CN215942904U - No dead angle industrial robot - Google Patents

Abstract

The application provides a dead-angle-free industrial robot which comprises a dead-angle-free support, wherein a dead-angle-free track is arranged on one side of the dead-angle-free support, a sliding device is arranged on the dead-angle-free track and connected with a power device, and a connecting device is arranged on the sliding device and connected with a working device; according to the utility model, the industrial robot has strong universality, can be applied to any occasions such as welding, grabbing, spraying and the like by replacing the working device, and is convenient to replace and strong in universality; the utility model can not only ensure higher flexibility, but also reduce the arrangement of the control shaft, and the equipment has simple structure and low manufacturing cost; the sliding device and the connecting device can rotate along the track without dead angles, so that 360-degree rotation can be carried out along the workpiece, and the connecting device can also rotate in all directions; the whole working process has no dead angle, 360-degree dead angle-free work can be carried out on the workpiece, and the workpiece processing quality and efficiency are improved.

Description

No dead angle industrial robot

Technical Field

The application relates to the technical field of robots, in particular to a dead-angle-free industrial robot.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity.

The industrial robot can automatically spray paint, grab, weld and the like, mainly comprises a robot body, a computer and a corresponding control system, mostly adopts a 5 or 6-degree-of-freedom joint type structure, has a larger motion space for the arm, can do complex track motion, and has 2-3 degrees of freedom at the wrist part and can flexibly move; the more advanced industrial robot wrist adopts a flexible wrist which can be bent towards all directions and can also be rotated, the action of the wrist is similar to that of a human wrist, and the wrist can conveniently extend into a workpiece through a small hole to spray the inner surface of the workpiece; the industrial robot can replace workers to complete a plurality of actions with high difficulty, the labor intensity is reduced, the working environment is improved, and in addition, the industrial robot can work in a severe environment.

Robots in the prior art are mainly classified into the following categories:

truss type robot

The truss type robot is also called rectangular coordinate robot and gantry type robot, can realize automatic control, repeatable programming, multifunction, multiple freedom degree, space right angle relation between freedom degrees of movement in industrial application, and a multipurpose manipulator which can carry objects and operation tools to complete various operations.

From the above, although the truss type robot can realize the motion with multiple degrees of freedom, the spatial included angle between each degree of freedom of motion is a right angle; more working dead angle positions are easy to appear.

Two, articulated robot

The articulated robot generally adopts a six-axis articulated robot, and can be used for feeding and discharging various types of processing equipment, so that the automation cost is saved; the joint coordinate type robot has the advantages that the joint coordinate type robot is adopted, the design and manufacturing period of an automatic unit is short, the flexibility is large, the product deformation conversion is convenient, the shape changing requirement of a product shape with large change can be even realized, the structure is compact, the working range is large, the installation occupied area is small, the complex work which is not suitable for being answered by manpower and harmful to the body health is replaced, the accessibility is high, the joint coordinate type robot can enable hands of the joint coordinate type robot to enter a closed space like an automobile body for operation, and the rectangular coordinate type robot cannot perform the operation.

However, the articulated robot needs more control shafts for realizing six-axis motion, and when the articulated robot moves on a sliding track, a certain working dead angle is caused due to the limitation of the left and right distance; and the axes of the elbow joint and the shoulder joint are parallel, when the big arm and the small arm are unfolded to be in a straight line, the big arm and the small arm are the farthest working points which can be reached by the big arm and the small arm, and the adjustment can not be continued.

Three, SCARA robot

SCARA is an abbreviation for selected company Assembly Robot Arm, meaning a robotic Arm that is used in Assembly operations; it has 3 rotary joints, which is most suitable for plane positioning; the SCARA robot belongs to an industrial robot, has four axes and four degrees of freedom of motion, including the degree of freedom of translation along the X, Y and Z directions and the degree of freedom of rotation around the Z axis, has the characteristics of high precision and high speed, is suitable for plane positioning and assembling operation in the vertical direction, is widely applied to industries such as 3C electronics, white household appliances, plastic hardware, new energy, automotive electronics, food and medicine and the like, and is mainly applied to the aspects of taking and placing materials, carrying products, simulating manual operation at fixed points and the like.

However, as can be seen from the above description, the SCARA has only four axes and four degrees of freedom of movement, and cannot meet the work required to complete six-axis work.

Four, spider type robot

Spider robot is six-footed robot again, is one kind of polypod robot, imitates spider shape, far east principle and action mode etc. compares crawler-type or wheel belt robot, and bionic spider robot exists structural not enough, and crawler-type robot has bigger ground area of grabbing, even the road surface of some slopes more fighting again, and crawler-type robot also can creep smoothly, and spider robot is because the difference of walking mode, can not show outstanding like the track.

The inventor searches the utility model as detailed and comprehensive as possible to obtain the following prior art, and simply introduces the prior art and makes a relevant comparison with the technical scheme of the utility model so as to better understand the inventive concept of the utility model and show the technical advantages and the technical characteristics of the utility model.

Prior art 1: CN 201721637878.1; the utility model discloses a modular annular rolling robot, which comprises a plurality of swing modules which are sequentially connected end to form an annular structure, wherein the top end of a swing cover of each swing module is connected with an anti-disengagement modular interface at the bottom end of a fixed seat of an adjacent swing module through the anti-disengagement modular interface; through the structural design, the robot can realize the integral rolling advance of the robot, not only overcomes the defects that the traditional walking robot can only climb, creep, walk and other moving modes, but also overcomes the defect that the existing wheel type moving robot can only move on a flat hard road, can be suitable for various narrow and uneven roads, and can be widely applied to the technical field of robots; the utility model solves the defect that the traditional walking robot can only climb, creep, walk and other moving modes, but the prior art does not mention a dead-angle-free industrial robot, how to process a workpiece without dead angles, and any technical inspiration for solving the problem.

Prior art 2: CN 202011474498.7; the utility model discloses a multi-station rotary welding robot and a working method thereof, and the multi-station rotary welding robot comprises a group of workpiece clamping components, an annular driving module, a supporting base, a horizontal driving module I, a horizontal driving module II, a group of robot rotary driving module and a group of welding robot, wherein the annular driving module can drive the group of workpiece clamping components to move along an annular track, the horizontal driving module I and the horizontal driving module II are both provided with a group of robot rotary driving modules, and the welding robot is fixedly arranged on the robot rotary driving modules; the multi-station rotary welding robot is reasonable in structural design and easy to produce, different welding guns can be arranged through the plurality of stations for meeting the welding requirements at different positions, and a workpiece to be welded can flow among a group of welding robots through the annular transmission assembly, so that the welding can be continuously carried out; the multi-station rotary welding robot has high automation degree and high working efficiency; although the utility model relates to the annular driving module, the annular driving module is used for driving a group of workpiece clamping assemblies to move along the annular track and is not used for moving the robot per se; the utility model solves the technical problem of improving the automation degree and the working efficiency; however, the prior art does not mention a dead-angle-free industrial robot, how to process a workpiece without a dead angle, and does not have any technical teaching for solving the problem.

Prior art 3: CN 201811120604.4; the utility model discloses an automatic tin soldering robot for an annular oscillator and a control method thereof, wherein the automatic tin soldering robot for the annular oscillator comprises: the device comprises a frame, wherein a workbench is arranged on the frame; the transmission device is arranged on the workbench and used for transmitting the workpiece to be processed; the soldering device comprises a soldering tin assembly and a driving assembly for driving the soldering tin assembly to move, the soldering tin assembly is arranged on the driving assembly, and the driving assembly is arranged on the workbench; the workpiece fixing device comprises a support frame arranged on the workbench and a rotating support arranged on the support frame, and the rotating support is used for rotating a workpiece to be processed; the mechanical arm is arranged on the workbench and used for grabbing the workpiece to be processed from the transmission device onto the rotating bracket; according to the technical scheme, full-automatic feeding, discharging, positioning and tin soldering are achieved, so that the tin soldering quality of the annular vibrator is improved, and the tin soldering efficiency is improved; the rotary support is used for rotating a workpiece to be processed, the thinking of the rotary support is consistent with that of the comparison file 2, the workpiece is driven to rotate, and the robot does not rotate, so that the technical problem solved by the utility model is to improve the soldering quality of the annular vibrator and improve the soldering efficiency; however, the prior art does not mention a dead-angle-free industrial robot, how to process a workpiece without a dead angle, and does not have any technical teaching for solving the problem.

In summary, the prior art has the following disadvantages:

(1) the industrial robot has poor universality, can only be singly applied to occasions such as welding, grabbing, spraying and the like, and has poor universality;

(2) for robots with higher flexibility, more control shafts are needed, the structure of equipment is complex, and the cost is high;

(3) the industrial robot in the prior art has a dead angle in the working process, and can not work without the dead angle.

Therefore, a new technical solution is needed to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The application provides a no dead angle industrial robot, including no dead angle support, one side of no dead angle support is equipped with confined no dead angle track, slider on the no dead angle track, slider is connected with power device, the last connecting device that is equipped with of slider, connecting device is connected with equipment.

Preferably, the power device comprises a power source connected with the sliding device, the power source is connected with a driving belt wheel, a driving belt is arranged on the driving belt wheel, positioning belt idler shafts are symmetrically arranged on the outer side of the driving belt wheel relative to the driving belt wheel, and the positioning belt idler shafts are fixed on the sliding device.

Preferably, a pulley carrier is arranged between the driving pulley and the sliding device, and the pulley carrier is fixed on the sliding device.

As a preferable scheme, a first roller is arranged at the bottom of the belt wheel frame and matched with the dead-corner-free track.

As a preferred scheme, an inner roller frame is arranged on the sliding device, rollers are arranged on the inner roller frame, and the rollers are matched with the dead-corner-free rails.

As a preferable scheme, the dead-corner-free track comprises a body, wherein a belt wheel ring is arranged on one side of the body, and a driving belt matched with the belt wheel ring is arranged on the belt wheel ring; the inner ring of the body is provided with a first roller track, and the first roller track is matched with the roller.

As a preferred scheme, a second roller track is arranged at the outer ring of the body and matched with the first roller.

As a preferable scheme, two rollers are arranged on one inner roller frame, and the two rollers are respectively arranged on two sides of the bottom of the inner roller frame.

Preferably, the number of the inner roller frames is two.

As a preferred scheme, the number of the first rollers is two, the two first rollers are both arranged at the bottom of the belt wheel frame, and the two first rollers are matched with the second roller rail.

As a preferable scheme, a drag chain frame is arranged on the other side of the dead-corner-free support, a drag chain is arranged on the drag chain frame, one end of the drag chain is fixed with a drag chain end plate, and the drag chain end plate is fixed with the dead-corner-free support; the sliding device is connected with a drag chain guide plate, the drag chain guide plate penetrates through the inside of the dead-angle-free support and extends out of the drag chain frame, and the drag chain guide plate is connected with a drag chain guide plate.

As a preferable scheme, the connecting device comprises a large arm upper arm, one end of the large arm upper arm is connected with a driving device, the driving device is fixed on the sliding device, the other end of the large arm upper arm is connected with a large arm lower arm, the large arm lower arm is connected with a small arm, and the small arm is respectively connected with a rotating power source and a swinging power source; the small arm is connected with the working device.

Preferably, the rotary power source is arranged in a cavity of the upper arm and the lower arm, the rotary power source is connected with the small arm swing joint seat, and the small arm swing joint seat is connected with the small arm swing joint; and a small arm rotating joint seat is also arranged on the outer side of the small arm swinging joint seat, and a rolling bearing is arranged between the small arm swinging joint seat and the small arm rotating joint seat.

As a preferable scheme, a swing power source is arranged on the small arm swing joint and is connected with the small arm through a small arm swing shaft.

Preferably, the dead-corner-free track is connected with a moving device.

As a preferable scheme, the moving device comprises a support, a first driving device is arranged on the support, and the first driving device is connected with the main support.

As a preferable scheme, the first driving device comprises a sliding block arranged on a support, the sliding block is matched with a sliding rail arranged on a main support, a motor is arranged on the support, the motor is arranged in the middle of a rotating shaft, main frame belt wheels are connected to two sides of the rotating shaft, a toothed belt is arranged on the outer side of each main frame belt wheel, idler shafts are respectively arranged on the outer sides of the toothed belts in symmetrical positions relative to the main frame belt wheels, and the idler shafts are fixed on belt wheel support plates.

Preferably, the belt wheel support plate is in contact with a main belt frame wheel bearing frame, and the main belt frame wheel bearing frame is arranged on the rotating shaft.

As a preferable scheme, a dust cover is arranged on the outer side of the main support, a waste collecting plate is arranged at the bottom of the dust cover, and the waste collecting plate is connected with the main support.

Preferably, the workpiece passes through the middle of the dead-corner-free support.

Preferably, the workpiece is arranged on the outer side of the dead-corner-free support.

According to the utility model, the power source drives the driving belt wheel to move along the belt wheel, the roller wheel moves along the shoulder groove, namely the sliding device moves along the track without dead angles, so that the sliding device can rotate 360 degrees around a workpiece without dead angle positions; the connecting device drives the working device to move, so that operations such as welding, grabbing, painting and the like are performed on a workpiece, the specific working form is determined according to the working device, and specifically, the driving device drives the upper arm of the large arm to rotate, so that the small arm and the working device are driven to integrally rotate along the plane direction of the dead-angle-free track; the rotary power source drives the small arm rotary joint seat to rotate, so that the small arm and the working device are driven to integrally rotate along the small arm rotary joint seat; the swing power source drives the swing shaft of the small arm to swing so as to drive the small arm to swing; the utility model also provides a moving device, and the driving device is started to drive the dead-corner-free track to move so as to drive the working device to move; in the utility model:

(1) the industrial robot has strong universality, can be applied to any occasion such as welding, grabbing, spraying and the like by replacing the working device, and is convenient to replace and strong in universality;

(2) in the utility model, when a group of sliding devices and connecting devices are arranged, 6-axis movement is realized through five axes, and when two groups of sliding devices and connecting devices are arranged, only 9 axes are used for replacing 12 axes in the prior art; the utility model can not only ensure higher flexibility, but also reduce the arrangement of the control shaft, and the equipment has simple structure and low manufacturing cost;

(3) the sliding device and the connecting device can rotate along the track without dead angles, so that 360-degree rotation can be carried out along the workpiece, and the connecting device can also rotate in all directions; the whole working process has no dead angle, 360-degree dead angle-free work can be carried out on the workpiece, and the workpiece processing quality and efficiency are improved.

Drawings

FIG. 1 is a schematic structural view of angle one of the present application;

FIG. 2 is a schematic structural view of angle two of the present application;

FIG. 3 is a schematic structural view of the present application without the dust cover;

FIG. 4 is a schematic structural diagram of angle one according to the second embodiment of the present application;

FIG. 5 is a schematic structural diagram of a second angle according to a second embodiment of the present application;

FIG. 6 is a schematic structural view of angle III of the third embodiment of the present application;

FIG. 7 is a schematic structural diagram of a dead-corner-free rail-fitting angle I;

FIG. 8 is a structural diagram of a second angle of no-dead-angle rail fit;

FIG. 9 is a schematic structural diagram of a dead-corner-free rail-fitting angle III;

FIG. 10 is a schematic structural view of a dead-corner-free rail-fitting angle IV;

FIG. 11 is a schematic view of a dead-corner-free track structure;

FIG. 12 is a schematic view of the coupling device and the blind track configuration;

FIG. 13 is a schematic view of the angle one configuration of the connection device;

FIG. 14 is a schematic view of the angle two configuration of the connection device;

FIG. 15 is a schematic view of the power plant at angle one;

FIG. 16 is a schematic view of the power plant according to the second embodiment;

FIG. 17 is a schematic structural view of angle one of the sixth embodiment of the present application;

FIG. 18 is a schematic structural view of angle two of the sixth embodiment of the present application;

FIG. 19 is a schematic structural view of a main support of the present application;

FIG. 20 is a schematic structural view of a workpiece mounting location of the present application;

1. no dead angle support 2, no dead angle track 3, slider 4, power device

5. Connecting device 6, working device 7, power source 8 and driving belt wheel

9. Driving belt 10, positioning belt idler shaft 11, belt wheel frame 12 and drag chain frame

13. Drag chain 14, drag chain guide plate 15, drag chain guide plate 16 and inner roller frame

17. Roller 18, body 19, belt wheel 20 and roller track I

21. A second roller track 22, a first roller 23, a big arm upper arm 24 and a driving device

25. Big arm main shaft sleeve 26, big arm lower arm 27, big arm connecting sleeve 28 and small arm

29. Big arm end flange 30, rotary power source 31, swing power source 32, forearm rotary joint seat

33. Forearm swing joint 34, forearm rotary joint gland 35 and forearm swing shaft sleeve

36. Bracket 37, main bracket 38, slide block 39, slide rail 40 and motor

41. Motor support plate 43, main frame belt wheel 44, toothed belt 45 and idler shaft

46. Belt wheel support plate 47, main belt wheel bearing frame 48 and mounting table

49. Main frame driving short shaft 50, main frame driving long shaft 51, coupler 52 and workpiece

53. Skip 54, skip guide 55, skip rail frame 56 and dust cover

57. Mounting holes 58, a waste collection plate.

Detailed Description

The following describes in detail a specific embodiment of the present invention with reference to fig. 1 to 20. It should be noted that the specific embodiments described herein are only for illustrating and explaining the present invention and are not to be construed as limiting the present invention.

The first embodiment is as follows:

the embodiment provides a no-dead-angle industrial robot, which comprises a no-dead-angle support 1, wherein a no-dead-angle rail 2 is arranged on one side of the no-dead-angle support 1, the shape of the no-dead-angle rail 2 is matched with that of the no-dead-angle support 1, the no-dead-angle support 1 adopts a closed support, and the no-dead-angle rail 2 adopts a closed rail; the dead-corner-free track 2 is connected with the dead-corner-free support 1 through well-known methods such as screw connection, welding and the like; the device comprises a sliding device 3 on the dead-corner-free track 2, wherein the sliding device 3 is connected with a power device 4, a connecting device 5 is arranged on the sliding device 3, and the connecting device 5 is connected with a working device 6; the power device 4 drives the sliding device 3 to rotate along the dead-angle-free track 2 without dead angles, so that the connecting device 5 and the working device 6 are driven to rotate along the dead-angle-free track 2 without dead angles; the connecting device 5 drives the working device 6 to rotate and swing, so that the working form of the working device is more flexible, and the processing quality of the workpiece is better; the working device 6 can adopt a spray gun, a welding gun, a hand and the like in the prior art, different working devices are selected to realize different processing processes, and the working devices are easy to replace, so that the utility model can be applied to different occasions, and the universality of the utility model is improved.

The working module consisting of the sliding device 3, the power device 4, the connecting device 5 and the working device 6 arranged on the dead-angle-free track 2 can be set into one group or multiple groups, such as two groups or three groups, the technical personnel select according to specific conditions, and the working efficiency can be improved when multiple groups are arranged.

Preferably, the shape of the dead-corner-free track 2 and the dead-corner-free support 1 is preferably circular, and the shape of any closed track such as an oval, an opposite-sex curve, a racetrack circle and the like can also be adopted, and the specific shape is not specifically limited in the application and can be selected by a technician according to specific situations.

Example two:

the embodiment specifically defines the power device 4, and the power device 4 is used for driving the sliding device 3 to rotate along the dead-corner-free track 2, so that the working device 6 can move without dead corners, and the dead-corner-free processing of the workpiece can be completed.

Specifically, the power device comprises a power source 7 connected with the sliding device 3, the power source 7 adopts a servo motor in the technology, and the preferred model is as follows: ECMA-C1060ERS-BKF 060-two stages; the power source 7 is connected with the driving belt wheel 8, and specifically, an output shaft of the power source 7 is connected with the driving belt wheel 8 through a quincuncial coupling; the driving belt wheel 8 is provided with a driving belt 9, the driving belt 9 can adopt structures such as a flexible belt, a steel rope and a chain, the driving belt wheel 8 can adopt structures such as a gear, a gear ring, a chain wheel and a belt wheel, the driving belt 9 is preferably a steel wire toothed belt, two sides of the driving belt wheel 8 are provided with positioning belt idler shafts 10 at the outer side of the driving belt 9 and symmetrically relative to the driving belt wheel 8, the positioning belt idler shafts 10 are fixed on the sliding device 3, the positioning belt idler shafts 10 and the sliding device 3 are fixed through locking nuts, positioning belt idler shaft pads are arranged at the outer sides of the positioning belt idler shafts 10 between the locking nuts and the sliding device 3, and flange bearings are arranged between the outer sides of the positioning belt idler shafts 10 and mounting holes of the sliding device 3; the servo motor is started to drive the driving belt wheel 8 to rotate along the driving belt 9, namely, the connecting device 5 and the working device 6 are driven to rotate along the dead-angle-free track 2.

Preferably, in order to improve the stability of the installation of the driving pulley 8, a pulley carrier 11 is provided between the driving pulley 8 and the sliding device 3, and the pulley carrier 11 is fixed on the sliding device 3 by a well-known method such as bolting, welding, etc.

Preferably, in order to prevent the power device 4 from slipping and the like, improve the work efficiency, better pull and protect the vehicle and prolong the service life, the power device 4 is connected with a towline device, the towline device is a towline device in the prior art, the utility model is not specifically modified, and is described here simply, the other side of the dead-corner-free bracket 1 is provided with a towline frame 12, the towline frame 12 is fixed with the dead-corner-free bracket 1 by a well-known method such as welding, screw connection and the like, the towline frame 12 is provided with a towline 13, one end of the towline 13 is fixed with a towline end plate, the towline end plate is fixed with the dead-corner-free bracket 1, and the towline end plate is fixed with the dead-corner-free bracket 1 by a well-known method such as welding, screw connection and the like; the sliding device 3 is connected with a drag chain guide plate 14, the drag chain guide plate 14 penetrates through the inside of the dead-angle-free support 1 and extends out of the inside of the drag chain frame 12, the drag chain guide plate 14 is connected with a drag chain guide plate 15, and the drag chain guide plate 15 is connected with a drag chain 13; synchronous movement with the drag chain effect 13 is achieved using the drive belt 9; the drag chain can adopt other drag chain shapes in the prior art such as a horizontal swing drag chain, a vertical drag chain and the like, which belong to the prior art, and the utility model is not described in detail herein.

Preferably, in order to further improve the stability of the installation of the driving pulley, an inner roller frame 16 is arranged on the sliding device 3, the inner roller frame 16 is connected with the sliding device 3 through a screw, a bolt, welding and other paradigms, a roller 17 is arranged on the inner roller frame 16, and the roller 17 is matched with the dead-corner-free track 2; a roller shaft is arranged on the inner roller carrier 16, a flange bearing is arranged on the outer side of the roller shaft, and a roller 17 is arranged on the outer side of the flange bearing; the shape of the sliding device 3 may be any shape in the prior art, such as rectangular, circular, polygonal, and irregular shapes.

Preferably, the dead-corner-free track 2 comprises a body 18, wherein a belt wheel ring 19 is arranged on one side of the body 18, and the belt wheel ring 19 is connected with the body 18 through welding, screw connection and the like; the driving belt 9 matched with the belt rim 19 is arranged on the belt rim 19; a first roller track 20 is arranged at the inner ring of the body 1, the first roller track 20 is matched with a roller 17, the roller 17 is arranged on two sides of the sliding device 3, the roller 17 moves along the first roller track 20 to drive the sliding device 3 to move, and the driving belt 9 is matched with the driving belt wheel 8 to better realize the rotation of the sliding device 3, so that the working device can better process a workpiece and improve the processing efficiency; more preferably, two rollers 17 are arranged on one inner roller frame 16, and the two rollers 17 are respectively arranged at two sides of the bottom of the sliding device 3; more preferably, there are two inner roller frames 16.

Preferably, a second roller track 21 is arranged at the outer ring of the body 1, the second roller track 21 is matched with a first roller 22, and the first roller 22 is arranged at the bottom of the belt wheel carrier 11, so that the sliding device 3 can stably slide conveniently; the number of the first rollers 21 is two, the two first rollers 22 are respectively arranged on two sides of the bottom of the belt wheel frame 11, and the two first rollers 21 are matched with the second roller rails 21.

The power device 4 is not limited to the above structure, and may also adopt a form of a matching between an electric slide rail and a slide block arranged on the slide device 3, a form of matching between a roller arranged on the outer side of the slide device 3 and the dead-angle-free track 2, and the like, and the technician may select the above form according to specific situations, and the details of the present invention are not described herein.

Example three:

the present embodiment specifically defines the connection device 5, specifically, the connection device 5 includes a large arm upper arm 23, one end of the large arm upper arm 23 is connected to a driving device 24, the driving device 24 adopts a servo motor in the prior art, and the preferred model is: ECMA-C1060ERS-BKF 080-two-stage; the driving device 24 is connected with the sliding device 3 and penetrates through a driving device mounting hole of the sliding device 3, the driving device 24 is connected with the large arm driving shaft through a large arm shaft sleeve, a large arm main shaft sleeve 25 is arranged on the outer side of the large arm shaft sleeve, and a flange bearing is arranged between the large arm main shaft sleeve 25 and the large arm shaft sleeve; a large arm driving sleeve is arranged between the large arm main shaft sleeve 25 and the large arm driving shaft; the large-arm upper arm 23 is connected with a large-arm spindle sleeve 25 and is arranged on the outer side of the large-arm spindle sleeve 25.

The other end of the upper big arm 23 is connected with a lower big arm 26, the upper big arm 23 is connected with the lower big arm 26 through a big arm connecting sleeve 27, and then the fixed connection between the upper big arm 23 and the lower big arm 26 is realized through welding and other forms; the large arm lower arm 26 is connected with a small arm 28, and the large arm lower arm 26 is connected with the small arm 28 through a large arm end flange 29; the small arm 28 is respectively connected with a rotary power source 30 and a swing power source 31; the small arm 28 is connected with a working device 6.

The connecting device 5 drives the working device 6 to move, so that operations such as welding, grabbing, painting and the like are performed on a workpiece, the specific working form is determined according to the working device 6, specifically, the driving device 24 drives the upper arm 23 of the large arm to rotate, so that the small arm 28 and the working device 6 are driven to integrally rotate along the plane direction of the dead-angle-free track 2; the rotary power source 30 drives the arm 28 and the working device 6 to rotate integrally in the axial direction of the arm 28; the swing power source 31 drives the small arm swing shaft to swing, so as to drive the small arm 28 to swing; the workpiece is machined through movement in all directions.

Example four:

the present embodiment defines the positions and connection relationships of the swinging power source 31 and the rotating power source 30, specifically, the rotating power source 30 is disposed in the cavity of the upper and lower arms 26, the rotating power source 30 is a servo motor in the prior art, and the preferred model is: ECMA-C1060ERS-BKF 060-two stages; the rotary power source 30 is connected with a small arm swing joint seat, the small arm swing joint seat is connected with a small arm swing joint, and the small arm swing joint seat is connected with the small arm swing joint through screws, bolts, welding and the like; a small arm rotary joint seat 32 is further arranged on the outer side of the small arm swing joint seat, and a rolling bearing is arranged between the small arm swing joint seat and the small arm rotary joint seat 32; a forearm rotary joint gland 34 is arranged between the forearm rotary joint seat 32 and the forearm swinging joint 33; the small arm rotary joint seat 32 and the large arm end flange 29, and the small arm rotary joint seat 32 and the small arm rotary joint gland 34 are connected by means of screws or the like.

Be equipped with swing power supply 31 on forearm swing joint 33, swing power supply 31 adopts servo motor among the prior art, and preferred model is: ECMA-C1060ERS-BKF 060-two stages; the swing power source 31 is connected with the small arm 28 through a small arm swing shaft; and a small arm swinging shaft sleeve 35 is arranged on the outer side of the small arm swinging shaft.

Example five:

in this embodiment, the dead-corner-free track 2 may also be translated, so as to further improve the processing quality and the processing efficiency of the workpiece, and specifically, the dead-corner-free track 2 is connected with the moving device; the moving device is arranged at the upper part of the dead-corner-free track 2.

Specifically, the moving device comprises a bracket 36, the bracket 36 is fixed on the outer side of the dead-corner-free bracket 1, the bracket 36 is fixedly connected with the dead-corner-free bracket 1 through welding, threaded connection and the like, a first driving device is arranged on the bracket 36, and the first driving device is connected with a main bracket 37; the driving device drives the bracket 36 to move along the main bracket 37, so as to drive the dead-corner-free bracket 1, the connecting device 5 and the working device 6 to move along the main bracket 37.

Preferably, the first driving device comprises a sliding block 38 arranged at the bottom of the bracket 36, the sliding block 38 is connected with the bottom of the bracket 36 through welding, thread connection and the like, the sliding block 38 is matched with a sliding rail 39 arranged on the main bracket 37, a motor 40 is arranged on the bracket 36, the motor 40 is fixed with the bracket 36 through a motor support plate 41, the motor 40 is arranged in the middle of a rotating shaft, a main frame belt wheel 43 is connected to two sides of the rotating shaft, a toothed belt 44 is arranged on the outer side of the main frame belt wheel 43, and two ends of the toothed belt 44 are fixed; the toothed belt 44 is preferably a circular arc toothed belt, the two sides of the main frame belt wheel 43 are respectively provided with an idler shaft 45 at the positions of the outer side of the toothed belt 44, which are symmetrical relative to the main frame belt wheel 43, and the idler shafts 45 are fixed on a belt wheel support plate 46; preferably, the pulley support plate 46 is in contact with a main pulley bearing frame 47, the main pulley bearing frame 47 is mounted on the rotating shaft, and the pulley support plate 46 is arranged between the pulley bearing frame 47 and the main frame pulley 43; the main bracket 37 comprises a mounting platform 48, the toothed belt 44 and the sliding rail 39 are arranged on the mounting platform 48, and two ends of the toothed belt 44 are fixed; the toothed belt 44 and the slide rail 39 are disposed in parallel to each other in the longitudinal direction of the mount 48.

The motor 40 may have one end connected to the main frame driving short shaft 49 and one end connected to the main frame driving long shaft 50, but not disposed in the middle of the shafts; the motor 40 is connected to the main frame drive long shaft 50 and the main frame drive short shaft 49 via a coupling 51.

The driving device is not limited to the above-mentioned structure, and the driving device may be driven by a device in the prior art, such as a rack and pinion drive, and the utility model is not limited specifically.

Example six:

the embodiment describes the position of the workpiece, and preferably, the workpiece 52 passes through the middle part of the dead-corner-free bracket 1; the working device 6 rotates along the dead-angle-free track 2 without dead angles, so that 360-degree dead-angle-free movement is carried out around the workpiece 52, and the workpiece 52 is better processed.

More specifically, the workpiece 52 is arranged on the material conveying trolley 53, and the part of the workpiece 52 to be processed is exposed outside the material conveying trolley 53, which are the prior art, and the utility model does not improve this, and is not described in detail herein; the trolley 53 is matched with the trolley guide rail 54, and the trolley 53 moves along the trolley guide rail 54; the walking trolley guide rail 54 passes through the middle part of the dead-angle-free support 1 in a penetrating way, and two sides of the walking trolley guide rail 54 are connected with a walking trolley track frame 55; the two sides of the trolley guide rail 54 are connected with the trolley track frame 55 through welding and the like; the working device 6 performs welding, painting, grabbing and other operations on the parts on the material conveying vehicle 53; the trolley 53 and the trolley guide rail 54 are both in the prior art, and the utility model does not make any improvement to this, and is not described in detail herein.

Preferably, a dust cover 56 is arranged on the outer side of the main support 37, and a mounting hole 57 for the trolley guide rail 54, the trolley 53 and the workpiece 52 to pass through is reserved on the dust cover 56; a waste collecting plate 58 is arranged at the bottom of the dust cover 56; the scrap collecting plate 58 is fixed to the main support 37 by welding or the like; the scrap collecting plate 58 is used to collect residues generated during welding, painting, and the like.

In this embodiment, the workpiece 52 not only works inside the no-blind-angle support 1 in the prior art, but also the workpiece 52 can be disposed outside the no-blind-angle support 1, and when the workpiece 52 is disposed outside the no-blind-angle support 1, the workpiece 52 on the outer side is processed, and attention needs to be paid to avoid interference with the moving device; can with the mobile device setting in no dead angle support 1 the outside middle part wait the position can, technical staff according to particular case select can, the utility model discloses do not specifically give unnecessary details here.

The working principle of the utility model is as follows: in the utility model, the power source 8 drives the driving belt wheel 8 to move along the blind-corner-free track 2, and the roller 17 moves along the roller track I, namely the sliding device 3 moves along the blind-corner-free track 2, so that the workpiece 52 can rotate for 360 degrees, and no blind-corner position exists; the connecting device 5 drives the working device 6 to move, so that operations such as welding, grabbing, painting and the like are performed on the workpiece 52, the specific working form is determined according to the working device, specifically, the driving device 24 drives the upper arm 23 of the large arm to rotate, so that the small arm 28 and the working device 6 are driven to integrally rotate along the plane direction of the dead-angle-free track 2; the rotation power source 30 drives the small arm rotation joint seat 32 to rotate, so as to drive the small arm 28 and the working device 6 to rotate integrally along the circumferential direction of the small arm rotation joint seat 32; the swing power source 31 drives the small arm swing shaft to swing, so as to drive the small arm 28 to swing; the utility model also provides a moving device, and the driving device is started to drive the dead-corner-free track 2 to move so as to drive the working device 6 to move; in the utility model:

(1) the industrial robot has strong universality, can be applied to any occasion such as welding, grabbing, spraying and the like by replacing the working device, and is convenient to replace and strong in universality;

(2) in the utility model, when a group of sliding devices and connecting devices are arranged, 6-axis movement is realized through five axes, and when two groups of sliding devices and connecting devices are arranged, only 9 axes are used for replacing 12 axes in the prior art; the utility model can ensure higher flexibility, reduce the arrangement of the control shaft, and has simple structure and low manufacturing cost.

(3) The sliding device and the connecting device can rotate along the track without dead angles, so that 360-degree rotation can be carried out along the workpiece, and the connecting device can also rotate in all directions; the whole working process has no dead angle, 360-degree dead angle-free work can be carried out on the workpiece, and the workpiece processing quality and efficiency are improved.

The devices and connection relationships that are not described in detail above all belong to the prior art, and the present invention is not described in detail herein.

The standard parts used in the application document can be purchased from the market, and can be customized according to the description of the specification and the description of the attached drawings, the specific connection mode of each part adopts conventional means such as mature bolts, rivets, welding and the like in the prior art, and machines, parts and equipment adopt conventional models in the prior art.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are included in the scope of protection of the present invention.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present application will not be described separately.

In addition, any combination of the various embodiments of the present application can be made, and the present application should be considered as disclosed in the present application as long as the combination does not depart from the spirit of the present application.

Claims (9)

1. The utility model provides a no dead angle industrial robot, includes no dead angle support (1), its characterized in that, one side of no dead angle support (1) is equipped with confined no dead angle track (2), slider (3) on no dead angle track (2), slider (3) are connected with power device (4), be equipped with connecting device (5) on slider (3), connecting device (5) are connected with equipment (6).

2. A blind-corner-free industrial robot according to claim 1, characterized in that the power device (4) comprises a power source (7) connected with the sliding device (3), the power source (7) is connected with a driving pulley (8), a driving belt (9) is arranged on the driving pulley (8), a positioning belt idler shaft (10) is arranged on the outer side of the driving belt (9) and is symmetrical to the driving pulley (8), and the positioning belt idler shaft (10) is fixed on the sliding device (3).

3. A blind-corner-free industrial robot according to claim 1, characterized in that the slide (3) is provided with an inner roller carrier (16), the inner roller carrier (16) is provided with rollers (17), and the rollers (17) are engaged with the blind-corner-free track (2).

4. A dead-corner-free industrial robot according to claim 3, characterized in that the dead-corner-free track (2) comprises a body (18), a belt rim (19) is arranged on one side of the body (18), and a driving belt (9) matched with the belt rim (19) is arranged on the belt rim (19); the inner ring of the body (18) is provided with a first roller track (20), and the first roller track (20) is matched with the roller (17).

5. The blind-corner-free industrial robot according to claim 1, wherein the connecting device (5) comprises an upper large arm (23), one end of the upper large arm (23) is connected with a driving device (24), the driving device (24) is fixed on the sliding device (3), the other end of the upper large arm (23) is connected with a lower large arm (26), the lower large arm (26) is connected with a lower small arm (28), and the lower small arm (28) is respectively connected with a rotating power source (30) and a swinging power source (31); the small arm (28) is connected with the working device (6).

6. The blind-corner-free industrial robot according to claim 5, wherein the rotary power source (30) is arranged in a cavity of the lower arm (26), the rotary power source (30) is connected with a lower arm swing joint seat, and the lower arm swing joint seat is connected with a lower arm swing joint (33); a small arm rotating joint seat (32) is arranged on the outer side of the small arm swinging joint seat, and a rolling bearing is arranged between the small arm swinging joint seat and the small arm rotating joint seat.

7. The blind-corner-free industrial robot as claimed in claim 6, wherein the small arm swing joint (33) is provided with a swing power source (31), and the swing power source (31) is connected with the small arm (28) through a small arm swing shaft.

8. A blind-corner-free industrial robot according to claim 1, characterized in that the blind-corner-free track (2) is connected to a moving device, which comprises a frame (36), and the frame (36) is provided with a first driving device, which is connected to a main frame (37).

9. The blind-corner-free industrial robot as claimed in claim 8, wherein the driving device comprises a slide block (38) arranged on a support (36), the slide block (38) is matched with a slide rail (39) arranged on a main support (37), a motor (40) is arranged on the support (36), the motor (40) is arranged in the middle of a rotating shaft, a main frame belt wheel (43) is connected to two sides of the rotating shaft, a toothed belt (44) is arranged on the outer side of the main frame belt wheel (43), idler shafts (45) are respectively arranged on the outer sides of the toothed belt (44) at positions symmetrical to the main frame belt wheel (43), and the idler shafts (45) are fixed on a belt wheel support plate (46).

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