN 113878566 A CN113878566 A CN 113878566A
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- hose
- cable
- hose cable
- storage device
- mechanical arm
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000001681 protective effect Effects 0.000 claims description 20
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000008034 disappearance Effects 0.000 claims description 2
- 238000004804 winding Methods 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a hose cable fixing structure of an online disassembling tool for a mechanical arm, which comprises a hose cable storage device, wherein the lower end of the hose cable storage device is fixed on a shaft of a mechanical arm 1, the lower end of the hose cable storage device is provided with a rotating shaft, the middle part of the hose cable storage device is provided with a swing rod for limiting a hose cable, the swing rod is rotatably connected with the rotating shaft, the hose cable connected with a fixed medium source penetrates out of a center hole of a base of the mechanical arm and then extends into the swing rod, and the hose cable penetrates out of the swing rod and then is connected with an automatic online disassembling tool. The invention also provides a hose cable routing method of the online disassembling tool for the mechanical arm, which comprises the following steps: one end of a hose cable is connected to a fixed medium source, the hose cable penetrates out of a center hole of a base of the mechanical arm from bottom to top and then extends into the hose cable storage device, the hose cable storage device is moved to the upper end of the hose cable storage device, the hose cable is hung, and the other end of the hose cable is fixed to the automatic online dismounting tool.
Description
Technical Field
The invention relates to the technical field of robot auxiliary equipment, in particular to a hose cable fixing structure and a hose routing method of an online disassembling tool for a mechanical arm.
Background
The mechanical arm is used as general equipment and is matched with different tools to complete specific work contents. Sometimes a robotic arm must be combined with multiple tools to accomplish a work task. These tools cannot be mounted simultaneously on a robotic arm for several reasons. There is a need for such tools to be automatically removable online. These tools tend to have the following characteristics: automatic online disassembly and assembly; the power is provided, and cables, hydraulic hoses, pneumatic hoses and the like are required to be connected; the tools are automatically detached and fixed when not in work, and the tools are automatically combined to move along with the mechanical arm when in work. In this way, the method of fixing and laying the cables and hoses, one end of which is fixed to the automatic on-line tool and the other end of which is connected to the fixed energy medium point, is particularly important, otherwise knotting, hooking and winding are particularly easy to occur, which affects the normal operation of the whole system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a hose and cable fixing structure of an online disassembling tool for a mechanical arm and a hose running method, and aims to solve the problem that the normal work of the whole system is influenced by the fact that a long hose and a cable which can be automatically disassembled and assembled by the mechanical arm are particularly easy to knot, hook and wind.
The invention is realized by the following steps:
the invention provides a hose cable fixing structure of an online disassembling tool for a mechanical arm, which comprises a hose cable storage device, wherein the lower end of the hose cable storage device is fixed on a shaft of a mechanical arm 1, the lower end of the hose cable storage device is provided with a rotating shaft, the middle part of the hose cable storage device is provided with a swing rod for limiting a hose cable, the swing rod is rotatably connected with the rotating shaft, the hose cable connected with a fixed medium source penetrates out of a center hole of a base of the mechanical arm and then extends into the swing rod, and the hose cable penetrates out of the swing rod and then is connected with an automatic online disassembling tool.
Preferably, a guide device is arranged at the upper part of the hose and cable accommodating device, and the swing rod is connected with the guide device.
Preferably, the swing rod is a hollow tube for a hose cable to pass through.
Preferably, the guiding device is an arc-shaped groove communicated with the hollow pipe.
Preferably, a swing rod limiting column is arranged obliquely above the rotating shaft.
Preferably, the middle part of the swing rod of the hose and cable accommodating device is provided with a return spring.
As preferred, the flexible pipe cable fixed knot who online assembly and disassembly tools is used to arm constructs still includes flexible pipe cable protection casing, and flexible pipe cable protection casing fixes at arm 1 epaxially, flexible pipe cable protection casing includes the roof, be equipped with on the roof and supply the arm lower extreme to stretch into the first recess in the flexible pipe cable protection casing, supply flexible pipe cable storage device to stretch into the second recess in the flexible pipe cable protection casing, the notch direction of first recess and second recess is the same, along the direction that deviates from the notch, the border below of roof even has the apron.
The invention provides a hose cable routing method of an online disassembling tool for a mechanical arm, which comprises the following steps: one end of a hose cable is connected to a fixed medium source, the hose cable penetrates out of a center hole of a base of the mechanical arm from bottom to top and then extends into a hose cable storage device, the upper end of the hose cable storage device is walked along the hose cable storage device, the other end of the hose cable is fixed to an automatic online disassembling and assembling tool after the hose cable is hung, the hose cable storage device is fixed to a shaft of the mechanical arm 1 and rotates along the shaft of the mechanical arm 1, a hose cable protective cover is further mounted on the shaft of the mechanical arm 1, and the hung hose cable is located on the outer side of the hose cable protective cover.
The lower end of a swing rod of the hose cable storage device is provided with a rotating shaft, the middle of the swing rod is provided with a return spring, the upper part of the swing rod is provided with a hose guide device, a swing rod limiting column is arranged obliquely above the rotating shaft, and the hose cable penetrates through a center hole of a base of the mechanical arm and then penetrates through the lower part of the limiting column to enter the swing rod, and is connected with an automatic online dismounting tool after sequentially penetrating through the swing rod and the guide device.
The lower surface and a side of hose cable protection casing lack, and hose cable protection casing upper surface is opened there is a first recess, and its side cooperation with the disappearance for adapt to the motion of 2 axles of arm, hose cable protection casing upper surface is opened there are two second recesses, is used for hose cable storage device to pass, two the second recess is located respectively first recess both sides, and the hose cable that wears out from guider hangs outside hose cable protection casing, and hose cable protection casing is used for preventing the partial hose cable hook of dangling from going to the base of arm.
The invention has the following beneficial effects:
the invention provides a long hose capable of automatically disassembling and assembling a tool on line for a mechanical arm, a cable fixing device and a pipe running method. One end of the long hose and one end of the cable are connected to a fixed medium source, the other end of the long hose and the other end of the cable are connected to an automatic disassembling tool, and the automatic disassembling tool is connected to a tool fixed on the mechanical arm and can move along with the mechanical arm. The hose and the cable that wear out from the centre bore of mechanical arm can satisfy the angle change that the instrument reachd the terminal point, and hose storage device can satisfy the radius change that the instrument reachd the terminal point, just so can adapt to long hose, cable length change and angle change and can not appear the confusion and the winding condition of hose. The outlets of the hose and the cable device are at high positions, so that the hose and the cable can be elevated, and the hose and the cable are prevented from being dragged on the terrace in the working process. Meanwhile, the hose protective cover can prevent the hanging hose and the cable from being hooked in the rotating process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a hose and cable fixing structure of an on-line tool for disassembling and assembling a robot arm after tool assembly according to an embodiment of the present invention (a protective cover is not shown);
FIG. 2 is a schematic structural view of a hose and cable shield according to an embodiment of the present invention;
fig. 3 is a schematic view of a hose and cable fixing structure of an online disassembling and assembling tool for a robot arm after the tool is disassembled according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a hose and cable accommodating device according to an embodiment of the present invention;
fig. 5 is a partial enlarged view of fig. 4 according to an embodiment of the present invention.
Description of reference numerals: 10. automatic on-line disassembly and assembly tools; 20. a tool secured to the robotic arm; 30. a hose cable; 40. a hose and cable storage device; 41. a guide device; 42. a return spring; 43. a rotating shaft; 50. a mechanical arm; 51. a base center hole; 52. a mechanical arm 1 shaft; 60. a hose cable shield; 61. a small groove is arranged on the upper surface of the protective cover; 62. a large groove is arranged on the upper surface of the protective cover; 63. a shield side slot; 64. a top plate; 65. a surrounding baffle plate; 70. a limiting column.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Referring to fig. 1 to 5, a hose and cable fixing structure of an online disassembling tool for a robot arm according to an embodiment of the present invention includes a hose and cable accommodating device 40, a lower end of the hose and cable accommodating device 40 is fixed on a shaft 52 of the robot arm 1 and can rotate along with the shaft 52 of the robot arm 1, a rotating shaft 43 is disposed at a lower end of the hose and cable accommodating device 40, a swing link for limiting a hose and cable 30 is disposed at a middle portion of the hose and cable accommodating device 40, the swing link is rotatably connected to the rotating shaft 43, the hose and cable accommodating device 40 can satisfy a change in length of the hose and cable 30 when the automatic online disassembling tool 10 reaches a terminal point by swinging the swing link around the rotating shaft 43, so that the hose and cable 30 connected to a fixed medium source can be adapted to a change in length and angle of the hose and cable without causing disorder and winding of the hose, the hose and cable 30 penetrates through a center hole 51 of a base of the robot arm and then extends into the swing link, and is connected with the automatic online disassembling tool 10 after penetrating out of the swing rod. The hose cable 30 may be a long hose of media or a cable or the like. In operation, automated in-line tool 10 is coupled to robotic arm 50 via tool 20 secured to the robotic arm.
The upper portion of the hose and cable accommodating device 40 is provided with a guide 41, and the swing link is connected to the guide 41. The swing rod is a hollow tube for the hose cable 30 to pass through. The guiding device 41 is an arc-shaped groove communicated with the hollow pipe. And a swing rod limiting column 70 is arranged obliquely above the rotating shaft 43. The hose cable 30 penetrates out of the center hole 51 of the base of the mechanical arm, penetrates into the swing rod from the lower part of the limiting column 70, sequentially penetrates through the swing rod and the guide device 41, and then is connected with the automatic online disassembling and assembling tool 10. The middle part of the swing rod of the hose and cable accommodating device 40 is provided with a return spring 42.
The hose cable fixed knot that online assembly and disassembly tools was used to arm constructs still includes hose cable protection casing 60, and hose cable protection casing 60 is fixed on 1 axle 52 of arm, hose cable protection casing 60 includes roof 64, be equipped with on the roof 64 and supply 50 lower extremes of arm to stretch into the first recess (protective housing upper surface vat 62) in hose cable protection casing 60, supply hose cable storage device 40 to stretch into the second recess (protective housing upper surface vat 61) in hose cable protection casing 60, the notch direction of first recess and second recess is the same, along the direction that deviates from the notch, even there is apron 65 in the border below of roof 64. In this embodiment, there are two second grooves (shield upper surface small grooves 61), two the second grooves are respectively located in the two sides of the first groove (shield upper surface large groove 62), along the direction deviating from the notch, the enclosure 65 is designed to extend from one second groove to another second groove, that is, the enclosure side groove 63 has been opened on the enclosure 65, and the enclosure side groove 63 is used for the lower end of the mechanical arm 50 and the hose cable storage device 40 to extend into the hose cable protection cover 60. The guide 41 is elevated above the second recess, the hose cable 30 depending from the guide 41 is located outside the apron 65, and the hose cable guard 60 serves to prevent the hose cable 30 of the suspended portion from being hooked to the base of the robot arm 50. The robotic arm 50 and the hose cable take-up device 40 may be forwardly inclined to project along the first and second grooves, respectively.
The embodiment of the invention provides a hose cable routing method of an online disassembling tool for a mechanical arm, which comprises the following steps: one end of a hose cable 30 is connected to a fixed medium source, the hose cable 30 penetrates out of a center hole 51 of a base of the mechanical arm from bottom to top, then extends into a hose cable accommodating device 40, and goes to the upper end of the hose cable accommodating device 40 along the hose cable accommodating device 40, after the hose cable 30 is suspended, the other end of the hose cable 30 is fixed to the automatic online disassembling and assembling tool 10, the hose cable accommodating device 40 is fixed to a shaft 52 of the mechanical arm 1 and can rotate along with the shaft 52 of the mechanical arm 1, a hose cable protective cover 60 is further installed on the shaft 52 of the mechanical arm 1, and the suspended hose cable 30 is located on the outer side of the hose cable protective cover 60.
The lower end of a swing rod of the hose cable storage device 40 is provided with a rotating shaft, the middle part of the swing rod is provided with a return spring, the upper part of the swing rod is provided with a hose guide device, a swing rod limiting column 70 is arranged obliquely above the rotating shaft 43, and the hose cable 30 penetrates through a center hole 51 of a base of the mechanical arm and then penetrates through the lower part of the limiting column 70 to enter the swing rod, and then sequentially penetrates through the swing rod and the guide device 41 to be connected with the automatic online dismounting tool 10.
The lower surface and one side of the hose and cable guard 60 are absent, the upper surface of the hose and cable guard 60 is provided with a first groove which is matched with the absent side and is used for adapting to the movement of the shaft of the mechanical arm 2, the upper surface of the hose and cable guard 60 is provided with two second grooves for the hose and cable accommodating device 40 to pass through, the two second grooves are respectively positioned at two sides of the first groove, the hose and cable 30 which penetrates out from the guide device 41 is hung outside the hose and cable guard 60, and the hose and cable guard 60 is used for preventing the hanging part of the hose and cable 30 from being hooked on the base of the mechanical arm 50. The outlet of the hose and cable storage device 40 is at a high position, so that the hose and cable 30 can be elevated, and the dragging on the terrace in the working process is avoided.
The invention comprises a standard mechanical arm, a hose storage device, a medium long hose, an automatic disassembling tool, a tool fixed on the mechanical arm and a hose protective cover. The long hose and the cable penetrate through the center hole of the mechanical arm from bottom to top, are fixed at the lower end of the hose storage device and move to the upper end of the storage device along the storage device. After the upper end is fixed, the hose and the cable are suspended, and the other ends of the hose and the cable are fixed on the automatic disassembling tool; the hose storage device is fixed on the mechanical arm body and can rotate along a shaft of the mechanical arm body; the lower end of a swing rod of the hose storage device is provided with a rotating shaft, the middle part of the swing rod is provided with a return spring, and the upper part of the swing rod is provided with a hose guide device; a hose protective cover is also arranged on a shaft of the mechanical arm body. A hose protective cover is further mounted on a shaft of the mechanical arm body, the protective cover is a polygonal outer surface, the lower surface and one side surface of the protective cover are absent, and two small grooves are formed in the upper surface of the protective cover and used for allowing a hose storage device and a hose to penetrate through the protective cover. The upper surface of the protective cover is also provided with a large groove which is matched with the missing side surface and is used for adapting to the movement of the shaft of the mechanical arm 2. The shield is adapted to prevent the hose of the overhang portion from hooking to the base.
Referring specifically to fig. 1 to 4, the hose cable 30 passes through the base center hole 51 from the fixed energy medium contact from bottom to top, is first fixed to the position of the rotating shaft 43, goes up the hose cable accommodating device 40 to the guide device 41, is fixed at the guide device 41, then the hose cable 30 hangs down, and the other end of the hose cable 30 is fixed to the automatic on-line disassembling and assembling tool 10. The hose cable accommodating device 40 is fixed on the shaft 52 of the mechanical arm 1 and can rotate along with the shaft 52 of the mechanical arm 1; the lower end of the hose and cable accommodating device 40 is provided with a rotating shaft 43, the middle part is provided with a return spring 42, and the upper part is provided with a guide device 41; a hose cable protection cover 60 is also mounted on one shaft of the robot body (the robot 1 shaft 52). The hose and cable protection cover 60 is a polygonal outer surface, and two small grooves (small grooves 61 on the upper surface of the protection cover) are formed on the upper surface of the hose and cable protection cover 60 and used for the hose and cable accommodating device 40 and the hose and cable 30 to penetrate through. The hose cable guard 60 is also provided with a large groove (guard upper surface groove 62) in its upper surface which cooperates with the guard side groove 63 to accommodate movement of the shaft of the robot arm 2. The hose cable guard 60 serves to prevent the hose cable 30 of the pendant portion from hooking onto the base of the robot arm 50.
The hose cable 30 penetrating out of the center hole 51 of the mechanical arm base can meet the requirement of the change of the angle of the automatic online assembling and disassembling tool 10 reaching the terminal point, and the hose cable storage device 40 can meet the requirement of the change of the length of the hose cable 30 when the automatic online assembling and disassembling tool 10 reaches the terminal point through the swing of the swing rod around the rotating shaft 43, so that the hose cable storage device can adapt to the change of the length and the angle of a long hose and the change of the length and the angle of the cable, and the disorder and the winding of the hose can be avoided. The outlets of the hose and the cable device are at high positions, so that the hose and the cable can be elevated, and the hose and the cable are prevented from being dragged on the terrace in the working process.
An optimized implementation mode is to change the lengths of the hoses and the cables through the swinging of the swing rods, and the same purpose can be achieved in a winding drum mode.
In conclusion, the automatic disassembling tool can effectively avoid the problems of disorder and winding of the hose and the cable of the automatic disassembling tool on line of the mechanical arm.
One end of the medium long hose and one end of the cable are connected to a fixed medium source, the other end of the medium long hose and the other end of the cable are connected to an automatic disassembling tool, when the automatic disassembling tool is connected to a tool fixed on a mechanical arm to work, the installation, fixing and pipe running modes of the medium long hose are a big problem, and the prevention of disorder and winding of the medium long hose is very important.
The medium long hose fixing device and the pipe running method provided by the invention can be well suitable for the condition that one end of the medium long hose and one end of the cable are connected to a fixed medium source, the other end of the medium long hose and the cable are connected to an automatic disassembling tool, and the automatic disassembling tool is connected to a tool fixed on a mechanical arm and can move along with the mechanical arm. The device can adapt to the conditions of length change and angle change of the medium long hose, and the disorder and winding of the hose can not occur.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a mechanical arm is with hose cable fixed knot who online assembly and disassembly tools constructs which characterized in that: including hose cable storage device, hose cable storage device's lower extreme is fixed at arm 1 epaxial, and hose cable storage device's lower extreme is equipped with the pivot, and hose cable storage device's middle part is equipped with the spacing pendulum rod of hose cable, the pendulum rod with the pivot is rotated and is connected, and the hose cable that links to each other with fixed medium source stretches into in the pendulum rod after wearing out from arm base centre bore, and it is continuous with automatic online assembly and disassembly tools to wear out the back from the pendulum rod.
2. The structure of claim 1 for fixing a hose and a cable of an on-line tool for disassembling and assembling robot arms, comprising: the upper part of the hose and cable storage device is provided with a guide device, and the swing rod is connected with the guide device.
3. The hose cable fixing structure of the on-line disassembling and assembling tool for the robot arm as set forth in claim 2, wherein: the swing rod is a hollow pipe for the hose cable to pass through.
4. The structure of claim 3 for fixing a hose and a cable of an on-line tool for detaching and attaching a robot arm, comprising: the guiding device is an arc-shaped groove communicated with the hollow pipe.
5. The structure of claim 1 for fixing a hose and a cable of an on-line tool for disassembling and assembling robot arms, comprising: and a swing rod limiting column is arranged obliquely above the rotating shaft.
6. The structure of claim 1 for fixing a hose and a cable of an on-line tool for disassembling and assembling robot arms, comprising: the middle part of the swing rod of the hose and cable storage device is provided with a return spring.
7. The structure of claim 1 for fixing a hose and a cable of an on-line tool for disassembling and assembling robot arms, comprising: still include the hose cable protection casing, the hose cable protection casing is fixed at 1 epaxial in arm, the hose cable protection casing includes the roof, be equipped with on the roof and supply the arm lower extreme to stretch into the first recess in the hose cable protection casing, supply hose cable storage device to stretch into the second recess in the hose cable protection casing, the notch direction of first recess and second recess is the same, along the direction that deviates from the notch, the border below of roof even has the apron.
8. A hose cable routing method of an online disassembling tool for a mechanical arm is characterized by comprising the following steps: one end of a hose cable is connected to a fixed medium source, the hose cable penetrates out of a center hole of a base of the mechanical arm from bottom to top and then extends into a hose cable storage device, the upper end of the hose cable storage device is walked along the hose cable storage device, the other end of the hose cable is fixed to an automatic online disassembling and assembling tool after the hose cable is hung, the hose cable storage device is fixed to a shaft of the mechanical arm 1 and rotates along the shaft of the mechanical arm 1, a hose cable protective cover is further mounted on the shaft of the mechanical arm 1, and the hung hose cable is located on the outer side of the hose cable protective cover.
9. The method for running a hose cable of an on-line disassembling and assembling tool for a robot arm according to claim 8, wherein: the lower end of a swing rod of the hose cable storage device is provided with a rotating shaft, the middle of the swing rod is provided with a return spring, the upper part of the swing rod is provided with a hose guide device, a swing rod limiting column is arranged obliquely above the rotating shaft, and the hose cable penetrates through a center hole of a base of the mechanical arm and then penetrates through the lower part of the limiting column to enter the swing rod, and is connected with an automatic online dismounting tool after sequentially penetrating through the swing rod and the guide device.
10. The method for running a hose cable of an on-line disassembling and assembling tool for a robot arm according to claim 9, wherein: the lower surface and a side of hose cable protection casing lack, and hose cable protection casing upper surface is opened there is a first recess, and its side cooperation with the disappearance for adapt to the motion of 2 axles of arm, hose cable protection casing upper surface is opened there are two second recesses, is used for hose cable storage device to pass, two the second recess is located respectively first recess both sides, and the hose cable that wears out from guider hangs outside hose cable protection casing, and hose cable protection casing is used for preventing the partial hose cable hook of dangling from going to the base of arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111226759.8A CN113878566A (en) | 2021-10-21 | 2021-10-21 | Flexible pipe cable fixing structure of online disassembling tool for mechanical arm and pipe running method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111226759.8A CN113878566A (en) | 2021-10-21 | 2021-10-21 | Flexible pipe cable fixing structure of online disassembling tool for mechanical arm and pipe running method |
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| Publication Number | Publication Date |
|---|---|
| CN113878566A true CN113878566A (en) | 2022-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111226759.8A Pending CN113878566A (en) | 2021-10-21 | 2021-10-21 | Flexible pipe cable fixing structure of online disassembling tool for mechanical arm and pipe running method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05253886A (en) * | 1992-03-10 | 1993-10-05 | Yaskawa Electric Corp | Industrial robot wrist unit |
| CN101031380A (en) * | 2005-08-29 | 2007-09-05 | 松下电器产业株式会社 | Industrial robot |
| KR20130074180A (en) * | 2011-12-26 | 2013-07-04 | 현대중공업 주식회사 | Swing jig of torch cable of wellding torch |
| EP2848378A1 (en) * | 2013-09-16 | 2015-03-18 | Günther Zimmer | Tool interface system |
| CN216505124U (en) * | 2021-10-21 | 2022-05-13 | 中冶南方工程技术有限公司 | Hose cable fixing structure of online disassembling tool for mechanical arm |
-
2021
- 2021-10-21 CN CN202111226759.8A patent/CN113878566A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05253886A (en) * | 1992-03-10 | 1993-10-05 | Yaskawa Electric Corp | Industrial robot wrist unit |
| CN101031380A (en) * | 2005-08-29 | 2007-09-05 | 松下电器产业株式会社 | Industrial robot |
| KR20130074180A (en) * | 2011-12-26 | 2013-07-04 | 현대중공업 주식회사 | Swing jig of torch cable of wellding torch |
| EP2848378A1 (en) * | 2013-09-16 | 2015-03-18 | Günther Zimmer | Tool interface system |
| CN216505124U (en) * | 2021-10-21 | 2022-05-13 | 中冶南方工程技术有限公司 | Hose cable fixing structure of online disassembling tool for mechanical arm |
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