CN114558726A

CN114558726A - Multi-axis industrial robot suitable for severe environment

Info

Publication number: CN114558726A
Application number: CN202210308220.5A
Authority: CN
Inventors: 陈雨; 田秋
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-03-26
Filing date: 2022-03-26
Publication date: 2022-05-31

Abstract

The invention is suitable for the field of robots and provides a multi-axis industrial robot suitable for severe environments, which comprises a base, wherein a supporting arm is arranged on the base, a swinging arm is arranged on the supporting arm in a rotating manner, an extension arm is arranged in the swinging arm in a sliding manner, the supporting arm is connected with the swinging arm through a pulling component, the swinging arm is connected with the extension arm through a pushing component, a spraying head is rotatably arranged at one end of the extension arm, which is far away from the swinging arm, a rotating shaft of the spraying head is connected with the supporting arm through a horizontal maintaining component, the pulling component is connected with a power component arranged on the base through a bevel gear group arranged on the supporting arm, the power component is connected with a bearing tray arranged on the base through a third belt, a plurality of second upright posts are arranged on the bearing tray, bearing discs are arranged on the second upright posts in a sliding manner, second springs are sleeved on the second upright posts, and clamping components are arranged between the bearing trays, realize the clamping of the workpiece and evenly spray the colored paint on the surface of the workpiece.

Description

Multi-axis industrial robot suitable for severe environment

Technical Field

The invention belongs to the field of robots, and particularly relates to a multi-axis industrial robot suitable for severe environments.

Background

A multi-axis robot is also called a single-axis manipulator, an industrial mechanical arm, an electric cylinder and the like, and the robot system is constructed by taking a three-dimensional rectangular coordinate system as a basic mathematical model, taking a single-axis mechanical arm driven by a servo motor and a stepping motor as a basic working unit and taking a ball screw, a synchronous belt and a gear rack as common transmission modes, and can achieve the purpose of reaching any point in the three-dimensional coordinate system and following a controllable motion track. The multi-axis robot adopts a motion control system to realize the drive and programming control of the multi-axis robot, the generation of motion tracks such as straight lines, curves and the like is a multi-point interpolation mode, and the operation and programming mode is a guide teaching programming mode or a coordinate positioning mode

In the industrial production field, after the workpiece is produced, in order to increase the rigidity and corrosion resistance of the workpiece, materials for improving the rigidity or corrosion resistance of the workpiece are often required to be sprayed on the surface of the workpiece, and in consideration of the fact that most of the materials are harmful to human bodies, a multi-axis robot is generally used for spraying uniformly.

Most of the existing multi-axis robots are controlled by programming and are expensive, so that some small-scale factories are difficult to bear expenses caused by purchase and daily use.

Disclosure of Invention

The invention provides a multi-axis industrial robot suitable for severe environments, and aims to solve the problem that an existing multi-axis robot is high in price.

The invention is realized in such a way, the multi-axis industrial robot suitable for severe environment comprises a base, wherein a supporting arm vertical to the base is fixedly arranged on the base, a swinging arm is rotatably arranged at one end of the supporting arm far away from the base, the interior of the swinging arm is hollow, and a telescopic extending arm is slidably arranged in the swinging arm, wherein the supporting arm is connected with the swinging arm through a pulling component, the swinging arm is connected with the extending arm through a pushing component, a spraying head is rotatably arranged at one end of the extending arm far away from the swinging arm, a rotating shaft of the spraying head is connected with the supporting arm through a horizontal maintaining component, the pulling component is connected with a power component arranged on the base through a bevel gear group arranged on the supporting arm, the power component is connected with a bearing tray arranged on the base through a third belt, it is provided with a plurality of pole settings No. two to be the circumference equidistance on the tray, it accepts the dish to slide to be provided with in the pole setting No. two, just the cover is equipped with No. two springs in the pole setting No. two, accept the dish with be provided with between the tray and be used for carrying out the clamping subassembly of centre gripping to the work piece.

Furthermore, the pulling assembly comprises a turntable which is rotatably mounted on the supporting arm and connected with the bevel gear set, the turntable is connected with the swing arm through a supporting rod, one end of the supporting rod is rotatably mounted at an eccentric position of the turntable, and the other end of the supporting rod is rotatably mounted on the swing arm.

Furthermore, the propelling movement subassembly include with support arm fixed connection's triangle, the activity sets up telescopic link on the swing arm, telescopic link and fixed mounting be in fixed sleeve sliding connection on the swing arm, just the one end of telescopic link rotate install with a pulley of triangle butt, the other end pass through elastic construction with the extension arm is connected.

Furthermore, the elastic structure include one end with extension arm connection, the other end with a pole setting that the telescopic link is connected, a pole setting with install protruding part sliding connection on the swing arm, and the cover is equipped with a spring in a pole setting, the one end of a spring with the protruding part is connected, the other end with the telescopic link is connected.

Furthermore, the horizontal keeping subassembly include with the first connecting rod of being connected is rotated to the spraying head, No. one the connecting rod is kept away from the one end of spraying head is rotated and is provided with the connecting rod No. two, No. two the connecting rod rotates to be installed on the support arm, No. two the connecting rod with a connecting rod rotates the junction and is provided with two coaxial belt pulleys, one of them the belt pulley is connected through a belt the spraying head, another the belt pulley is connected through No. two belts the support arm.

Furthermore, the power assembly comprises a mounting plate fixedly mounted on the base, a driving device is fixedly mounted on the mounting plate, an output shaft of the driving device is connected with the bevel gear set through a transmission rod, and an output shaft of the driving device is further connected with a maltese cross movement structure arranged on the base.

Furthermore, the maltese cross movement structure comprises a driving wheel which is coaxially and fixedly connected with an output shaft of the driving device, the driving wheel is matched with a driven wheel which is rotatably installed on the base, and the driven wheel is connected with the third belt.

Furthermore, the clamping assembly comprises a plurality of sliding grooves which are circumferentially and equidistantly arranged on the bearing disc, sliding blocks are arranged in the sliding grooves in a sliding mode, clamping blocks are fixedly installed on the upper portions of the sliding blocks, the lower portions of the sliding blocks are connected with second pulleys through connecting plates, and the second pulleys are abutted to dispersing pieces arranged on the bearing disc;

the yoke plate through reset structure with accept the dish and connect, reset structure includes fixed mounting accept on the dish and with slider sliding connection's No. three pole settings, the cover is equipped with No. three springs in the No. three pole settings, the one end of No. three springs with the end connection of No. three pole settings, the other end with the yoke plate is connected.

Compared with the prior art, the invention has the beneficial effects that:

when the multi-axis robot is used, the supporting arm is connected with the swinging arm through the pulling assembly, and the swinging arm is connected with the extending arm through the pushing assembly, so that when the pulling assembly drives the swinging arm to move, the extending arm stretches relative to the swinging arm to make up the distance between the swinging arm and a workpiece, and meanwhile, when the power assembly drives the pulling assembly to work, the bearing tray is driven to rotate, so that the workpiece rotates.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

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, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic diagram of a three-dimensional structure provided by the present invention.

Fig. 2 is a schematic structural diagram of a pushing assembly provided in the present invention.

Fig. 3 is a schematic structural view of the pushing assembly and the pulling assembly provided by the present invention.

Fig. 4 is a schematic diagram of a three-dimensional structure with yet another angle provided by the present invention.

Fig. 5 is a schematic structural view of a horizontal maintaining assembly provided by the present invention.

Fig. 6 is a schematic view of another angle of three-dimensional structure provided by the present invention.

Figure 7 is a schematic structural view of the clamping assembly provided by the invention.

Figure 8 is another angle structure schematic diagram of the clamping assembly provided by the invention.

Reference numerals:

1. a base; 2. a support arm; 3. a swing arm; 4. a turntable; 5. a support bar; 6. an extension arm; 7. a triangular piece; 8. a first pulley; 9. a telescopic rod; 10. fixing the sleeve; 11. a first upright rod; 12. a first spring; 13. a first connecting rod; 14. a second connecting rod; 15. a first belt; 16. a second belt; 17. a spray head; 18. a bevel gear set; 19. a transmission rod; 20. a drive device; 21. a driving wheel; 22. a driven wheel; 23. a third belt; 24. a support tray; 25. a bearing plate; 26. a second upright rod; 27. a second spring; 28. a dispersion member; 29. a clamping block; 30. a slider; 31. a yoke plate; 32. a third upright rod; 33. a third spring; 34. and a second pulley.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to effectively explain the embodiments of the present invention, the embodiments of the present application are explained in detail below with reference to the accompanying drawings.

The invention provides a multi-axis industrial robot suitable for severe environments, which aims to solve the problem that the existing multi-axis robot is high in price.

Referring to fig. 1, 3, 4, and 6, an embodiment of the present invention provides a multi-axis industrial robot suitable for harsh environments, including:

base 1, fixed mounting has vertically support arm 2 with it on the base 1, support arm 2 keeps away from 1 one end of base is rotated and is provided with swing arm 3, the inside cavity setting that is of swing arm 3 to it is provided with telescopic extension arm 6 to slide in its inside, wherein, support arm 2 with connect through dragging the subassembly between the swing arm 3, it installs including rotating to drag the subassembly support arm 2 go up and with carousel 4 that bevel gear set 18 connects, carousel 4 pass through bracing piece 5 with swing arm 3 connects, the one end of bracing piece 5 is rotated and is installed the eccentric position department of carousel 4, the other end is rotated and is installed on the swing arm 3.

When the turntable 4 rotates, one end of the support rod 5 makes circular motion, the swing arm 3 swings along a hinge point of the support rod 5 and the support arm 2, and the end of the extension arm 6 makes up-and-down reciprocating motion.

Referring to fig. 2 and 3, the swing arm 3 and the extension arm 6 are connected through a pushing assembly, the pushing assembly includes a triangular member 7 fixedly connected with the support arm 2, a telescopic rod 9 movably disposed on the swing arm 3, the telescopic rod 9 is slidably connected with a fixing sleeve 10 fixedly mounted on the swing arm 3, one end of the telescopic rod 9 is rotatably mounted with a first pulley 8 abutted against the triangular member 7, the other end is connected with the extension arm 6 through an elastic structure, the elastic structure includes a first upright rod 11 having one end connected with the extension arm 6 and the other end connected with the telescopic rod 9, the first upright rod 11 is slidably connected with a protrusion mounted on the swing arm 3, a first spring 12 is sleeved on the first upright rod 11, and one end of the first spring 12 is connected with the protrusion, the other end is connected with the telescopic rod 9.

When the swing arm 3 is in swing motion, the telescopic rod 9 swings along with the swing arm, the first pulley 8 on the telescopic rod 9 is always in a state of being abutted to the triangular piece 7, one side of the first pulley 8 of the triangular piece 7 is in a vertical face arrangement, when the swing arm 3 swings, the telescopic rod 9 slides on the fixed sleeve 10 under the action of the first pulley 8 and the triangular piece 7 and drives the extension arm 6 to extend outwards relative to the swing arm 3 through the first upright rod 11, specifically, when the swing arm 3 swings upwards or downwards, the telescopic rod 9 slides on the fixed sleeve 10, the first spring 12 is further stretched in a state of being pulled up from an initial state, and the extension arm 6 extends outwards relative to the swing arm 3 at the moment, so that the distance between one end of the extension arm 6 and the surface of a workpiece is approximately the same.

Referring to fig. 5, a spraying head 17 is rotatably arranged at one end of the extension arm 6 far away from the swing arm 3, and a rotating shaft of the spraying head 17 is connected with the support arm 2 through a horizontal holding assembly;

the level keep the subassembly include with the first connecting rod 13 of connection is rotated to the spraying head 17, a connecting rod 13 is kept away from the one end of spraying head 17 is rotated and is provided with No. two connecting rods 14, No. two connecting rods 14 rotate and install on the support arm 2, No. two connecting rods 14 with a connecting rod 13 rotates the junction and is provided with two coaxial belt pulleys, one of them the belt pulley is connected through a belt 15 the spraying head 17, another the belt pulley is connected through No. two belts 16 support arm 2.

When the swing arm 3 is in the horizontality, the spraying head 17 is in the vertical state with the surface of the workpiece, when the swing arm 3 swings, under the action of the first belt 15 and the second belt 16, the spraying head 17 is always kept in the state vertical to the surface of the workpiece, meanwhile, as the extension arm 6 can stretch in the swinging process of the swing arm 3, when the extension arm 6 stretches, the angle between the first connecting rod 13 and the second connecting rod 14 is changed to adapt to the distance between the extension arm 6 and the support arm 2.

Further, another pulley of the second belt 16 is fixedly mounted on the support arm 2, and the pulley is disposed coaxially with the rotation center of the swing arm 3 on the support arm 2.

Referring to fig. 6, the dragging component is connected to the power component arranged on the base 1 through a bevel gear set 18 arranged on the support arm 2, the power component includes a mounting plate fixedly arranged on the base 1, a driving device 20 is fixedly arranged on the mounting plate, an output shaft of the driving device 20 is connected to the bevel gear set 18 through a transmission rod 19, the output shaft of the driving device 20 is further connected to a maltese cross movement structure arranged on the base 1, the maltese cross movement structure includes a driving wheel 21 coaxially and fixedly connected with the output shaft of the driving device 20, and the driving wheel 21 is matched with a driven wheel 22 rotatably arranged on the base 1.

When the driving device 20 works, the driving rod 19 connected with the driving device is driven to rotate, the driving rod 19 drives the rotating disc 4 to rotate through the bevel gear set 18, meanwhile, the output shaft of the driving device 20 is connected with the driving wheel 21, the driving wheel 21 is matched with the driven wheel 22, and when the driving wheel 21 rotates for one circle, the driven wheel 22 rotates for a quarter of a circle.

Referring to fig. 7 and 8, the driven wheel 22 is connected with a bearing tray 24 arranged on the base 1 through a third belt 23, a plurality of second vertical rods 26 are arranged on the bearing tray 24 at equal intervals, a bearing disc 25 is arranged on the second vertical rods 26 in a sliding manner, a second spring 27 is sleeved on the second vertical rods 26, a clamping assembly used for clamping a workpiece is arranged between the bearing disc 25 and the bearing tray 24 and comprises a plurality of sliding grooves arranged at equal intervals on the bearing disc 25, sliding blocks 30 are arranged in the sliding grooves in a sliding manner, clamping blocks 29 are fixedly arranged on the upper portions of the sliding blocks 30, the lower portions of the sliding blocks 30 are connected with a second pulley 34 through a connecting plate 31, the second pulley 34 is abutted against a dispersing piece 28 arranged on the bearing tray 24, and the connecting plate 31 is connected with the bearing disc 25 through a resetting structure, the reset structure comprises a bearing disc 25, a third vertical rod 32 connected with the sliding block 30 in a sliding manner, a third spring 33 is sleeved on the third vertical rod 32, one end of the third spring 33 is connected with the end of the third vertical rod 32, and the other end of the third spring is connected with the connecting plate 31.

When the driven wheel 22 rotates, the bearing tray 24 is driven by the third belt 23 to rotate, and the reciprocating motion of the spraying head 17 is matched with each other, so that the surface of the workpiece is uniformly sprayed.

Before the use, when the workpiece needs to be placed on the bearing disc 25, the self gravity of the workpiece drives the bearing disc 25 to move towards the bearing disc 24, the second spring 27 is compressed, the second pulley 34 is driven to move downwards in the downward movement process of the bearing disc 24, the second pulley 34 is abutted against the dispersing piece 28, and the dispersing piece 28 is of a conical structure, so that in the downward movement process of the second pulley 34, the second pulley 34 drives the sliding block 30 to slide in the sliding groove through the connecting plate 31, the workpiece is clamped by the clamping block 29, and the workpiece has enough stability in the rotation process of the bearing disc 24, and the stability is different according to workpieces with different weights, namely the heavier the weight is, the stability is stronger.

Taking an embodiment combining all the features described in the present application as an example (working principle), when the driving device 20 works, the driving rod 19 connected with the driving device is driven to rotate, the driving rod 19 drives the turntable 4 to rotate through the bevel gear set 18, meanwhile, the output shaft of the driving device 20 is connected with the driving wheel 21, the driving wheel 21 is matched with the driven wheel 22, and when the driving wheel 21 rotates one cycle, the driven wheel 22 rotates one quarter of a cycle;

when the turntable 4 rotates, one end of the support rod 5 makes a circular motion, the swing arm 3 swings along a hinge point of the swing arm and the support arm 2 through the support rod 5, and the end part of the extension arm 6 makes an up-and-down reciprocating motion;

when the swing arm 3 swings, the telescopic rod 9 swings along with the swing arm, the first pulley 8 on the telescopic rod 9 is always in a state of being abutted to the triangular piece 7, and one side of the triangular piece 7, which is abutted to the first pulley 8, is arranged in a vertical surface mode, so that when the swing arm 3 swings, the telescopic rod 9 can slide on the fixing sleeve 10 relatively under the action of the first pulley 8 and the triangular piece 7, and the extension arm 6 is driven to extend outwards relative to the swing arm 3 through the first upright rod 11, specifically, when the swing arm 3 swings upwards or downwards, the telescopic rod 9 slides on the fixing sleeve 10, the first spring 12 is further stretched from a state of being pulled up in an initial state, and the extension arm 6 extends outwards relative to the swing arm 3 at the moment, so that the distance between one end of the extension arm 6 and the surface of a workpiece is approximately the same;

when the swing arm 3 is in a horizontal state, the spraying head 17 is in a vertical state with the surface of the workpiece, when the swing arm 3 swings, the spraying head 17 is always kept in a state of being vertical to the surface of the workpiece under the action of the first belt 15 and the second belt 16, meanwhile, as the extension arm 6 can stretch and contract in the swinging process of the swing arm 3, when the extension arm 6 stretches and contracts, the angle between the first connecting rod 13 and the second connecting rod 14 is changed to adapt to the distance between the extension arm 6 and the support arm 2;

when the driven wheel 22 rotates, the bearing tray 24 is driven to rotate through the third belt 23 and is matched with the reciprocating motion of the spraying head 17 to uniformly spray the surface of the workpiece;

before use, when a workpiece needs to be placed on the bearing disc 25, the bearing disc 25 is driven by the gravity of the workpiece to move towards the bearing disc 24 at the moment, the second spring 27 is compressed, the second pulley 34 is driven to move downwards in the downward movement process of the bearing disc 24, the second pulley 34 is abutted to the dispersing piece 28, and the dispersing piece 28 is in a conical structure, so that in the downward movement process of the second pulley 34, the second pulley 34 drives the sliding block 30 to slide in the sliding groove through the connecting plate 31, the workpiece is clamped by the clamping block 29, and the workpiece has enough stability in the rotation process of the bearing disc 24, and the stability is different according to workpieces with different weights, namely the heavier the weight is, the stability is stronger.

The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims

1. A multi-axis industrial robot adapted for harsh environments, comprising:

the device comprises a base (1), wherein a supporting arm (2) vertical to the base is fixedly installed on the base (1), a swinging arm (3) is rotatably arranged at one end, far away from the base (1), of the supporting arm (2), the interior of the swinging arm (3) is hollow, and a telescopic extending arm (6) is slidably arranged in the swinging arm (3);

the supporting arm (2) is connected with the swinging arm (3) through a pulling assembly, the swinging arm (3) is connected with the extending arm (6) through a pushing assembly, a spraying head (17) is rotatably arranged at one end, away from the swinging arm (3), of the extending arm (6), and a rotating shaft of the spraying head (17) is connected with the supporting arm (2) through a horizontal holding assembly;

the subassembly of dragging is in through installing bevel gear group (18) connection setting on support arm (2) power component on base (1), power component is in through No. three belt (23) and setting tray (24) on base (1) are connected, it is provided with a plurality of No. two pole settings (26) to be the circumference equidistance on tray (24), slide on No. two pole settings (26) and be provided with and accept dish (25), just the cover is equipped with No. two springs (27) on No. two pole settings (26), accept dish (25) with be provided with between tray (24) and be used for carrying out the clamping subassembly of centre gripping to the work piece.

2. A multi-axis industrial robot adapted for harsh environments according to claim 1, characterized in that said pulling assembly comprises a turntable (4) rotatably mounted on said supporting arm (2) and connected to said bevel gear set (18), said turntable (4) being connected to said swing arm (3) by means of a support bar (5), said support bar (5) being rotatably mounted at one end at an eccentric position of said turntable (4) and at the other end on said swing arm (3).

3. The multi-axis industrial robot suitable for harsh environments of claim 1, wherein the pushing assembly comprises a triangular piece (7) fixedly connected with the supporting arm (2), a telescopic rod (9) movably arranged on the swing arm (3), the telescopic rod (9) is slidably connected with a fixed sleeve (10) fixedly arranged on the swing arm (3), one end of the telescopic rod (9) is rotatably provided with a first pulley (8) abutted against the triangular piece (7), and the other end of the telescopic rod is connected with the extending arm (6) through an elastic structure.

4. A multi-axis industrial robot adapted for harsh environments according to claim 3, wherein said elastic structure comprises a first vertical rod (11) connected at one end to said extension arm (6) and at the other end to said telescopic rod (9), said first vertical rod (11) being slidably connected to a protrusion mounted on said swing arm (3), and a first spring (12) being sleeved on said first vertical rod (11), said first spring (12) being connected at one end to said protrusion and at the other end to said telescopic rod (9).

5. A multi-axis industrial robot adapted for harsh environments according to claim 1, wherein said horizontal holding assembly comprises a first connecting rod (13) rotatably connected to said spray head (17), wherein a second connecting rod (14) is rotatably provided at an end of said first connecting rod (13) remote from said spray head (17), said second connecting rod (14) is rotatably mounted on said support arm (2), and two coaxial belt pulleys are provided at the rotational connection of said second connecting rod (14) and said first connecting rod (13), wherein one of said belt pulleys is connected to said spray head (17) by a first belt (15) and the other of said belt pulleys is connected to said support arm (2) by a second belt (16).

6. A multi-axis industrial robot adapted for harsh environments according to claim 1, wherein said power assembly comprises a mounting plate fixedly mounted on said base (1), said mounting plate fixedly mounting a driving device (20), an output shaft of said driving device (20) being connected to said bevel gear set (18) through a transmission rod (19), an output shaft of said driving device (20) being further connected to a maltese cross movement structure provided on said base (1).

7. A multi-axis industrial robot adapted for harsh environments according to claim 6 wherein said Maltese cross movement structure comprises a driving wheel (21) fixedly connected coaxially with the output shaft of said driving means (20), said driving wheel (21) being adapted to a driven wheel (22) rotatably mounted on said base (1), said driven wheel (22) being connected to said third belt (23).

8. The multi-axis industrial robot suitable for the severe environment is characterized in that the clamping assembly comprises a plurality of sliding grooves which are circumferentially arranged on the bearing disc (25) at equal intervals, sliding blocks (30) are arranged in the sliding grooves in a sliding mode, clamping blocks (29) are fixedly arranged on the upper portions of the sliding blocks (30), the lower portions of the sliding blocks (30) are connected with a second pulley (34) through a connecting plate (31), and the second pulley (34) abuts against a dispersing piece (28) arranged on the bearing disc (24);

yoke plate (31) through reset structure with accept set (25) and connect, reset structure includes fixed mounting accept set (25) on and with slider (30) sliding connection's No. three pole setting (32), the cover is equipped with No. three spring (33) on No. three pole setting (32), the one end of No. three spring (33) with the end connection of No. three pole setting (32), the other end with yoke plate (31) are connected.