A thermal insulation device for a robotic arm

Abstract

The present invention proposes a thermal insulation device for a robotic arm, comprising a plurality of swing arms and robotic arm components, wherein the connection portion between adjacent swing arms is a joint, the robotic arm component is installed at one end of the swing arm away from the joint, and also comprises a frame and a thermal insulation sleeve; the frame is fixedly sleeved outside the swing arm, and a gap is left between the inner surface of the frame and the outer surface of the swing arm; the thermal insulation sleeve surrounds the swing arm and tightly covers the outer surface of the frame, and both ends of the thermal insulation sleeve extend along the extension direction of the swing arm and cover both ends of the frame and finally adhere to the outer surface of the swing arm, thereby forming a first thermal insulation space between the inner wall of the thermal insulation sleeve and the outer surface of the swing arm, and the first thermal insulation space is used for passing pipelines providing a heat source; the thermal insulation sleeve is arranged to cover the outer surface of the swing arm, so that the thermal insulation sleeve swing arm forms a layer of first thermal insulation space isolated from the external environment, similar to putting a down jacket on the swing arm, which can not only cover the entire outer surface of the swing arm for heating and insulation, but also ensure the consistency of temperature of various parts of the swing arm.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator equipment, and in particular to a heat preservation device for a manipulator arm. Background Art

[0002] Manipulator equipment is an indispensable and important part of modern industrial intelligent and automated production. It is generally composed of several swing arms connected by rotating joints, and a manipulator component is installed at one end of the farthest swing arm. Through multiple swing arms, high-degree-of-freedom rotation, extension or folding in three-dimensional space, the manipulator component can be helped to operate.

[0003] Since the mechanical structure and power structure of the robot equipment are extremely precise and sensitive, and are extremely sensitive to changes in the working environment temperature, when the robot equipment is used in certain low temperature or extremely low temperature environments, it is necessary to add an external heating mechanism to its swing arm to ensure the normal operation of the robot equipment.

[0004] However, since the exogenous heating mechanism is added to the outer surface of the swing arm and is mostly exposed to the environment, on the one hand, it causes a large useless loss of heating effect and high cost of use; on the other hand, it is difficult for the exogenous heating mechanism to cover the entire outer surface of the swing arm, resulting in uneven heating, causing large temperature differences between the mechanical components in the manipulator equipment, which makes it more likely to cause component damage. Summary of the invention

[0005] In view of this, the present invention proposes a heat preservation device for a robotic arm that can cover the entire outer surface of the swing arm, heat evenly, and maintain a relatively long heat preservation and heat insulation effect.

[0006] The technical solution of the present invention is implemented as follows: the present invention provides an insulation device for a robotic arm, comprising a plurality of swing arms and robotic arm components, the connection portion of adjacent swing arms being a joint, the robotic arm components being installed at one end of the swing arm away from the joint, and also comprising a frame and an insulation cover; the frame is fixedly sleeved outside the swing arm, and a gap is left between the inner surface of the frame and the outer surface of the swing arm; the insulation cover surrounds the swing arm and tightly wraps around the outer surface of the frame, the two ends of the insulation cover extend along the extension direction of the swing arm and cover the two ends of the frame and finally adhere to the outer surface of the swing arm, thereby forming a first insulation space between the inner wall of the insulation cover and the outer surface of the swing arm, and the first insulation space is used to pass through pipelines providing a heat source.

[0007] On the basis of the above technical scheme, preferably, it also includes a sleeve, which is wrapped around the outside of the joint, and both ends of the sleeve are respectively extended along the extension direction of the adjacent swing arms and finally attached to the outer surface of the frame, and a gap is left between the inner wall of the sleeve and the outer surface of the joint to form a second insulation space, and the second insulation space is used to pass the pipeline providing the heat source; the sleeve has elastic extension ability, when one of the swing arms is folded or stretched relative to the other swing arm through the joint, the sleeve can always be wrapped around the outside of the joint and shrink or extend with the movement of the swing arm.

[0008] Based on the above technical solution, preferably, the end of the insulation cover of the swing arm away from the joint is open, and the end of the adjacent insulation cover close to the joint overlaps with the two ends of the sleeve and adheres to the outer surface of the frame, so that the second insulation space and the adjacent first insulation space are connected to each other as a whole.

[0009] Further preferably, the sleeve includes a plurality of cylinder units and an elastomer, the cylinder unit includes a winding part and two connecting parts, the two connecting parts are fixedly connected to the two ends of the winding part, and the connection between the winding part and the connecting part can be bent arbitrarily; the inner walls of the two adjacent connecting parts located in different cylinder units are tightly fitted to each other, the adjacent cylinder units are fixedly connected by the connecting parts and the winding parts are connected to each other, and the two connecting parts located at the two ends of the sleeve are respectively attached to the outer surfaces of the frame located on the two swing arms; the two ends of the elastomer are respectively fixedly connected to the inner walls of the adjacent winding parts, and the elastomer has elastic extensibility, and when one of the swing arms is folded or stretched relative to the other swing arm through the joint, the sleeve is pulled to deform with the movement of the swing arm, so that the elastomer is stretched or rebounded with the deformation of the sleeve.

[0010] More preferably, a plurality of elastomers are evenly distributed in the sleeve.

[0011] More preferably, the insulation sleeve and the sleeve are both made of aerogel felt cloth.

[0012] On the basis of the above technical solution, preferably, it also includes several groups of fastening bolts and bolt seats, a plurality of through holes are opened on the outer surface of the frame, and a plurality of bolt seats are fixedly connected to the outer surface of the swing arm. The through holes are aligned with the bolt seats one by one, and one end of the fastening bolt passes through the through hole and is connected to the bolt seat so that the frame is fixedly mounted on the swing arm.

[0013] On the basis of the above technical solution, preferably, the length of the first heat preservation space along the axial direction of the swing arm is smaller than the length of the swing arm.

[0014] More preferably, the method for making the aerogel felt cloth comprises the following steps:

[0015] S1 prepares a 3-5% w ammonium silicate aqueous solution;

[0016] S2: hanging the glass fiber mat in a spray chamber, spraying the solution in step S1 onto the glass fiber mat in an atomized form until the fibers of the glass fiber mat are saturated with the solution; and then taking the solution out.

[0017] S3: placing the fiber felt obtained in step S2 into a sealed container, introducing carbon dioxide at 50-55° C. until a wet gel fiber felt is formed, and then introducing high-temperature steam for 60-120 min;

[0018] S4: placing the wet gel fiber felt generated in step S3 into a replacement tank, adding anhydrous ethanol, heating to 70-90° C. and soaking for 6-8 hours, and repeatedly soaking for 5-6 times;

[0019] S5: the fiber felt replaced in step S4 is placed in N 2 The product can be prepared by microwave drying at 60-70°C for 7-10h under the protection of a novel nanostructured carbon foam.

[0020] The heat preservation device for a mechanical arm of the present invention has the following beneficial effects compared with the prior art:

[0021] (1) An insulation sleeve is provided to cover the outer surface of the swing arm, so that the insulation sleeve swing arm forms a first insulation space isolated from the external environment, which is similar to putting a down jacket on the swing arm. It can not only cover the entire outer surface of the swing arm for heating and insulation, but also ensure the consistency of temperature of various parts of the swing arm, thereby improving the efficiency of the heating mechanism and reducing the heating and insulation cost.

[0022] (2) A sleeve with elastic stretchability is provided to wrap the joint so that the first insulation space and the second insulation space form an integral space, which can provide a better insulation environment and will not hinder the normal rotation of the joint.

[0023] (3) Since the sleeve is composed of a number of cylindrical units connected together, and an elastic body is connected between adjacent winding parts, when the sleeve is deformed with the rotation of the joint, the sleeve can be extended and contracted through the stretching and rebound of the elastic body, playing a role similar to that of a bellows, and will not hinder the normal rotation of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 is a side sectional view of the heat preservation device of the present invention;

[0026] Figure 2 For the present invention Figure 1 The enlarged view of point A in the middle;

[0027] Figure 3 It is a side sectional view of the sleeve of the present invention.

[0028] In the figure: 1, swing arm; 2, joint; 3, manipulator component; 4, frame; 41, through hole; 5, insulation sleeve; 51, first insulation space; 6, fastening bolt; 7, bolt seat; 8, elastomer; 9, sleeve; 91, cylinder unit; 911, reel part; 912, connecting part; 92, second insulation space. DETAILED DESCRIPTION

[0029] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] like Figure 1 As shown, a heat preservation device for a robot arm of the present invention includes a plurality of swing arms 1 and a robot component 3, wherein the connecting portion of adjacent swing arms 1 is a joint 2, and the robot component 3 is installed at one end of the swing arm 1 away from the joint 2, and also includes a frame 4, a heat preservation sleeve 5, a fastening bolt 6, a bolt seat 7, an elastomer 8 and a sleeve 9.

[0031] Among them, the frame 4 is fixedly mounted on the outside of the swing arm 1, and a gap is left between the inner surface of the frame 4 and the outer surface of the swing arm 1. Its function is to provide a basic structure for wrapping the insulation cover 5 to avoid the problem that the insulation cover 5 is directly wrapped outside the swing arm 1 and is easily scratched and damaged. On the other hand, a first insulation space 51 is provided for passing the pipeline of the heating mechanism and forming a uniform insulation environment.

[0032] The insulation cover 5 surrounds the swing arm 1 and is tightly wrapped around the outer surface of the frame 4. The two ends of the insulation cover 5 extend along the extension direction of the swing arm 1 and cover the two ends of the frame 4 and finally adhere to the outer surface of the swing arm 1, thereby forming a first insulation space 51 between the inner wall of the insulation cover 5 and the outer surface of the swing arm 1. The first insulation space 51 is used to pass through pipelines providing heat sources.

[0033] The sleeve 9 is wrapped around the outside of the joint 2, and both ends of the sleeve 9 are respectively extended along the extension direction of the adjacent swing arms 1 and finally attached to the outer surfaces of the frame 4. A gap is left between the inner wall of the sleeve 9 and the outer surface of the joint 2 to form a second thermal insulation space 92, and the second thermal insulation space 92 is used to pass through the pipeline providing the heat source; the sleeve 9 has elastic extension ability, when one of the swing arms 1 is folded or stretched relative to the other swing arm 1 through the joint 2, the sleeve 9 can always be wrapped around the outside of the joint 2 and shrink or extend with the movement of the swing arm 1.

[0034] As a further improvement, the end of the insulation cover 5 of the swing arm 1 away from the joint 2 is open, and the end of the adjacent insulation cover 5 close to the joint 2 overlaps with the two ends of the sleeve 9 and is attached to the outer surface of the frame 4, so that the second insulation space 92 and the adjacent first insulation space 51 are connected to each other as a whole.

[0035] Among them, the insulation sleeve 5 and the sleeve 9 are both made of aerogel felt cloth, so that the insulation sleeve 5 and the sleeve 9 have thermal insulation performance. By adopting the above technical solution, it plays a role similar to wearing a layer of thermal insulation clothing on the swing arm 1 and the joint 2.

[0036] Specifically, the present invention is implemented through the following technical solutions.

[0037] like Figure 1 As shown, combined Figure 2 A plurality of through holes 41 are opened on the outer surface of the frame 4, and a plurality of bolt seats 7 are fixedly connected to the outer surface of the swing arm 1. The through holes 41 are aligned with the bolt seats 7 one by one. The bolt seats 7 can be directly welded to the outer surface of the swing arm 1, or can be sucked on or pasted to the outer surface of the swing arm 1 for disassembly and replacement.

[0038] One end of the fastening bolt 6 passes through the through hole 41 and is connected to the bolt seat 7 so that the frame 4 is fixedly mounted on the swing arm 1. The through hole 41 is preferably a countersunk hole, which can make the insulation cover 5 wrap more flat.

[0039] like Figure 1 As shown, combined Figure 3The sleeve 9 includes a plurality of cylinder units 91 and an elastic body 8. The cylinder unit 91 includes a reel portion 911 and two connecting portions 912. The two connecting portions 912 are fixedly connected to the two ends of the reel portion 911, and the connection between the reel portion 911 and the connecting portion 912 can be bent arbitrarily; the inner walls of the two adjacent connecting portions 912 located in different cylinder units 91 fit closely to each other, the adjacent cylinder units 91 are fixedly connected through the connecting portions 912, and the reel portions 911 are connected to each other. The two connecting portions 912 located at the two ends of the sleeve 9 are respectively attached to the outer surface of the frame 4 located on the two swing arms 1; the two ends of the elastic body 8 are respectively fixedly connected to the inner walls of the adjacent reel portions 911, and the elastic body 8 has elastic extension ability. When one of the swing arms 1 is folded or stretched relative to the other swing arm 1 through the joint 2, the sleeve 9 is pulled to deform with the movement of the swing arm 1, so that the elastic body 8 is stretched or rebounded with the deformation of the sleeve 9. Its principle is similar to that of a bellows.

[0040] As an optional embodiment, a plurality of elastic bodies 8 are evenly distributed in the sleeve 9 .

[0041] As an optional embodiment, the length of the first insulation space 51 along the axial direction of the swing arm 1 is smaller than the length of the swing arm 1, that is, the length of the frame 4 is smaller than the length of the swing arm 1, so as to avoid the frames 4 installed on adjacent swing arms 1 from abutting against each other and hindering the normal operation of the swing arm 1.

[0042] On the other hand, the method for making the aerogel felt of the present invention comprises the following steps:

[0043] S1 Prepare a 3-5% w ammonium silicate aqueous solution.

[0044] S2 hangs the glass fiber felt in a spray chamber, sprays the solution in step S1 onto the glass fiber felt in an atomized manner, and removes the solution until the glass fiber felt is saturated with the fibers. Compared with the impregnation method commonly used in the prior art, the atomized spraying method can make the aqueous solution of ammonium silicate more fully penetrate into the capillary fibers of the glass fiber felt, thereby improving the performance of the felt cloth.

[0045] S3: placing the fiber felt obtained in step S2 into a sealed container, introducing carbon dioxide at 50-55° C. until a wet gel fiber felt is formed, and then introducing high-temperature steam to keep the temperature for 60-120 minutes.

[0046] S4: placing the wet gel fiber felt generated in step S3 into a replacement tank, adding anhydrous ethanol, heating to 70-90° C. and soaking for 6-8 hours, and repeatedly soaking for 5-6 times.

[0047] S5: the fiber felt replaced in step S4 is placed in N 2 The product can be prepared by microwave drying at 60-70°C for 7-10h under the protection of a novel nanostructured carbon foam.

[0048] Working principle:

[0049] The frame 4 is fixed to the outside of the swing arm 1 by fastening bolts 6 and bolt seats 7, and then the insulation cover 5 is put on the outer surface of the frame 4 and the surface of the insulation cover 5 is tightened to prevent the insulation cover 5 from being wrinkled and stuck in the mechanical structure of the swing arm 1 during the movement of the swing arm 1.

[0050] After installing the insulation sleeve 5, drive the swing arms 1 to extend the two swing arms 1 in a straight line, then put the sleeve 9 outside the joint 2 and wrap the joint 2, and fix the two ends of the sleeve 9 on the frame 4. Finally, put the pipeline of the external heating mechanism into the first insulation space 51 and the second insulation space 92.

[0051] Since the sleeve 9 is composed of several cylindrical units 91, and the adjacent winding parts 911 are connected with the elastomer 8, when the sleeve 9 is deformed with the rotation of the joint 2, the elastomer 8 will also stretch and rebound, so that the sleeve 9 can be extended and contracted, playing a role similar to that of a bellows, and will not hinder the normal rotation of the joint 2.

[0052] Specifically, during the rotation of the joint 2, assuming that one swing arm 1 is folded toward the ground relative to the other swing arm 1, the side of the sleeve 9 close to the ground is squeezed and compressed, causing the adjacent cylindrical units 91 to fold against each other, causing the adjacent roll parts 911 to gradually approach and finally fit together; while the side of the sleeve 9 away from the ground is pulled and extended, causing the adjacent cylindrical units 91 to be stretched and unfolded, causing the adjacent roll parts 911 to gradually move away and finally the inner walls are flush, thereby allowing the sleeve 9 to achieve a function similar to that of a bellows.

[0053] At the same time, the above technical solution allows the two swing arms 1 and the joint 2 therebetween to be wrapped in the overall insulation environment formed by the first insulation space 51 and the second insulation space 92, while also not hindering the rotation of the joint 2 and the normal movement of the swing arm 1.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A heat preservation device for a mechanical arm, comprising a plurality of swing arms (1) and a mechanical hand component (3), wherein the connecting part of adjacent swing arms (1) is a joint (2), and the mechanical hand component (3) is installed at one end of the swing arm (1) away from the joint (2). Features: It also includes a frame (4), a heat-insulating sleeve (5), a fastening bolt (6), a bolt seat (7) and a sleeve (9); The frame (4) is fixedly mounted outside the swing arm (1), and a gap is left between the inner surface of the frame (4) and the outer surface of the swing arm (1); The thermal insulation sleeve (5) surrounds the swing arm (1) and is tightly wrapped around the outer surface of the frame (4); the two ends of the thermal insulation sleeve (5) extend along the extension direction of the swing arm (1) and cover the two ends of the frame (4) and finally adhere to the outer surface of the swing arm (1), so that a first thermal insulation space (51) is formed between the inner wall of the thermal insulation sleeve (5) and the outer surface of the swing arm (1); the first thermal insulation space (51) is used to pass through a pipeline providing a heat source; The sleeve (9) is wrapped around the outside of the joint (2), and the two ends of the sleeve (9) are respectively extended along the extension direction of the adjacent swing arms (1) and finally respectively adhere to the outer surface of the frame (4), and a gap is left between the inner wall of the sleeve (9) and the outer surface of the joint (2) to form a second heat-insulating space (92), and the second heat-insulating space (92) is used to pass through a pipeline providing a heat source; The outer surface of the frame (4) is provided with a plurality of through holes (41), and the plurality of bolt seats (7) are fixedly connected to the outer surface of the swing arm (1). The through holes (41) are aligned with the bolt seats (7) one by one, and one end of the fastening bolt (6) passes through the through holes (41) and is connected to the bolt seat (7), so that the frame (4) is fixedly mounted on the swing arm (1); The sleeve (9) has elastic extension capability, and when one of the swing arms (1) performs folding or stretching movement relative to the other swing arm (1) through the joint (2), the sleeve (9) can always be wrapped outside the joint (2) and shrink or stretch along with the movement of the swing arm (1); The end of the thermal insulation sleeve (5) of the swing arm (1) away from the joint (2) is open, and the end of the adjacent thermal insulation sleeve (5) close to the joint (2) overlaps with the two ends of the sleeve (9) and is attached to the outer surface of the frame (4), so that the second thermal insulation space (92) and the adjacent first thermal insulation space (51) are connected to each other as a whole; The sleeve (9) comprises a plurality of barrel units (91) and an elastic body (8), wherein the barrel unit (91) comprises a winding barrel portion (911) and two connecting portions (912), wherein the two connecting portions (912) are fixedly connected to two ends of the winding barrel portion (911), and the connection between the winding barrel portion (911) and the connecting portion (912) can be bent arbitrarily; The inner walls of two adjacent connecting parts (912) located in different barrel units (91) are closely fitted to each other, the adjacent barrel units (91) are fixedly connected via the connecting parts (912) and the winding parts (911) are connected to each other, and the two connecting parts (912) located at both ends of the sleeve (9) are respectively attached to the outer surface of the frame (4) located on the two swing arms (1); The two ends of the elastic body (8) are respectively fixedly connected to the inner wall of the adjacent reel part (911), and the elastic body (8) has elastic extensibility. When one of the swing arms (1) is folded or stretched relative to the other swing arm (1) through the joint (2), the sleeve (9) is pulled to deform along with the movement of the swing arm (1), so that the elastic body (8) is stretched or rebounded along with the deformation of the sleeve (9).

2. A heat preservation device for a robot arm according to claim 1, Features: A plurality of elastic bodies (8) are evenly distributed in the sleeve (9).

3. A heat preservation device for a robot arm according to claim 1, Features: The thermal insulation sleeve (5) and the sleeve (9) are both made of aerogel felt cloth.

4. A heat preservation device for a robot arm according to claim 1, Features: The length of the first heat-insulating space (51) along the axial direction of the swing arm (1) is smaller than the length of the swing arm (1).

5. A heat preservation device for a robot arm according to claim 3, Features: The method for making the aerogel felt cloth comprises the following steps: S1 prepares a 3-5% w ammonium silicate aqueous solution; S2: hanging the glass fiber mat in a spray chamber, spraying the solution in step S1 onto the glass fiber mat in an atomized manner until the fibers of the glass fiber mat are saturated with the solution, and then taking it out; S3: placing the fiber felt obtained in step S2 into a sealed container, introducing carbon dioxide at 50-55° C. until a wet gel fiber felt is formed, and then introducing high-temperature steam for 60-120 minutes; S4: placing the wet gel fiber felt generated in step S3 into a replacement tank, adding anhydrous ethanol, heating to 70-90° C. and soaking for 6-8 hours, and repeatedly soaking for 5-6 times; S5: the fiber felt replaced in step S4 is placed in N 2 The product can be prepared by microwave drying at 60-70°C for 7-10h under the protection of a novel nanostructured carbon foam.

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