CN219043878U

CN219043878U - Robot arm joint department ash control device

Info

Publication number: CN219043878U
Application number: CN202222533991.2U
Authority: CN
Inventors: 孙诚; 欧阳峰; 盛亚明; 韦波
Original assignee: Zhongdian Yuchuang Suzhou Intelligent Technology Co ltd
Current assignee: Zhongdian Yuchuang Suzhou Intelligent Technology Co ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2023-05-19
Anticipated expiration: 2032-09-23

Abstract

The utility model relates to the technical field of robots, and discloses an ash prevention device at a joint of a mechanical arm of a robot. According to the utility model, the sealing sleeve is positioned at the outer side of the fixed pipe, the sealing ring is fixedly sleeved on the bottom surface of the sealing sleeve, and the air hole is formed in the bottom surface of the sealing ring, so that the air pipe in the air supply mechanism is communicated with the fixed pipe, in the process of inspection operation, the air supply mechanism is started, so that the air is continuously filled into the sealing sleeve through the air pipe, the air flow flows out from the sealing sleeve through the air hole in the process of rotating the top of the upper mechanical arm, and dust in the environment is blown outwards away from the joint positions of the upper mechanical arm and the mounting sleeve through the air flow, so that the dust is effectively prevented from entering, and the actual movement effect is greatly improved.

Description

Robot arm joint department ash control device

Technical Field

The utility model relates to the technical field of robots, in particular to an ash prevention device at a joint of a mechanical arm of a robot.

Background

The inspection robot can simulate professional manual operation based on OCR and image recognition capability, performs inspection operations such as clicking, recognition and inspection on a full-station multi-level page and each scene, and can realize APP page automatic inspection and monitoring, and the core function flow is continuously inspected for 7 x 24 hours.

In the prior art, the robot mechanical arm joint part ash prevention device is used, a group of mechanical arms are generally adopted for carrying out position adjustment of a visual inspection instrument aiming at an inspection robot, the inspection operation is completed by matching with the visual inspection instrument in the moving process of a robot trolley, however, due to the influence of the actual inspection environment, the joint part of the actual robot mechanical arm is in an action room, in the action process, particularly in the rotating inspection instrument process, the joint part gap is large, so that dust in the environment easily enters into the joint gap, thereby the joint action of the mechanical arm is blocked, the inspection effect is influenced, the abrasion loss of the joint part of the mechanical arm is increased, the actual service life is shortened, and the use effect is poor.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model provides the ash prevention device at the joint of the mechanical arm of the robot, which has the advantages of effective dust prevention and effective anti-collision.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the robot arm joint department ash prevention device, including moving mechanism, moving mechanism's top surface movable mounting has lower arm, lower arm's top surface movable mounting has the arm, go up the top surface fixedly connected with fixed pipe of arm, go up the top of arm and be equipped with the appearance of patrolling and examining, the bottom surface fixedly connected with installation cover of appearance of patrolling and examining, the surface and the fixed pipe activity of installation cover cup joint, the bottom surface fixedly connected with seal cover of appearance of patrolling and examining, the bottom surface of seal cover is fixed to have cup jointed the sealing ring, the gas pocket has been seted up to the bottom surface of sealing ring, the side of going up the arm is equipped with air feed mechanism, air feed mechanism is linked together with the seal cover, the seal cover is located the outside of installation fixed pipe, moving mechanism's side is equipped with the truckle.

As the preferable technical scheme of the utility model, the inner surface of the fixed pipe is fixedly sleeved with the clamping ring, the outer surface of the installation sleeve is provided with the annular groove, and the inner surface of the annular groove is movably sleeved with the clamping ring.

Through utilizing the activity of snap ring and annular to cup joint for have good rotation effect between installation cover and the fixed pipe, guarantee that last arm and inspection appearance have good activity effect.

As the preferable technical scheme of the utility model, the inside of the upper mechanical arm is fixedly connected with a mounting plate, the top surface of the mounting plate is fixedly provided with a motor, and the output shaft of the motor is fixedly connected with a mounting sleeve.

The output shaft of the motor is fixedly connected with the mounting sleeve, so that the movable control of the inspection instrument is realized.

As the preferable technical scheme of the utility model, the air supply mechanism comprises a supporting plate, an air pump and an air pipe, wherein the supporting plate is fixedly connected to the side surface of the upper mechanical arm, the air pump is fixedly arranged on the top surface of the supporting plate, and the air pipe is fixedly communicated between the air pump and the sealing sleeve.

Through utilizing air feed mechanism to let in the seal cover with gas via the trachea to make last arm and inspection appearance junction have outside circulation air current, thereby outwards carry nearby dust, effectively avoid the dust entering, improve dustproof effect.

As the preferable technical scheme of the utility model, the side surface of the moving mechanism is fixedly provided with the side pipe, the inside of the side pipe is movably sleeved with the sleeve rod, the end surface of the sleeve rod is fixedly connected with the anti-collision plate, and the inner side surface of the anti-collision plate is fixedly connected with the brake ring.

Through utilizing the anticollision board to carry out the rigidity protection, make the mobile mechanism of robot bottom damage under avoiding external equipment violent collision, and utilize the anticollision board to drive the brake ring and be close to and compress tightly the truckle when the collision, realize the rotation speed reduction of truckle, avoid collision back to launch the direction and continue fast collision, delay the operating time that the post-collision speed improvement patrolled and examined robot shut down fast.

As the preferable technical scheme of the utility model, the front surface of the anti-collision plate is provided with the mounting groove, and the inner surface of the mounting groove is fixedly sleeved with the elastic pad.

By utilizing the elastic pad, the buffer of the initial stage of collision is realized, and the vibration damage of the impact instant vibration effect to the upper parts of the robot is avoided.

As the preferable technical scheme of the utility model, a spring is arranged in the side pipe, the inner end of the loop bar is fixedly connected with a connecting plate, two ends of the spring are respectively and fixedly connected with the connecting plate and the moving mechanism, a limiting ring is fixedly sleeved on the outer surface of the loop bar, and the limiting ring is positioned in the side pipe.

Through utilizing the elasticity of spring, when realizing collision buffering, provide reset effect, guarantee that crashproof board can reset fast after the collision.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the utility model, the air supply mechanism is additionally arranged on the side face of the upper mechanical arm, the sealing sleeve is fixedly connected with the bottom face of the inspection instrument, the sealing sleeve is positioned on the outer side of the fixed pipe, the sealing ring is fixedly sleeved on the bottom face of the sealing sleeve, the air hole is formed in the bottom face of the sealing ring, the air pipe in the air supply mechanism is communicated with the fixed pipe, in the inspection operation process, the air supply mechanism is started, the air is continuously filled into the sealing sleeve through the air pipe, so that the air flow flows out from the sealing sleeve in the rotating process of the top of the upper mechanical arm, dust in the environment is blown outwards away from the joint positions of the upper mechanical arm and the mounting sleeve through the air flow, the dust is effectively prevented from entering, and the actual movement effect is greatly improved.

2. According to the utility model, the side pipe is fixedly connected with the side surface of the moving mechanism, the sleeve rod is movably sleeved in the side pipe, the outer end surface of the sleeve rod is fixedly connected with the anti-collision plate, the inner side surface of the anti-collision rod is fixedly connected with the annular brake ring, when side collision occurs, the anti-collision rod is driven to move along with the side surface to be pressed, and the brake ring is further driven to move and press the front surface of the trundle, so that the friction force is increased, the braking deceleration of the trundle during collision is realized, the speed after collision is actively reduced, the parking is rapidly realized, the continuous collision is avoided, and the anti-collision effect is improved.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic bottom view of the present utility model;

FIG. 3 is an exploded view of the present utility model between the mounting sleeve and the mounting tube;

FIG. 4 is an exploded view of the present utility model between the motor and the upper arm;

figure 5 is a schematic illustration of the installation between a sealing sleeve and a sealing ring according to the utility model;

fig. 6 is an exploded view of the present utility model between a side tube and a loop bar.

In the figure: 1. a moving mechanism; 2. a lower mechanical arm; 3. an upper mechanical arm; 4. a fixed tube; 5. a patrol instrument; 6. a mounting sleeve; 7. a ring groove; 8. a clasp; 9. sealing sleeve; 10. a seal ring; 11. air holes; 12. a gas supply mechanism; 121. a support plate; 122. an air pump; 123. an air pipe; 13. a mounting plate; 14. a motor; 15. casters; 16. a side pipe; 17. a loop bar; 18. an anti-collision plate; 19. a limiting ring; 20. a connecting plate; 21. a spring; 22. a mounting groove; 23. an elastic pad; 24. a brake ring.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1 to 6, the utility model provides an ash prevention device at a robot arm joint, which comprises a moving mechanism 1, wherein a lower mechanical arm 2 is movably arranged on the top surface of the moving mechanism 1, an upper mechanical arm 3 is movably arranged on the top surface of the lower mechanical arm 2, a fixed pipe 4 is fixedly connected with the top surface of the upper mechanical arm 3, a patrol instrument 5 is arranged at the top of the upper mechanical arm 3, a mounting sleeve 6 is fixedly connected with the bottom surface of the patrol instrument 5, the outer surface of the mounting sleeve 6 is movably sleeved with the fixed pipe 4, a sealing sleeve 9 is fixedly connected with the bottom surface of the patrol instrument 5, a sealing ring 10 is fixedly sleeved with the bottom surface of the sealing sleeve 9, an air hole 11 is formed in the bottom surface of the sealing ring 10, an air supply mechanism 12 is arranged on the side surface of the upper mechanical arm 3, the air supply mechanism 12 is communicated with the sealing sleeve 9, the sealing sleeve 9 is positioned at the outer side of the mounting fixed pipe 4, and a truckle 15 is arranged on the side surface of the moving mechanism 1.

Wherein, the inner surface of fixed pipe 4 fixedly cup joints snap ring 8, and annular groove 7 has been seted up to the surface of installation cover 6, and the inner surface of annular groove 7 cup joints with snap ring 8 activity.

Through utilizing the activity of snap ring 8 and annular 7 to cup joint for have good rotation effect between installation cover 6 and the fixed pipe 4, guarantee that last arm 3 and inspection appearance 5 have good activity effect.

Wherein, the inside fixedly connected with mounting panel 13 of last arm 3, the top surface fixed mounting of mounting panel 13 has motor 14, and the output shaft and the installation cover 6 fixed connection of motor 14.

The output shaft of the motor 14 is fixedly connected with the mounting sleeve 6, so that the movement control of the inspection instrument 5 is realized.

The air supply mechanism 12 comprises a supporting plate 121, an air pump 122 and an air pipe 123, wherein the supporting plate 121 is fixedly connected to the side face of the upper mechanical arm 3, the air pump 122 is fixedly installed on the top face of the supporting plate 121, and the air pipe 123 is fixedly communicated between the air pump 122 and the sealing sleeve 9.

Through utilizing air feed mechanism 12 to let in the seal cover 9 with gas via trachea 123 to make last arm 3 and inspection appearance 5 junction have outside circulation air current, thereby outwards carry nearby dust, effectively avoid the dust entering, improve dustproof effect.

The side surface of the moving mechanism 1 is fixedly provided with a side pipe 16, a sleeve rod 17 is movably sleeved in the side pipe 16, the end surface of the sleeve rod 17 is fixedly connected with an anti-collision plate 18, and the inner side surface of the anti-collision plate 18 is fixedly connected with a brake ring 24.

Through utilizing crashproof board 18 to carry out the rigidity protection, avoid making the mobile mechanism 1 of robot bottom damage under the violent collision of external equipment, and utilize crashproof board 18 to drive brake ring 24 and be close to and compress tightly truckle 15 when the collision, realize the rotation speed reduction of truckle 15, avoid collision back to launch the direction and continue the quick collision, delay the operating time that the robot was patrolled and examined to speed improvement after the collision.

Wherein, the front of the anti-collision plate 18 is provided with a mounting groove 22, and the inner surface of the mounting groove 22 is fixedly sleeved with an elastic pad 23.

By using the elastic pad 23, buffering in the initial stage of collision is realized, and vibration damage of the impact instant vibration effect to parts on the robot is avoided.

The inside of the side pipe 16 is provided with a spring 21, the inner end of the loop bar 17 is fixedly connected with a connecting plate 20, two ends of the spring 21 are respectively fixedly connected with the connecting plate 20 and the moving mechanism 1, the outer surface of the loop bar 17 is fixedly sleeved with a limiting ring 19, and the limiting ring 19 is positioned in the side pipe 16.

By utilizing the elasticity of the spring 21, the collision buffering is realized, the restoring effect is provided, and the collision preventing plate 18 can be restored quickly after collision.

The working principle and the using flow of the utility model are as follows: when robot inspection is performed, as the inspection instrument 5 rotates at the top of the upper mechanical arm 3, the air supply mechanism 12 is started, so that the air supply mechanism 12 introduces air into the sealing sleeve 9 through the air pipe 123, the air in the sealing sleeve 9 forms air flow and is blown out through the air hole 11 at the bottom of the sealing ring 10, and dust near a joint at the sleeving position of the fixed pipe 4 and the mounting sleeve 6 is far away from the air flow; when a side collision occurs, the elastic pad 23 at the side of the anti-collision plate 18 contacts and deforms, meanwhile, the anti-collision plate 18 drives the loop bar 17 to move, so that the connecting plate 20 compresses the spring 21, the brake ring 24 at the side of the anti-collision plate 18 presses the front of the caster 15 along with the movement of the anti-collision plate 18, the rotation speed of the caster 15 is reduced rapidly, and the inspection robot is stopped after collision.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Robot arm joint department ash control device, including moving mechanism (1), its characterized in that: the top surface movable mounting of mobile mechanism (1) has lower arm (2), the top surface movable mounting of lower arm (2) has last arm (3), the top surface fixedly connected with fixed pipe (4) of going up arm (3), the top of going up arm (3) is equipped with inspection appearance (5), the bottom surface fixedly connected with installation cover (6) of inspection appearance (5), the surface and the fixed pipe (4) activity of installation cover (6) cup joint, the bottom surface fixedly connected with seal cover (9) of inspection appearance (5), seal ring (10) have been cup jointed to the bottom surface of seal cover (9) is fixed, gas pocket (11) have been seted up to the bottom surface of seal ring (10), the side of going up arm (3) is equipped with air feed mechanism (12), air feed mechanism (12) are linked together with seal cover (9), seal cover (9) are located the outside of installing fixed pipe (4), the side of mobile mechanism (1) is equipped with truckle (15).

2. The robot arm joint dust prevention device according to claim 1, wherein: the inner surface of the fixed pipe (4) is fixedly sleeved with a clamping ring (8), an annular groove (7) is formed in the outer surface of the installation sleeve (6), and the inner surface of the annular groove (7) is movably sleeved with the clamping ring (8).

3. The robot arm joint dust prevention device according to claim 1, wherein: the inside fixedly connected with mounting panel (13) of last arm (3), the top surface fixed mounting of mounting panel (13) has motor (14), the output shaft and the installation cover (6) fixed connection of motor (14).

4. The robot arm joint dust prevention device according to claim 1, wherein: the air supply mechanism (12) comprises a supporting plate (121), an air pump (122) and an air pipe (123), wherein the supporting plate (121) is fixedly connected to the side face of the upper mechanical arm (3), the air pump (122) is fixedly installed on the top face of the supporting plate (121), and the air pipe (123) is fixedly communicated between the air pump (122) and the sealing sleeve (9).

5. The robot arm joint dust prevention device according to claim 1, wherein: side fixed mounting of mobile mechanism (1) has side pipe (16), the inside activity of side pipe (16) has cup jointed loop bar (17), the terminal surface fixedly connected with anticollision board (18) of loop bar (17), the medial surface fixedly connected with brake ring (24) of anticollision board (18).

6. The robot arm joint dust-proof device according to claim 5, wherein: the front of the anti-collision plate (18) is provided with a mounting groove (22), and the inner surface of the mounting groove (22) is fixedly sleeved with an elastic pad (23).

7. The robot arm joint dust-proof device according to claim 5, wherein: the inside of side pipe (16) is equipped with spring (21), the inner fixedly connected with connecting plate (20) of loop bar (17), the both ends of spring (21) respectively with connecting plate (20) and mobile mechanism (1) fixed connection, the fixed surface of loop bar (17) has cup jointed spacing ring (19), spacing ring (19) are located the inside of side pipe (16).