CN210551342U - Insulating shell and insulating transition piece of hot-line work mechanical arm - Google Patents
Insulating shell and insulating transition piece of hot-line work mechanical arm Download PDFInfo
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- CN210551342U CN210551342U CN201921106831.1U CN201921106831U CN210551342U CN 210551342 U CN210551342 U CN 210551342U CN 201921106831 U CN201921106831 U CN 201921106831U CN 210551342 U CN210551342 U CN 210551342U
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Abstract
The utility model relates to a live working arm insulating casing and insulating transition piece, the arm is including the base that connects gradually, the underarm, the upper arm, first wrist joint and second wrist joint, including consecutive and the base insulating casing of base looks adaptation, with the underarm insulating casing of underarm looks adaptation, with the upper arm insulating casing of upper arm looks adaptation, with the first wrist joint insulating casing of first wrist joint looks adaptation and with the second wrist joint insulating casing of second wrist joint looks adaptation, the base insulating casing, the underarm insulating casing, the upper arm insulating casing, all be equipped with on first wrist joint insulating casing and the second wrist joint insulating casing and be used for with adjacent insulating casing looks lapped step face, the overlap joint width of two liang of mutual lapped step faces is L. The utility model discloses live working arm insulating casing has compact size, rational in infrastructure, insulating nature is strong and have the advantage that does not hinder arm free motion, satisfies the operation requirement of live working arm simultaneously.
Description
Technical Field
The utility model relates to an insulating casing, in particular to live working arm insulating casing and insulating transition piece.
Background
In the industries of automobile manufacturing, metal manufacturing, household appliance shell manufacturing, chemical plants, smelting, food processing and the like, the great use of the robot greatly lightens the labor intensity of workers and improves the working efficiency. Some robots operate in dust, static electricity, high temperature, water mist and oil stain environments, so that the interior of the robot is easy to damage, and the overhaul and maintenance of the robot become complicated work. Therefore, it is an important task to install protective clothing outside the robot. The robot protective clothing needs to have the effects of corrosion resistance, static electricity resistance, water mist resistance, oil stain resistance, dust resistance, heat insulation, flame retardance and the like. The protective clothing for the special operation robot has other special functions.
The robot protective clothing is generally customized according to the operation activities of the robot, and the customized protective clothing is adopted by industrial robots with the functions of welding, stacking, feeding and discharging, spraying, casting, sand blasting, shot blasting, polishing, arc welding, cleaning and the like. At present, although the robot protective clothing can be specially customized according to the operation requirements of the industrial robot, the protective clothing has the phenomenon of too loose size, and the protective clothing with excellent insulation performance has no pertinence for the live working robot. The existing robot insulation protective clothing uses an insulation cloth sewing process, and has the problems of influence on free running of a mechanical arm, unreasonable size and poor insulation. The integrated structure ensures that the insulating clothes must adopt a large-size mode, so that the robot can be ensured to keep good space margin in the rotating process, and the normal operation of the robot is ensured. However, the larger size makes the insulating garment bulky, increases the size and mass of the insulating garment, and reduces the payload of the robot. In the aspect of insulating property, the existing insulating cloth can meet the requirement of live working under a closed system, but the robot insulating clothes need to be designed in an opening-closing mode, namely the insulating clothes need to be opened, installed on a robot and then closed. The existing mode mostly adopts magic subsides or zip fastener mode to open and shut, and this kind of mode of opening and shutting leaves great gap easily, and whole insulating nature can appear carelessly neglected or careless.
Therefore, it is desired to solve the above problems.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: a first object of the utility model is to provide a live working arm insulating casing that has that size is compact, rational in infrastructure, insulating nature is strong and have the advantage that does not hinder arm free motion, satisfies the operation requirement of live working arm simultaneously.
A second object of the present invention is to provide an insulating transition piece suitable for insulating housing of live working mechanical arm.
The technical scheme is as follows: the utility model discloses a live working arm insulating casing, arm are including the base that connects gradually, underarm, upper arm, first wrist joint and second wrist joint, including consecutive with the base insulating shell of base looks adaptation, with the underarm insulating shell of underarm looks adaptation, with the upper arm insulating shell of upper arm looks adaptation, with the first wrist joint insulating shell of first wrist joint looks adaptation and with the second wrist joint insulating shell of second wrist joint looks adaptation, the base insulating shell, the underarm insulating shell, the upper arm insulating shell, the first wrist joint insulating shell and the second wrist joint insulating shell of second wrist joint looks adaptation that link to each other in proper orderThe shell is provided with step surfaces for being lapped with adjacent insulating shells, the lapping width of every two lapped step surfaces is L, and L ismin＜L＜LmaxWherein L isminMinimum lap width dimension, L, for the insulation shell not to be broken downmaxThe size of the space at each turn that does not affect the rotation of the robotic arm.
And insulating silicone grease is coated on the surfaces of the mutually overlapped steps.
Preferably, base insulating casing, underarm insulating casing, upper arm insulating casing, first wrist joint insulating casing and second wrist joint insulating casing are formed by the half shell concatenation of left and right mirror image, and this half shell is the integrated into one piece structure.
Preferably, the half shell is of a 3D printing forming structure, a casting forming structure or a compression molding forming structure.
And moreover, step surfaces for mutual overlapping are arranged at the splicing positions of the left half shell and the right half shell which are mirrored, insulating glue is coated at the splicing positions, and then insulating silicone grease is coated at the joint positions of the mutual overlapping.
Furthermore, the splicing position of the half shell parts of the left mirror image and the right mirror image is provided with a buckle and a clamping groove which are mutually lapped.
Preferably, the minimum lap width dimension LminIs 7 mm.
Furthermore, the gap between the base insulating shell and the base, the gap between the lower arm insulating shell and the lower arm, the gap between the upper arm insulating shell and the upper arm, the gap between the first wrist joint insulating shell and the first wrist joint and the gap between the second wrist joint insulating shell and the second wrist joint are all 0.5-4 mm.
Further, the thickness of the base insulating shell, the underarm insulating shell, the upper arm insulating shell, the first wrist joint insulating shell and the second wrist joint insulating shell is 2-4 mm.
The utility model relates to an insulating transition piece suitable for live working arm insulating casing, including the insulator that is used for connecting operation instrument and arm, this insulator is including the column core that has the full skirt and follow the hollow cover that column core one end formed to axial extension, and this column core one end links to each other with the operation instrument, and the other end links to each other with the arm, and hollow cover is established outside second wrist joint insulating casing.
Has the advantages that: compared with the prior art, the utility model has the advantages of: the utility model adopts 5 mutually independent insulating shell modules matched with each component of the mechanical arm to jointly form an insulating shell, and the adjacent insulating shells adopt a lap joint design, thereby ensuring the free rotation of each component while ensuring the overall insulativity; the split modular design avoids the increase of mass and volume caused by the integrated design, and ensures the installation convenience of the insulating shell; the utility model has the advantages that the clearance between the insulating shell and the mechanical arm is small, the size of the insulating shell is perfectly fit with the size of the mechanical arm, the mounting process requirement of the insulating shell in a stress-free state can be met, the movement of the mechanical arm cannot be influenced, and the interference of the rotating part of the mechanical arm due to the non-overlapping position of the insulating shell is avoided; the utility model discloses well insulating casing's thickness is thin, and is small, and the quality is light, and its thickness can satisfy and satisfy the supplementary insulating voltage requirement of live working, thereby is unlikely to the terminal load that reduces the arm again thickly.
Drawings
Fig. 1 is a schematic structural view of a mechanical arm in the present invention;
fig. 2 is an exploded view of the insulating housing of the present invention;
FIG. 3 is a schematic view of the rotary joint between two insulation cases according to the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
fig. 5 is a schematic view of the connection of the half shells according to the present invention;
FIG. 6 is a schematic view of the connection of a work tool, a robotic arm, and an insulated transition piece according to the present invention;
fig. 7 is a schematic structural view of the middle insulation transition piece of the present invention.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings.
As shown in figure 1, the utility model is suitable for a six arms, this arm is including base 1, lower arm 2, the upper portion that connects graduallyAn arm 3, a first wrist joint 4 and a second wrist joint 5. As shown in fig. 2, fig. 3 and fig. 4, the utility model relates to a live working arm insulating casing, including consecutive with the insulating shell of base 6 of base looks adaptation, with the insulating shell of underarm 7 of underarm looks adaptation, with the insulating shell of the upper arm 8 of upper arm looks adaptation, with the insulating shell of first wrist joint 9 of first wrist joint looks adaptation and with the insulating shell of second wrist joint 10 of second wrist joint looks adaptation, all be equipped with on the insulating shell of base 6, the insulating shell of underarm 7, the insulating shell of upper arm 8, the insulating shell of first wrist joint 9 and the insulating shell of second wrist joint 10 and be used for with adjacent insulating shell looks lapped step face 11. The step surfaces 11 overlapping each other are coated with an insulating silicone grease. The lap width of the step surfaces lapped with each other is L, Lmin＜L＜LmaxWherein L isminMinimum lap width dimension, L, for the insulation shell not to be broken downmaxThe size of the space at each turn that does not affect the rotation of the robotic arm. Wherein, the calculation is carried out according to the breakdown field intensity of air of 30kV/cm, if the minimum lapping width part directly touches the conducting wire and does not have insulating silicone grease, and the other side is grounded, the lapping position needs to ensure that 10kV does not break down, therefore, the lapping width needs to be at least 3.3mm, the safety coefficient is 0.5, and the minimum lapping width dimension L isminIs 7 mm. The size of the space for rotation between the base 1 and the lower arm 2 is Lmax1The size of the space for rotation between the lower arm 2 and the upper arm 3 is Lmax2The size of the rotation space between the upper arm 3 and the first wrist joint 4 is Lmax3The size of the rotation space between the first wrist joint 4 and the second wrist joint 5 is Lmax. Therefore, the overlapping width of the step surfaces overlapping with each other between the base insulating case 6 and the lower arm insulating case 7 is 7 < L1＜Lmax1The lapping width of the mutually lapped step surfaces between the lower arm insulating shell 7 and the upper arm insulating shell 8 is 7 < L2＜Lmax2The lapping width of the step surfaces lapped between the upper arm insulating shell 8 and the first wrist joint insulating shell 9 is more than 7L3＜Lmax3The lapping width of the step surfaces lapped with each other between the first wrist joint insulating shell 9 and the second wrist joint insulating shell 10 is more than 7 and less than L4＜Lmax4. The utility model discloses well arm rotation department adopts the overlap joint design, ingeniousThe influence of the rotating structure on the insulating shell is avoided, the insulating silicone grease is used for lubricating and insulating joint filling treatment among all parts, and the lubricating performance among all parts is improved on the basis of ensuring the insulating performance.
The utility model discloses a base insulating shell 6, underarm insulating shell 7, upper arm insulating shell 8, first wrist joint insulating shell 9 and second wrist joint insulating shell 10 form by controlling the concatenation of half shell spare of mirror image, and this half shell spare is the integrated into one piece structure. Half shell spare is 3D and prints forming structure, casting forming structure or compression molding structure, but the size of accurate control protective housing body. The splicing position of the left and right mirrored half shells is provided with a step surface 11 for mutual lapping, the splicing position is coated with insulating glue, and then the lapping joint position is coated with insulating silicone grease. Or the splicing part of the half-shell parts which are mirror images at the left and the right is provided with a buckle 12 and a clamping groove 13 which are used for mutually lapping, as shown in figure 5.
The utility model discloses a clearance between the insulating shell of base 6 and the base 1, the insulating shell of underarm 7 and the clearance between the 2 lower arms, the insulating shell of upper arm 8 and the clearance between the upper arm 3, the insulating shell of first wrist joint 9 and the clearance between the insulating shell of first wrist joint 4 and the clearance between the insulating shell of second wrist joint 10 and the second wrist joint 5 are 0.5 ~ 4 mm. The gap of 0.5mm is the minimum gap, and the insulating shell can be well installed under the stress-free state under the gap, so that the installation process requirement is met; because the arrangement of the insulating shell can not influence the movement of the robot, if the gap is larger than 4mm, the non-overlapping positions of the two parts of the insulating shell at the rotating part of the mechanical arm can interfere.
The utility model discloses the thickness of well base insulating casing 6, underarm insulating casing 7, upper arm insulating casing 8, first wrist joint insulating casing 9 and second wrist joint insulating casing 10 is 2 ~ 4 mm. The minimum thickness of 2mm can satisfy the requirement of the auxiliary insulation 20kv of live working, the maximum thickness of 4mm can not reduce the terminal load of the robot. The utility model discloses carry out optimal design with insulating casing's size, make insulating casing size, volume and quality minimum, furthest's increase robot's effective load.
The insulating material that insulating properties is excellent is selected for use to insulating shell 6 of base, insulating shell 7 of underarm, insulating shell 8 of upper arm, insulating shell 9 of first wrist joint and the insulating shell 10 of second wrist joint of this application, makes insulating shell can use thinner material can satisfy insulating requirement, including but not limited to ABS, nylon 66, PLA, silicon rubber etc.. The insulating shell of the utility model has strong insulating property and the breakdown voltage is more than 45 kV; the waterproof dustproof material can prevent dust and water, and has certain mechanical strength and high temperature resistance; the robot has certain strength, and can be prevented from colliding under misoperation.
As shown in fig. 6 and 7, the utility model relates to an insulating transition piece suitable for insulating shell of live working arm, including the insulator 15 that is used for connecting working tool 14 and arm, this insulator 15 is including the cylindrical core 17 that has full skirt 16 and the hollow cover 18 that forms to axial extension along cylindrical core one end, and this hollow cover 18 and the outer wall looks adaptation of second wrist joint insulating shell 10. The cylindrical core 17 is connected at one end to the work tool 14 and at the other end to the robot arm, and the hollow cap 18 is housed outside the second wrist joint insulating housing 10. The utility model discloses an insulating transition piece is through setting up hollow cover, when being connected with insulating casing, can establish second wrist joint insulating casing cover, and insulating properties is strong, and breakdown voltage is greater than 45kv, when reaching the requirement of satisfying insulating properties, still does not hinder terminal joint's rotation. The insulator of the utility model adopts light insulating material, which limits the self-quality and improves the effective load of the mechanical arm; furthermore the utility model discloses an insulating transition piece still can dustproof and waterproof, and has certain mechanical strength.
Claims (10)
1. The utility model provides a live working arm insulating casing, arm are including base (1), lower arm (2), upper arm (3), first wrist joint (4) and second wrist joint (5) that connect gradually, its characterized in that: including consecutive insulating shell of base (6) with base looks adaptation, insulating shell of underarm (7) with underarm looks adaptation, insulating shell of upper arm (8) with upper arm looks adaptation, insulating shell of first wrist joint (9) with first wrist joint looks adaptation and insulating shell of second wrist joint (10) with second wrist joint looks adaptation, all on insulating shell of base (6), insulating shell of underarm (7), insulating shell of upper arm (8), insulating shell of first wrist joint (9) and the insulating shell of second wrist joint (10) allIs provided with step surfaces (11) which are used for being lapped with adjacent insulating shells, the lapping width of the step surfaces which are lapped with each other is L, and L ismin＜L＜LmaxWherein L isminMinimum lap width dimension, L, for the insulation shell not to be broken downmaxThe size of the space at each turn that does not affect the rotation of the robotic arm.
2. The live working robot arm insulating housing according to claim 1, wherein: and insulating silicone grease is coated on the mutually overlapped step surfaces (11).
3. The live working robot arm insulating housing according to claim 1, wherein: base insulating casing (6), underarm insulating casing (7), upper arm insulating casing (8), first wrist joint insulating casing (9) and second wrist joint insulating casing (10) are formed by the half shell concatenation of controlling the mirror image, and this half shell is the integrated into one piece structure.
4. The live working robot arm insulating housing according to claim 3, wherein: the half shell piece is of a 3D printing forming structure, a casting forming structure or a compression molding forming structure.
5. The live working robot arm insulating housing according to claim 3, wherein: the splicing parts of the left and right mirrored half shells are provided with step surfaces (11) which are used for mutual lapping, the splicing parts are coated with insulating glue, and then the lapping joints are coated with insulating silicone grease.
6. The live working robot arm insulating housing according to claim 3, wherein: and a buckle (12) and a clamping groove (13) which are mutually overlapped are arranged at the splicing part of the left half shell and the right half shell which are mirrored.
7. The live working robot arm insulating housing according to claim 1, wherein: the minimum lap width dimension LminIs 7 mm.
8. The live working robot arm insulating housing according to claim 1, wherein: the gap between the base insulating shell (6) and the base (1), the gap between the lower arm insulating shell (7) and the lower arm (2), the gap between the upper arm insulating shell (8) and the upper arm (3), the gap between the first wrist joint insulating shell (9) and the first wrist joint (4) and the gap between the second wrist joint insulating shell (10) and the second wrist joint (5) are all 0.5-4 mm.
9. The live working robot arm insulating housing according to claim 1, wherein: the thickness of base insulating housing (6), underarm insulating housing (7), upper arm insulating housing (8), first wrist joint insulating housing (9) and second wrist joint insulating housing (10) is 2 ~ 4 mm.
10. An insulating transition piece suitable for use in the insulating housing of a live working robot arm according to any one of claims 1 to 9, wherein: the insulator (15) comprises a cylindrical core part (17) with an umbrella skirt (16) and a hollow cover (18) formed by axially extending one end of the cylindrical core part, one end of the cylindrical core part (17) is connected with the working tool (14), the other end of the cylindrical core part is connected with the mechanical arm, and the hollow cover (18) covers the second wrist joint insulating shell (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921106831.1U CN210551342U (en) | 2019-07-15 | 2019-07-15 | Insulating shell and insulating transition piece of hot-line work mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921106831.1U CN210551342U (en) | 2019-07-15 | 2019-07-15 | Insulating shell and insulating transition piece of hot-line work mechanical arm |
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| Publication Number | Publication Date |
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| CN210551342U true CN210551342U (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921106831.1U Active CN210551342U (en) | 2019-07-15 | 2019-07-15 | Insulating shell and insulating transition piece of hot-line work mechanical arm |
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| CN (1) | CN210551342U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645105A (en) * | 2020-08-10 | 2020-09-11 | 天津滨电电力工程有限公司 | Full-insulation electric mechanical arm suitable for distribution live working |
-
2019
- 2019-07-15 CN CN201921106831.1U patent/CN210551342U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645105A (en) * | 2020-08-10 | 2020-09-11 | 天津滨电电力工程有限公司 | Full-insulation electric mechanical arm suitable for distribution live working |
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