CN114770483A - High-sensitivity robot with bionic arm - Google Patents
High-sensitivity robot with bionic arm Download PDFInfo
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- CN114770483A CN114770483A CN202210598915.1A CN202210598915A CN114770483A CN 114770483 A CN114770483 A CN 114770483A CN 202210598915 A CN202210598915 A CN 202210598915A CN 114770483 A CN114770483 A CN 114770483A
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- fixedly connected
- robot
- electric
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- flue gas
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D45/00—Separating dispersed particles from gases or vapours by gravity, inertia, or centrifugal forces
- B01D45/04—Separating dispersed particles from gases or vapours by gravity, inertia, or centrifugal forces by utilising inertia
- B01D45/08—Separating dispersed particles from gases or vapours by gravity, inertia, or centrifugal forces by utilising inertia by impingement against baffle separators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- 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)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of mechanical equipment, in particular to a high-sensitivity robot with bionic arms. The technical problem is as follows: the welding can produce a large amount of harmful flue gas, and particulate matter in the flue gas can disperse and adhere to on the circuit of robot, leads to the circuit surface corrosion of robot, and the flue gas leads to the air to receive the pollution in the weldment work area. The technical scheme is as follows: a high-sensitivity robot with bionic arms comprises a bionic mechanical arm, a flue gas purification system and the like; the upper part of the bionic mechanical arm is connected with a flue gas purification system. The invention solves the problems that the existing welding robot can only weld two steel pipes with large angles, stably clamp the steel pipes, reduce the contact gap between the two steel pipes, directionally collect the smoke in the welding process, hit the particles in the smoke on the adsorption piece by utilizing the matching between the processing box and the accelerator, and finish the adsorption by the adsorption piece, thereby effectively solving the problems that the particle substances in the smoke are dispersed in the air and randomly attached to the surface of a line.
Description
Technical Field
The invention relates to the field of mechanical equipment, in particular to a high-sensitivity robot with bionic arms.
Background
The existing steel pipe welding uses a welding robot to weld, but the existing welding robot can only weld two straight steel pipes, the welding precision is low, the welding quality is poor, and welding dead angles can appear in the working process.
In the process of welding the steel pipes, because the outer surface of the steel pipe has a corrosion layer, under the condition of high temperature, welding can generate a large amount of harmful smoke, the smoke contains a large amount of particulate matters, the particulate matters in the high-temperature smoke can be attached to a line of a robot in a dispersing manner, the line surface of the robot is polluted, the corrosion of the line is caused, the precision performance of the robot is influenced, the air in a welding work area is polluted greatly due to the large amount of dispersed smoke, and a worker can not monitor the welding operation on site.
In order to solve the above problems, a high-sensitivity robot with a bionic arm is provided.
Disclosure of Invention
The invention provides a high-sensitivity robot with a bionic arm, aiming at overcoming the defects that a large amount of harmful smoke is generated during welding, particles in the smoke are dispersed and attached to a robot line, the surface of the robot line is corroded, and air in a welding work area is polluted due to the smoke.
The technical scheme is as follows: a high-sensitivity robot with a bionic arm comprises a frame, a workbench, the bionic mechanical arm, a welding gun and a line pipe; the four racks are fixedly connected with a workbench on the upper surfaces; a bionic mechanical arm is fixedly connected to the middle part of the upper surface of the workbench; an operating head of the bionic mechanical arm is connected with a welding gun; the upper surface of the welding gun is fixedly connected with a circuit pipe, and the circuit pipe is movably connected with the bionic mechanical arm; the device also comprises a flue gas purification system, a treatment box, an accelerator, an adsorption piece and a particle cleaning system; the upper part of the bionic mechanical arm is connected with a flue gas purification system for timely pumping the welding position to generate flue gas; the flue gas purification system is provided with a treatment box; the inside of the processing box is rotatably connected with an accelerator, and the rotating center of the accelerator is the central axis of the processing box; the flue gas purification system is provided with an adsorption piece for adsorbing particles in the flue gas generated by welding; the flue gas purification system is connected with a particle cleaning system used for cleaning particles attached to the adsorption piece.
As an improvement of the proposal, the outer annular surface of the treatment box is provided with a plurality of circular vent holes.
As an improvement of the scheme, the accelerator consists of a central fixed rod and a plurality of S blades, and the width of each S blade increases from a centripetal end to a centrifugal end.
As an improvement of the scheme, the adsorption member is a wet particle adhesion plate.
As an improvement of the scheme, the flue gas purification system comprises a connector, a protective cover, a fixer, a bearing box, a first gas pipe, a first support frame, a first rotating shaft, an impeller, a power mechanism and a second gas pipe; the operating head of the bionic mechanical arm is fixedly connected with a connector; the connector is fixedly connected with a protective cover; the welding gun penetrates through the middle part of the protective cover; the upper part of the bionic mechanical arm is fixedly connected with a fixer; a bearing box is fixedly connected inside the fixer; an adsorption piece is embedded at the lower side in the bearing box; the lower side inside the bearing box is fixedly connected with a processing box; the bottom of the treatment box is communicated with four first gas pipes; the four first gas transmission pipes are communicated with the protective cover; the four first gas transmission pipes penetrate through the lower side of the bearing box; a first support frame is fixedly connected to the upper side inside the bearing box; the first support frame is rotatably connected with a first rotating shaft; the upper part of the first rotating shaft is fixedly connected with an impeller; the lower part of the first rotating shaft is fixedly connected with an accelerator; the first rotating shaft is connected with a power mechanism for providing power; the top of the bearing box is communicated with a second air pipe.
As an improvement of the scheme, the particle cleaning system comprises a collecting box, a power connecting rod, a fixing frame, a first flat gear, a second supporting frame, a second rotating shaft, a second flat gear, a third flat gear, an inner gear ring and a cleaner; the bottom of the bearing box is in threaded connection with a collecting box; the middle part of the collecting box is fixedly connected with a power connecting rod; a fixing frame is fixedly connected with the lower side in the bearing box; a first flat gear is rotationally connected in the fixed frame; a second support frame is fixedly connected to the lower side of the interior of the bearing box and is positioned above the fixed frame; the second support frame is rotatably connected with a second rotating shaft; a second flat gear is fixedly connected to the lower part of the second rotating shaft; the second flat gear is meshed with the first flat gear; a third pinion is fixedly connected to the upper part of the second rotating shaft; the outer edge of the bottom of the treatment box is rotationally connected with an inner gear ring; the third spur gear meshes with the inner gear ring; the inner gear ring is connected with four cleaners which are uniformly distributed in the circumferential direction.
As an improvement of the scheme, the cleaner comprises a first fixing plate, a cleaning rod and a torsion spring; the outer ring surface of the inner gear ring is fixedly connected with four first fixing plates; each first fixing plate is internally and rotatably connected with a cleaning rod; a torsion spring is respectively arranged at the upper part and the lower part of each cleaning rod; each torsion spring is fixedly connected with the first fixing plate.
As an improvement of the scheme, the cleaning rod is an oblate cylinder, and the outer surface of the cleaning rod is a rough surface.
As the improvement of the proposal, the utility model also comprises a fixing system; the front part of the upper surface of the cleaning rod is connected with a fixing system; the fixing system comprises a mounting plate, an electric sliding rail, an electric sliding block, a bearing plate, a first electric telescopic piece, a connecting block, a clamping mechanism, a third electric telescopic piece and a second fixing plate; the front part of the upper surface of the cleaning rod is fixedly connected with an installation plate; the front side of the mounting plate is fixedly connected with an electric slide rail; the electric sliding rail is connected with an electric sliding block in a sliding way; the front part of the electric slider is fixedly connected with a bearing plate; two first electric telescopic pieces are fixedly connected to the bearing plate; the telescopic part of the first electric telescopic piece on the left side is fixedly connected with a connecting block; the connecting block is connected with a clamping mechanism; the right first electric telescopic part is fixedly connected with a third electric telescopic part; the telescopic part of the third electric telescopic part is fixedly connected with a second fixing plate; the front part of the second fixing plate is connected with a clamping mechanism.
As an improvement of the scheme, the clamping mechanism comprises an electric turntable, a first arc-shaped plate, a supporting device, an electric rotating shaft, a second arc-shaped plate, a second electric telescopic piece and a protective ball; the front part of the connecting block is fixedly connected with an electric turntable; the front part of the second fixing plate is fixedly connected with an electric turntable; the rotating parts of the two electric turntables are respectively fixedly connected with a first arc-shaped plate; the inner wall of each first arc-shaped plate is fixedly connected with three supporting devices; each supporting device is fixedly connected with a protective ball; the upper part of each first arc-shaped plate is fixedly connected with an electric rotating shaft; each electric rotating shaft is fixedly connected with a second arc-shaped plate; the front part of each second arc-shaped plate is fixedly connected with a second electric telescopic piece; each second electric telescopic part is fixedly connected with a protective ball.
Has the beneficial effects that: the invention carries a bionic mechanical arm to complete welding operation, is adaptive to butt joint of steel pipes, solves the problems that the existing welding robot can only weld two steel pipes with large angles, stably clamps the steel pipes, reduces the contact gap between the two steel pipes, directionally collects flue gas in time in the welding process, utilizes the cooperation between a treatment box and an accelerator to shoot particles in the flue gas onto an adsorption piece, and completes adsorption by the adsorption piece, and effectively solves the problem that the particle substances in the flue gas are scattered in the air and are randomly attached to the surface of a line.
Drawings
FIG. 1 is a schematic diagram of a first three-dimensional structure of a high-sensitivity robot with a bionic arm according to the present invention;
FIG. 2 is a schematic diagram of a second three-dimensional structure of a high-sensitivity robot with a bionic arm according to the present invention;
FIG. 3 is a schematic diagram of a first partial structure of a high sensitivity robot with a bionic arm according to the present invention;
FIG. 4 is a schematic diagram of a second partial structure of the high-sensitivity robot with a bionic arm according to the present invention;
FIG. 5 is a sectional view of a first partial structure of a high sensitivity robot with a bionic arm according to the present invention;
FIG. 6 is a sectional view of a second partial structure of a high sensitivity robot having a bionic arm according to the present invention;
FIG. 7 is an exploded view of a first partial structure of a high sensitivity robot with a bionic arm according to the present invention;
FIG. 8 is a schematic perspective view of an accelerator according to the present invention;
FIG. 9 is a perspective view of the sweeper of the present invention;
FIG. 10 is a sectional view showing a third partial structure of a high sensitivity robot having a bionic arm according to the present invention;
FIG. 11 is a perspective view of the fastening system of the present invention;
FIG. 12 is a partial view of a first center spike of the fastening system of the present invention;
fig. 13 is a perspective view of the clamping mechanism of the present invention.
Number designation in the figures: 1-a rack, 2-a workbench, 3-a bionic mechanical arm, 4-a mounting plate, 5-a connector, 6-a protective cover, 7-a welding gun, 8-a line pipe, 9-a fixer, 10-a bearing box, 11-a first gas pipe, 12-a treatment box, 13-a first support frame, 14-a first rotating shaft, 15-an impeller, 16-an accelerator, 17-a servo motor, 18-a first driving wheel, 19-a second driving wheel, 20-a second gas pipe, 21-a collection box, 22-a power connecting rod, 23-a fixed frame, 24-a first flat gear, 25-a second support frame, 26-a second rotating shaft, 27-a second flat gear, 28-a third flat gear and 29-an inner gear ring, 301-a first fixing plate, 302-a cleaning rod, 303-a torsion spring, 31-an electric sliding rail, 32-an electric sliding block, 33-a bearing plate, 34-a first electric telescopic part, 35-a connecting block, 361-an electric rotating disc, 362-a first arc-shaped plate, 363-a jacking device, 364-an electric rotating shaft, 365-a second arc-shaped plate, 366-a second electric telescopic part, 367-a protection ball, 37-a third electric telescopic part, 38-a second fixing plate and 39-an adsorption part.
Detailed Description
The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present application. The conditions used in the examples may be further adjusted according to the conditions of the particular manufacturer, and the conditions not specified are generally the conditions in routine experiments.
In the embodiment of the present invention, the first electric telescopic element 34 is an air cylinder, the second electric telescopic element 366 is an air cylinder, and the third electric telescopic element 37 is an electric push rod.
Example 1
A high-sensitivity robot with a bionic arm is shown in figures 1-13 and comprises a frame 1, a workbench 2, a bionic mechanical arm 3, a welding gun 7 and a line pipe 8; the four racks 1 are provided, and the upper surfaces of the four racks 1 are fixedly connected with the workbench 2; a bionic mechanical arm 3 is fixedly connected to the middle part of the upper surface of the workbench 2; an operating head of the bionic mechanical arm 3 is connected with a welding gun 7; the upper surface of the welding gun 7 is fixedly connected with a circuit pipe 8, and the circuit pipe 8 is movably connected with the bionic mechanical arm 3;
the device also comprises a flue gas purification system, a treatment box 12, an accelerator 16, an adsorption piece 39 and a particle cleaning system; the upper part of the bionic mechanical arm 3 is connected with a flue gas purification system for timely pumping the welding position to generate flue gas; the flue gas purification system is provided with a treatment box 12; an accelerator 16 is rotatably connected inside the processing box 12, and the rotation center of the accelerator 16 is the central axis of the processing box 12; the flue gas purification system is provided with an adsorption piece 39 for adsorbing particles in the flue gas generated by welding; the flue gas cleaning system is connected with a particle cleaning system for cleaning particles attached to the adsorbing member 39.
The outer circumferential surface of the treatment tank 12 is provided with a plurality of circular vent holes.
The accelerator 16 is composed of a central fixing rod and a plurality of S-blades, and the widths of the S-blades increase from the centripetal end to the centrifugal end.
The adsorbing member 39 is a wet particle adhesion plate.
The flue gas purification system comprises a connector 5, a protective cover 6, a fixer 9, a bearing box 10, a first gas pipe 11, a first support frame 13, a first rotating shaft 14, an impeller 15, a power mechanism and a second gas pipe 20; the operating head of the bionic mechanical arm 3 is fixedly connected with a connector 5; the connector 5 is connected with a protective cover 6 through bolts; the welding gun 7 penetrates through the middle part of the protective cover 6; the upper part of the bionic mechanical arm 3 is connected with a fixer 9 through a bolt; the interior of the fixer 9 is connected with a bearing box 10 by bolts; an adsorption piece 39 is embedded in the lower side of the interior of the bearing box 10; the lower side inside the bearing box 10 is fixedly connected with a processing box 12; the bottom of the treatment box 12 is communicated with four first gas conveying pipes 11; the four first gas transmission pipes 11 are communicated with the protective cover 6; the four first air conveying pipes 11 penetrate through the lower side of the bearing box 10; a first support frame 13 is connected with the upper side inside the bearing box 10 through bolts; the first support frame 13 is rotatably connected with a first rotating shaft 14; an impeller 15 is fixedly connected to the upper part of the first rotating shaft 14; the lower part of the first rotating shaft 14 is fixedly connected with an accelerator 16; the first rotating shaft 14 is connected with a power mechanism; the top of the bearing box 10 is communicated with a second air pipe 20.
The power mechanism comprises a servo motor 17, a first transmission wheel 18 and a second transmission wheel 19; a servo motor 17 is fixedly connected to the upper part of the outer surface of the bearing box 10; a first driving wheel 18 is fixedly connected with an output shaft of the servo motor 17; a second driving wheel 19 is fixedly connected to the upper part of the first rotating shaft 14, and the second driving wheel 19 is positioned above the impeller 15; the outer circumferential surface of the first driving wheel 18 is in driving connection with a second driving wheel 19 through a belt.
Also comprises a fixing system; the front part of the upper surface of the cleaning rod 302 is connected with a fixing system; the fixing system comprises a mounting plate 4, an electric sliding rail 31, an electric sliding block 32, a bearing plate 33, a first electric telescopic piece 34, a connecting block 35, a clamping mechanism, a third electric telescopic piece 37 and a second fixing plate 38; the front part of the upper surface of the cleaning rod 302 is connected with a mounting plate 4 through a bolt; the front side of the mounting plate 4 is connected with an electric slide rail 31 through bolts; an electric sliding block 32 is connected on the electric sliding rail 31 in a sliding way; the front part of the electric slide block 32 is fixedly connected with a bearing plate 33; two first electric telescopic parts 34 are fixedly connected to the bearing plate 33; the expansion part of the first electric expansion piece 34 on the left side is fixedly connected with a connecting block 35; the connecting block 35 is connected with a clamping mechanism; a third electric expansion piece 37 is fixedly connected with the expansion part of the first electric expansion piece 34 on the right; a second fixing plate 38 is fixedly connected to the telescopic part of the third electric telescopic element 37; a clamping mechanism is attached to the front of the second mounting plate 38.
The clamping mechanism comprises an electric rotating disc 361, a first arc-shaped plate 362, a supporting device 363, an electric rotating shaft 364, a second arc-shaped plate 365, a second electric telescopic piece 366 and a protecting ball 367; the front part of the connecting block 35 is fixedly connected with an electric turntable 361; an electric rotary table 361 is fixedly connected to the front part of the second fixing plate 38; the rotating parts of the two electric turntables 361 are respectively fixedly connected with a first arc-shaped plate 362; three supporting devices 363 are fixedly connected to the inner wall of each first arc-shaped plate 362; each supporting device 363 is fixedly connected with a protective ball 367; an electric rotating shaft 364 is fixedly connected to the upper part of each first arc-shaped plate 362; a second arc-shaped plate 365 is fixedly connected to each electric rotating shaft 364; a second electric expansion piece 366 is fixedly connected to the front part of each second arc-shaped plate 365; each of the second electric telescopic parts 366 is fixedly connected with a protective ball 367.
The material of the protective ball 367 is hard rubber.
Before welding operation is carried out by using a high-sensitivity robot with a bionic arm, the safe operation condition of each line is checked, and the stability of the four racks 1 is determined; then the worker controls the two electric rotating shafts 364 to operate, the two electric rotating shafts 364 respectively drive one second arc-shaped plate 365 to rotate, at the moment, the front spaces of the two first arc-shaped plates 362 are opened, the worker stably places the corresponding steel pipes to be welded on the first arc-shaped plates 362 for positioning by utilizing an external feeding mechanism, setting a fixed length according to a welding angle set by two steel pipes, then controlling two electric rotating shafts 364 to return, forming an annular fixed space between the first arc-shaped plate 362 and the second arc-shaped plate 365, controlling two second electric telescopic parts 366 to operate, driving a protection ball 367 to move towards the direction of the supporting devices 363 by the two second electric telescopic parts 366 respectively, extruding three supporting devices 363 of each pair of the two steel pipes under the thrust action of the second electric telescopic parts 366, and after the adjacent three supporting devices 363 are mutually stabilized, showing that the steel pipes are stably clamped; then, the two electric turntables 361 are controlled to operate, the two electric turntables 361 rotate oppositely, the inclination angles of the two fixed steel pipes are consistent, then, the third electric telescopic piece 37 is controlled to operate, the third electric telescopic piece 37 drives the second fixing plate 38 to move, the second fixing plate 38 drives relevant parts on the steel pipes to move together, so that the right steel pipe is slowly positioned and is in contact with the left steel pipe, the two steel pipes are in contact and close to each other, and the positioning before welding is completed; and then the two first electric telescopic parts 34 are controlled to operate, the two first electric telescopic parts 34 respectively drive relevant parts on the two first electric telescopic parts to move upwards together, and at the moment, the two steel pipes which are close to each other are lifted to a working area where the bionic mechanical arm 3 can complete welding.
After the steel pipes are correspondingly finished, the bionic mechanical arm 3 is controlled to operate, the bionic mechanical arm 3 drives a welding gun 7 on the bionic mechanical arm to carry out welding operation, a welding circuit depends on the whole-process operation of a PLC control system, and a worker provides an instruction for the bionic mechanical arm 3 by an optimized welding program in advance; in the welding process, the welding gun 7 carries out high-temperature welding on the connecting part of two steel pipes, in the welding process, a large amount of smoke is generated on the surfaces of the steel pipes due to high temperature, at the moment, in order to avoid discrete fluctuation of the smoke, the servo motor 17 is controlled to operate, the output shaft of the servo motor 17 drives the first driving wheel 18 to rotate, the first driving wheel 18 drives the second driving wheel 19, the second driving wheel 19 drives the first rotating shaft 14 to rotate, the first rotating shaft 14 drives the impeller 15 to rotate in the rotating process, the rotating impeller 15 pumps the air in the bearing box 10, the flow channel of the air in the bearing box 10 is formed by the processing box 12 and the four first gas pipes 11, therefore, the upper part of the protective cover 6 has wind power, the smoke generated by welding can be immediately sucked into the four first gas pipes 11, the smoke reaches the bottom of the processing box 12 from the four first gas pipes 11 and moves upwards, the flue gas in the treatment box 12 is accelerated under the action of the rotating accelerator 16, the flue gas is accelerated and discharged from the circular vent hole on the treatment box 12 and is hit on the adsorption piece 39, the adsorption piece 39 is used for cleaning particles in the flue gas, the problem that the particles in the flue gas are scattered in the air and are randomly attached to the surface of a circuit is effectively solved, the purified gas is discharged along with the second gas conveying pipe 20, different harmful gas purifiers are selected according to the material of a welding pipeline, and the purifiers are carried beside the bionic mechanical arm 3.
Example 2
On the basis of embodiment 1, as shown in fig. 1, 3-7 and 9, the particle cleaning system comprises a collecting box 21, a power connecting rod 22, a fixed frame 23, a first flat gear 24, a second supporting frame 25, a second rotating shaft 26, a second flat gear 27, a third flat gear 28, an internal gear ring 29 and a cleaner; the bottom of the bearing box 10 is connected with a collecting box 21 through a thread; the middle part of the collecting box 21 is fixedly connected with a power connecting rod 22; a fixing frame 23 is fixedly connected with the lower side inside the bearing box 10; a first flat gear 24 is rotationally connected with the fixed frame 23; a second support frame 25 is connected to the lower side of the interior of the bearing box 10 through bolts, and the second support frame 25 is positioned above the fixed frame 23; the second support frame 25 is rotatably connected with a second rotating shaft 26; a second flat gear 27 is fixedly connected to the lower part of the second rotating shaft 26; the second spur gear 27 meshes with the first spur gear 24; a third pinion 28 is fixedly connected to the upper part of the second rotating shaft 26; the outer edge of the bottom of the treatment box 12 is rotatably connected with an inner gear ring 29; the third spur gear 28 engages an internal gear ring 29; the inner ring gear 29 is connected with four cleaners which are evenly distributed in the circumferential direction.
The cleaner comprises a first fixing plate 301, a cleaning rod 302 and a torsion spring 303; four first fixing plates 301 are fixedly connected to the outer ring surface of the inner gear ring 29; a cleaning rod 302 is rotatably connected in each first fixing plate 301; a torsion spring 303 is respectively arranged at the upper part and the lower part of each cleaning rod 302; each torsion spring 303 is fixedly connected to the first fixing plate 301.
The cleaning rod 302 is an oblate cylinder and its outer surface is a rough surface.
In the welding process, particulate matters in the flue gas are continuously adsorbed on the adsorption piece 39, and also fall down and are collected in the collection box 21, so that workers need to clean and replace the adsorption piece 39 regularly; after the welding operation, the bionic robot arm 3 is controlled to move, so that the whole bearing box 10 is positioned at the side position with the same height as the workbench 2, then the worker twists the collection box 21 by using a tool, because the collection box 21 is in threaded connection with the bearing box 10, the collection box 21 rotates and moves downwards, the collection box 21 drives the power connecting rod 22 to move downwards together in the same way, the power connecting rod 22 drives the first flat gear 24, the first flat gear 24 rotates on the fixing frame 23 and drives the second flat gear 27, the second flat gear 27 drives the second rotating shaft 26 to rotate, the second rotating shaft 26 drives the third flat gear 28 to rotate, the third flat gear 28 drives the internal gear ring 29 at the bottom of the processing box 12, the internal gear ring 29 starts to rotate after obtaining power, and the internal gear ring 29 drives the four first fixing plates 301 to move circularly, the four first fixing plates 301 drive the associated parts to move together, and each cleaning rod 302 following the circular motion is always attached to the inner surface of the adsorbing member 39 by the acting force of the two torsion springs 303 on the cleaning rod 302, so that the four cleaning rods 302 following the circular motion can clean the particles on the adsorbing member 39, and the adsorbing member 39 can be reused.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A high-sensitivity robot with bionic arms comprises a frame (1); four racks (1) are arranged, and the upper surfaces of the four racks (1) are fixedly connected with a workbench (2); the middle part of the upper surface of the workbench (2) is fixedly connected with a bionic mechanical arm (3); an operating head of the bionic mechanical arm (3) is connected with a welding gun (7); the upper surface of the welding gun (7) is fixedly connected with a line pipe (8), and the line pipe (8) is movably connected with the bionic mechanical arm (3); the device is characterized by also comprising a flue gas purification system, a treatment box (12), an accelerator (16), an adsorption piece (39) and a particle cleaning system; the upper part of the bionic mechanical arm (3) is connected with a flue gas purification system which is used for timely pumping the welding position to generate flue gas; a treatment box (12) is arranged on the flue gas purification system; an accelerator (16) is rotatably connected inside the processing box (12), and the rotation center of the accelerator (16) is the central axis of the processing box (12); an adsorption piece (39) for adsorbing particles in the flue gas generated by welding is arranged on the flue gas purification system; the flue gas purification system is connected with a particle cleaning system for cleaning particles attached to the adsorption piece (39).
2. The high-sensitivity robot with bionic arm as claimed in claim 1, characterized in that the outer circumferential surface of the processing box (12) is provided with a plurality of circular ventilation holes.
3. The robot of claim 1, wherein the accelerator (16) is composed of a central fixed rod and a plurality of S-blades, and the width of the S-blades increases from the centripetal end to the centrifugal end.
4. The high-sensitivity robot with the bionic arm as claimed in claim 1, wherein the adsorption member (39) is a wet particle adhesion plate.
5. The high-sensitivity robot with the bionic arm as claimed in claim 4, wherein the flue gas purification system comprises a connector (5), a protective cover (6), a fixer (9), a bearing box (10), a first gas pipe (11), a first support frame (13), a first rotating shaft (14), an impeller (15), a power mechanism and a second gas pipe (20); the operating head of the bionic mechanical arm (3) is fixedly connected with a connector (5); a protective cover (6) is fixedly connected to the connector (5); the welding gun (7) penetrates through the middle part of the protective cover (6); the upper part of the bionic mechanical arm (3) is fixedly connected with a fixer (9); a bearing box (10) is fixedly connected inside the fixer (9); an adsorption piece (39) is embedded in the lower side of the interior of the bearing box (10); the lower side in the bearing box (10) is fixedly connected with a processing box (12); the bottom of the treatment box (12) is communicated with four first gas pipes (11); the four first gas transmission pipes (11) are communicated with the protective cover (6); the four first air conveying pipes (11) penetrate through the lower side of the bearing box (10); a first supporting frame (13) is fixedly connected with the upper side inside the bearing box (10); the first support frame (13) is rotatably connected with a first rotating shaft (14); an impeller (15) is fixedly connected to the upper part of the first rotating shaft (14); the lower part of the first rotating shaft (14) is fixedly connected with an accelerator (16); the first rotating shaft (14) is connected with a power mechanism for providing power; the top of the bearing box (10) is communicated with a second air pipe (20).
6. The robot with bionic arms and high sensitivity as claimed in claim 5, wherein the particle cleaning system comprises a collection box (21), a power connecting rod (22), a fixed frame (23), a first flat gear (24), a second supporting frame (25), a second rotating shaft (26), a second flat gear (27), a third flat gear (28), an inner gear ring (29) and a cleaner; the bottom of the bearing box (10) is connected with a collecting box (21) through threads; the middle part of the collecting box (21) is fixedly connected with a power connecting rod (22); a fixing frame (23) is fixedly connected with the lower side in the bearing box (10); a first flat gear (24) is rotationally connected with the fixed frame (23); a second support frame (25) is fixedly connected to the lower side of the interior of the bearing box (10), and the second support frame (25) is positioned above the fixing frame (23); the second support frame (25) is rotatably connected with a second rotating shaft (26); a second flat gear (27) is fixedly connected to the lower part of the second rotating shaft (26); the second flat gear (27) is meshed with the first flat gear (24); a third pinion (28) is fixedly connected to the upper part of the second rotating shaft (26); the outer edge of the bottom of the treatment box (12) is rotationally connected with an inner gear ring (29); the third flat gear (28) is meshed with the inner gear ring (29); the inner gear ring (29) is connected with four cleaners which are uniformly distributed in the circumferential direction.
7. The high-sensitivity robot with the bionic arm as claimed in claim 6, wherein the cleaner comprises a first fixing plate (301), a cleaning rod (302) and a torsion spring (303); four first fixing plates (301) are fixedly connected to the outer ring surface of the inner gear ring (29); each first fixing plate (301) is internally and rotatably connected with a cleaning rod (302); a torsion spring (303) is respectively arranged at the upper part and the lower part of each cleaning rod (302); each torsion spring (303) is fixedly connected with the first fixing plate (301).
8. The high-sensitivity robot with bionic arm as claimed in claim 7, characterized in that the cleaning rod (302) is an oblate cylinder and its outer surface is a rough surface.
9. The high-sensitivity robot with the bionic arm as claimed in claim 8, characterized by further comprising a fixing system; the front part of the upper surface of the cleaning rod (302) is connected with a fixing system; the fixing system comprises a mounting plate (4), an electric sliding rail (31), an electric sliding block (32), a bearing plate (33), a first electric telescopic piece (34), a connecting block (35), a clamping mechanism, a third electric telescopic piece (37) and a second fixing plate (38); the front part of the upper surface of the cleaning rod (302) is fixedly connected with a mounting plate (4); an electric slide rail (31) is fixedly connected to the front side of the mounting plate (4); an electric sliding block (32) is connected on the electric sliding rail (31) in a sliding way; the front part of the electric sliding block (32) is fixedly connected with a bearing plate (33); two first electric telescopic pieces (34) are fixedly connected to the bearing plate (33); the telescopic part of the first electric telescopic piece (34) on the left side is fixedly connected with a connecting block (35); the connecting block (35) is connected with a clamping mechanism; a third electric expansion piece (37) is fixedly connected with the expansion part of the first electric expansion piece (34) at the right side; a second fixing plate (38) is fixedly connected with the telescopic part of the third electric telescopic piece (37); a clamping mechanism is connected to the front portion of the second fixing plate (38).
10. The high-sensitivity robot with the bionic arm as claimed in claim 9, wherein the clamping mechanism comprises an electric rotating disc (361), a first arc-shaped plate (362), a supporting device (363), an electric rotating shaft (364), a second arc-shaped plate (365), a second electric telescopic part (366) and a protection ball (367); the front part of the connecting block (35) is fixedly connected with an electric rotating disc (361); an electric rotating disc (361) is fixedly connected with the front part of the second fixing plate (38); the rotating parts of the two electric rotating discs (361) are respectively fixedly connected with a first arc-shaped plate (362); three supporting devices (363) are fixedly connected to the inner wall of each first arc-shaped plate (362); each supporting device (363) is fixedly connected with a protective ball (367); an electric rotating shaft (364) is fixedly connected to the upper part of each first arc-shaped plate (362); each electric rotating shaft (364) is fixedly connected with a second arc-shaped plate (365); a second electric expansion piece (366) is fixedly connected to the front part of each second arc-shaped plate (365); each expansion part of the second electric expansion part (366) is fixedly connected with a protective ball (367).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210598915.1A CN114770483A (en) | 2022-05-30 | 2022-05-30 | High-sensitivity robot with bionic arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210598915.1A CN114770483A (en) | 2022-05-30 | 2022-05-30 | High-sensitivity robot with bionic arm |
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| Publication Number | Publication Date |
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| CN114770483A true CN114770483A (en) | 2022-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210598915.1A Pending CN114770483A (en) | 2022-05-30 | 2022-05-30 | High-sensitivity robot with bionic arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383360A (en) * | 2022-09-20 | 2022-11-25 | 南京工程学院 | Movable environment-friendly intelligent welding robot operation cabin |
| CN116604243A (en) * | 2023-06-21 | 2023-08-18 | 中建国际城市建设有限公司 | Welding mechanical arm for intelligent construction and welding method thereof |
-
2022
- 2022-05-30 CN CN202210598915.1A patent/CN114770483A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383360A (en) * | 2022-09-20 | 2022-11-25 | 南京工程学院 | Movable environment-friendly intelligent welding robot operation cabin |
| CN116604243A (en) * | 2023-06-21 | 2023-08-18 | 中建国际城市建设有限公司 | Welding mechanical arm for intelligent construction and welding method thereof |
| CN116604243B (en) * | 2023-06-21 | 2024-02-27 | 中建国际城市建设有限公司 | Welding mechanical arm for intelligent construction and welding method thereof |
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