An industrial intelligent six-axis robot

Abstract

The invention relates to the field of industrial robots, and more specifically to an industrial intelligent six-axis robot, comprising a six-axis mechanical arm, a drilling mechanism, a heat dissipation mechanism, a flow regulating mechanism, and a lubricating mechanism; the heat dissipation mechanism can be used to perform water cooling and heat dissipation for a drilling motor when the drilling mechanism is working, thereby greatly improving the heat dissipation efficiency of the drilling motor and preventing the drilling motor from burning out due to excessive temperature, and the heat dissipation mechanism is synchronously driven by the drilling motor to make it more convenient to use; the flow regulating mechanism can be used to adjust the flow of coolant in the heat dissipation mechanism according to the working state of the drilling motor, thereby adjusting the heat dissipation efficiency, when the drilling motor maintains normal operation, the flow regulating mechanism regulates the coolant to maintain it in a relatively low flow state, thereby meeting the heat dissipation demand of the drilling motor, and when the friction resistance of the drill bit increases and the rotation speeds of the drill bit and the drilling motor decrease, the flow regulating mechanism regulates and increases the flow of the coolant, thereby improving the heat dissipation effect on the drilling motor.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, in particular to an industrial intelligent six-axis robot. Background Art

[0002] Six-axis industrial robots generally have six degrees of freedom. Common six-axis industrial robots include rotation, lower arm, upper arm, wrist rotation, wrist swing and wrist rotation. The six joints are combined to realize the six degrees of freedom of the end, which is used to operate the automatic operation device of the tool according to a fixed program, such as welding, spraying, handling, drilling, etc. It not only greatly reduces the labor cost, but also can replace manual dangerous operations. For example, in industrial activities such as geological exploration and coal mining, the six-axis robot can be used to drive the drill to drill. In the process of the motor driving the drill at the end of the six-axis robot, due to the large friction resistance of the drill during drilling, the output power of the motor is large, resulting in a large amount of heat generated when the motor is working. If the motor cannot be cooled in time, it is easy to cause the motor to burn out. If the drill encounters a rock with a higher hardness such as granite and gypsum during drilling, the friction resistance of the drilling will be further increased, resulting in a decrease in the drill speed. In severe cases, the drill may even be stuck. At the same time, the heat generated by the motor will be further increased, increasing the risk of motor burnout. Summary of the invention

[0003] In view of the problems in the prior art, the present invention provides an industrial intelligent six-axis robot.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an industrial intelligent six-axis robot, including a six-axis mechanical arm, a drilling mechanism, a heat dissipation mechanism, a flow regulating mechanism, and a lubrication mechanism. The drilling mechanism is installed at the end of the six-axis mechanical arm, the heat dissipation mechanism for water-cooling the drilling mechanism is installed on the drilling mechanism, the flow regulating mechanism for adjusting the coolant flow in the heat dissipation mechanism and thus adjusting the heat dissipation efficiency is installed inside the drilling mechanism, and the lubrication mechanism for lubricating the drilling mechanism is installed in the heat dissipation mechanism.

[0005] Furthermore, the drilling mechanism includes a motor housing, a motor body, a motor output shaft, a drill chuck, and a drill bit. The motor housing is fixedly installed at the end of the six-axis robot arm, the motor body is installed inside the motor housing, one end of the motor output shaft is transmission-installed in the motor body, and the other end extends to the outside of the motor housing, the drill chuck is fixedly installed at the end of the motor output shaft, and the drill bit is fixedly installed on the drill chuck.

[0006] Furthermore, the heat dissipation mechanism includes an outer shell, a first transmission wheel, a transmission belt, a second transmission wheel, a rotating shaft, a hydraulic drive unit, a coolant inlet, a spiral heat dissipation slot, and a coolant outlet. The outer shell is fixedly mounted on one end of the motor shell, the first transmission wheel is arranged inside the outer shell and fixedly mounted on the motor output shaft, the rotating shaft is movably mounted on the upper end of the inner shell, the second transmission wheel is fixedly mounted on the rotating shaft, and the first transmission wheel and the second transmission wheel are connected by the transmission belt. The hydraulic drive unit is installed on the outer side surface of the motor shell, and the rotating shaft is connected to the hydraulic drive unit. A coolant inlet is arranged on the top of the hydraulic drive unit, the spiral heat dissipation slot is arranged in the shell wall of the motor shell, and one end of the spiral heat dissipation slot is communicated with the hydraulic drive unit, and the other end of the spiral heat dissipation slot is provided with the coolant outlet.

[0007] Furthermore, the hydraulic drive unit includes a liquid outlet, a hydraulic cavity, an active hydraulic gear, a driven hydraulic gear, a driving shaft, and a driven shaft. The liquid outlet is arranged at the bottom end of the hydraulic cavity and is connected to one end of the spiral heat dissipation slot. The active shaft and the driven shaft are both movably installed inside the hydraulic cavity, and one end of the active shaft is connected to the rotating shaft. The active hydraulic gear and the driven hydraulic gear are respectively fixedly installed on the active shaft and the driven shaft, and the active hydraulic gear is meshingly and transmission-connected with the driven hydraulic gear.

[0008] Furthermore, the flow regulating mechanism includes an adjusting hole, an adjusting rod, a liquid inlet hole, an adjusting plug, a centrifugal adjusting unit, a circular slot, a mounting frame, and a roller. The circular slot is arranged on the outer ring of the motor output shaft, the centrifugal adjusting unit is arranged in the circular slot and fixedly mounted on the motor output shaft, the adjusting hole is arranged in the shell wall of the motor housing, and one end of the adjusting hole is connected to one side of the liquid inlet end of the spiral heat dissipation slot, and the other end is connected to the circular slot, the liquid inlet is arranged on the outer side surface of the liquid inlet end of the spiral heat dissipation slot and is connected to the liquid outlet, the adjusting rod is movably inserted in the adjusting hole, and one end of the adjusting rod extends into the spiral heat dissipation slot, and the other end extends into the circular slot, the adjusting plug is fixedly mounted on one end of the adjusting rod and extends into the liquid inlet, the mounting frame is fixedly mounted on the other end of the adjusting rod, the roller is movably mounted on the bottom surface of the adjusting rod, and the roller rolls and abuts against the outer ring of the centrifugal adjusting unit.

[0009] Furthermore, the centrifugal adjustment unit includes a turntable, a sleeve, an end plate, a spring, a limit end, a telescopic rod, an arc plate, and an elastic connecting strip. The turntable is fixedly mounted on the motor output shaft, and a plurality of evenly distributed sleeves are fixedly mounted on the outer ring of the turntable. The telescopic rod is movably inserted in each sleeve, and the limit end is provided at the inner ring of the sleeve mouth. The end plate is fixedly mounted on the end of the telescopic rod, and the spring is movably sleeved on the telescopic rod, and one end of the spring abuts against the limit end, and the other end abuts against the end plate. The arc plate is fixedly mounted on the outer end of each telescopic rod, and the elastic connecting strip is installed between adjacent arc plates.

[0010] Furthermore, the lubrication mechanism includes a sealing piston and a coolant delivery slot. The coolant delivery slot is arranged in the shell wall of the outer shell, and one end of the coolant delivery slot extends to the joint between the outer shell and the motor output shaft, and the other end is connected to the adjustment hole. The sealing piston is slidably installed in the adjustment hole, and the sealing piston is fixedly installed on the adjustment rod.

[0011] Beneficial effects of the present invention:

[0012] (1) The industrial intelligent six-axis robot described in the present invention can use a heat dissipation mechanism to perform water cooling on the drilling motor when the drilling mechanism is working, thereby greatly improving the heat dissipation efficiency of the drilling motor and preventing the drilling motor from burning out due to excessive temperature. The heat dissipation mechanism is driven synchronously with the drilling motor, making it more convenient to use.

[0013] (2) In the industrial intelligent six-axis robot described in the present invention, the flow regulating mechanism can adjust the flow of coolant in the heat dissipation mechanism according to the working state of the drilling motor, thereby adjusting the heat dissipation efficiency. When the drilling motor maintains normal operation, the flow regulating mechanism adjusts the coolant to maintain a lower flow state, which can meet the heat dissipation requirements of the drilling motor. When the drill bit encounters rocks with higher hardness such as granite and gypsum rock, the friction resistance of the drilling increases, and the speed of the drill bit and the drilling motor decreases, the heat generated by the drilling motor will further increase. At this time, the flow regulating mechanism synchronously adjusts to increase the flow of coolant, thereby improving the heat dissipation effect of the drilling motor.

[0014] (3) The industrial intelligent six-axis robot described in the present invention uses a lubricating mechanism to increase the friction resistance during drilling. When the rotation speed of the drill bit and the drilling motor decreases, the coolant flows out along the joint between the output shaft and the shell of the drilling motor, and then the coolant flows to the drill bit, thereby improving the lubricity of the drill bit and preventing the drill bit from getting stuck due to excessive friction resistance. At the same time, the coolant can also clean the joint between the output shaft and the shell to prevent dust and debris generated by drilling from clogging the joint and increasing the working resistance of the output shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 A schematic diagram of the overall structure of a preferred embodiment of an industrial intelligent six-axis robot provided by the present invention;

[0017] Figure 2 for Figure 1 A cross-sectional view of the drilling mechanism in the MM direction shown;

[0018] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at point A;

[0019] Figure 4 for Figure 2 A schematic diagram of the enlarged structure at B;

[0020] Figure 5 for Figure 2 The structural schematic diagram of the hydraulic drive unit shown;

[0021] Figure 6 for Figure 2 The structural schematic diagram of the centrifugal regulating unit shown;

[0022] In the figure: 1, six-axis robot arm; 2, drilling mechanism; 21, motor housing; 22, motor body; 23, motor output shaft; 24, drill chuck; 25, drill bit; 3, heat dissipation mechanism; 31, outer housing; 32, first transmission wheel; 33, transmission belt; 34, second transmission wheel; 35, rotating shaft; 36, hydraulic drive unit; 361, liquid outlet; 362, hydraulic chamber; 363, active hydraulic gear; 364, driven hydraulic gear; 365, active shaft; 366, driven shaft; 37, coolant inlet; 3 8. spiral heat dissipation slot; 39. coolant outlet; 4. flow regulating mechanism; 41. regulating hole; 42. regulating rod; 43. liquid inlet; 44. regulating plug; 45. centrifugal regulating unit; 451. turntable; 452. sleeve; 453. end plate; 454. spring; 455. limit terminal; 456. telescopic rod; 457. arc plate; 458. elastic connecting strip; 46. circular slot; 47. mounting bracket; 48. roller; 5. lubrication mechanism; 51. sealing piston; 52. coolant delivery slot. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0024] like Figure 1-Figure 6As shown, an industrial intelligent six-axis robot described in the present invention includes a six-axis mechanical arm 1, a drilling mechanism 2, a heat dissipation mechanism 3, a flow regulating mechanism 4, and a lubricating mechanism 5. The drilling mechanism 2 is installed at the end of the six-axis mechanical arm 1, and the heat dissipation mechanism 3 for water-cooling the drilling mechanism 2 is installed on the drilling mechanism 2. The flow regulating mechanism 4 for adjusting the coolant flow in the heat dissipation mechanism 3 and thus adjusting the heat dissipation efficiency is installed inside the drilling mechanism 2, and the lubricating mechanism 5 for lubricating the drilling mechanism 2 is installed in the heat dissipation mechanism 3; the use of the heat dissipation mechanism 3 can perform water-cooling heat dissipation for the drilling motor when the drilling mechanism 2 is working, thereby greatly improving the heat dissipation efficiency of the drilling motor and preventing the drilling motor from burning out due to excessive temperature, and the heat dissipation mechanism 3 is synchronously driven by the drilling motor to make it more convenient to use; the use of the flow regulating mechanism 4 can adjust the coolant flow in the heat dissipation mechanism 3 according to the working state of the drilling motor The flow rate of the coolant is adjusted to adjust the heat dissipation efficiency. When the drilling motor maintains normal operation, the flow regulating mechanism 4 adjusts the coolant to maintain it in a low flow state, which can meet the heat dissipation needs of the drilling motor. When the drill bit 25 encounters rocks with higher hardness such as granite and gypsum rock, the friction resistance of the drilling hole increases. When the speed of the drill bit 25 and the drilling motor decreases, the heat generated by the drilling motor will further increase. At this time, the flow regulating mechanism 4 synchronously adjusts to increase the flow rate of the coolant, thereby improving the heat dissipation effect of the drilling motor; the use of the lubricating mechanism 5 can increase the friction resistance of the drilling hole, and when the speed of the drill bit 25 and the drilling motor decreases, the coolant will flow out along the joint between the output shaft and the shell of the drilling motor, and then the coolant will flow to the drill bit 25, thereby improving the lubricity of the drill bit 25 and preventing the drill bit 25 from being stuck due to excessive friction resistance. At the same time, the coolant can also clean the joint between the output shaft and the shell to prevent dust and debris generated by drilling from clogging the joint and increasing the working resistance of the output shaft.

[0025] Specifically, the drilling mechanism 2 includes a motor housing 21, a motor body 22, a motor output shaft 23, a drill chuck 24, and a drill bit 25. The motor housing 21 is fixedly installed at the end of the six-axis robot 1, the motor body 22 is installed inside the motor housing 21, one end of the motor output shaft 23 is transmission-installed in the motor body 22, and the other end extends to the outside of the motor housing 21, the drill chuck 24 is fixedly installed at the end of the motor output shaft 23, and the drill bit 25 is fixedly installed on the drill chuck 24; when drilling, the position of the drill bit 25 is adjusted by the six-axis robot 1 so that the drill bit 25 is facing the drilling point, and then the motor body 22 is turned on to drive the motor output shaft 23 to rotate, thereby driving the drill chuck 24 and the drill bit 25 to rotate to perform drilling.

[0026] Specifically, the heat dissipation mechanism 3 includes an outer shell 31, a first transmission wheel 32, a transmission belt 33, a second transmission wheel 34, a rotating shaft 35, a hydraulic drive unit 36, a coolant inlet 37, a spiral heat dissipation slot 38, and a coolant outlet 39. The outer shell 31 is fixedly mounted on one end of the motor housing 21, the first transmission wheel 32 is arranged inside the outer shell 31, and is fixedly mounted on the motor output shaft 23, the rotating shaft 35 is movably mounted on the upper end of the inner shell 31, and the second transmission wheel 3 The first transmission wheel 32 and the second transmission wheel 34 are connected to each other through the transmission belt 33. The hydraulic drive unit 36 ​​is installed on the outer side of the motor housing 21, and the rotating shaft 35 is connected to the hydraulic drive unit 36. A coolant inlet 37 is provided on the top of the hydraulic drive unit 36. The spiral heat dissipation slot 38 is provided in the shell wall of the motor housing 21, and one end of the spiral heat dissipation slot 38 is connected to the hydraulic drive unit 36. The other end of the spiral heat dissipation slot 38 is provided with the coolant outlet 39; wherein, the coolant inlet 37 and the coolant outlet 39 are both connected to the external coolant tank through a conduit, so that a circulating cooling loop is formed between the coolant tank, the hydraulic drive unit 36, and the spiral heat dissipation slot 38. When the motor output shaft 23 rotates and works, the first transmission wheel 32 is synchronously driven to rotate, and the first transmission wheel 32 drives the second transmission wheel 34 to rotate through the transmission belt 33, thereby driving the rotating shaft 35 to rotate, and driving the hydraulic drive unit 36 ​​to work through the rotating shaft 35, so that the hydraulic drive unit 36 ​​drives the coolant in the circulating cooling loop to flow. When the coolant flows in the spiral heat dissipation slot 38, the heat generated by the motor body 22 when working is absorbed by the heat conduction of the motor housing 21, thereby dissipating heat and cooling the motor body 22 to prevent it from burning due to excessive temperature, and the coolant after absorbing heat and heating is transported back to the coolant tank through the coolant outlet 39 to be recycled after cooling.

[0027] Specifically, the hydraulic drive unit 36 ​​includes a liquid outlet 361, a hydraulic chamber 362, a driving hydraulic gear 363, a driven hydraulic gear 364, a driving shaft 365, and a driven shaft 366. The liquid outlet 361 is provided at the bottom end of the hydraulic chamber 362 and is communicated with one end of the spiral heat dissipation slot 38. The driving shaft 365 and the driven shaft 366 are both movably mounted inside the hydraulic chamber 362, and one end of the driving shaft 365 is connected to the rotating shaft 35. The driving hydraulic gear 363 and the driven hydraulic gear 364 are fixedly mounted on the driving shaft 365 and the driven shaft 366, respectively, and the driving The hydraulic gear 363 is meshed and transmission-connected with the driven hydraulic gear 364. When the rotating shaft 35 rotates, it drives the driving shaft 365 and the driving hydraulic gear 363 to rotate synchronously. At the same time, the driving hydraulic gear 363 drives the driven hydraulic gear 364 to rotate. The upper ends of the two hydraulic gears separate from each other during the rotation process to form a low pressure, thereby sucking coolant from the coolant inlet 37 and pushing the coolant along the side wall of the hydraulic cavity 362 to the lower end of the hydraulic cavity 362. The lower ends of the two hydraulic gears close together to form a high pressure, pumping the coolant out from the liquid outlet 361, thereby driving the coolant to flow.

[0028] Specifically, the flow regulating mechanism 4 includes an adjusting hole 41, an adjusting rod 42, a liquid inlet hole 43, an adjusting plug 44, a centrifugal adjusting unit 45, a circular slot 46, a mounting frame 47, and a roller 48. The circular slot 46 is provided on the outer ring of the motor output shaft 23. The centrifugal adjusting unit 45 is provided in the circular slot 46 and is fixedly mounted on the motor output shaft 23. The adjusting hole 41 is provided in the shell wall of the motor housing 21, and one end of the adjusting hole 41 is communicated with one side of the liquid inlet end of the spiral heat dissipation slot 38, and the other end is communicated with the circular slot 46. The liquid inlet hole 43 is provided on the spiral heat dissipation slot 38. The outer side of the liquid inlet end of the heat slot hole 38 is connected to the liquid outlet hole 361, the adjusting rod 42 is movably inserted in the adjusting hole 41, and one end of the adjusting rod 42 extends into the spiral heat dissipation slot hole 38, and the other end extends into the circular slot hole 46, the adjusting plug 44 is fixedly installed at one end of the adjusting rod 42 and extends into the liquid inlet hole 43, the mounting frame 47 is fixedly installed at the other end of the adjusting rod 42, the roller 48 is movably installed on the bottom surface of the adjusting rod 42, and the roller 48 rolls against the outer ring of the centrifugal adjusting unit 45; wherein, the adjusting plug 44 and the inlet The liquid holes 43 are all inverted truncated cone structures. The deeper the insertion depth of the regulating plug 44, the smaller the liquid inlet pore and the smaller the coolant flow rate. Conversely, the shallower the insertion depth, the larger the liquid inlet pore and the larger the coolant flow rate. When the motor body 22 maintains normal operation and the motor output shaft 23 rotates at a faster speed, the centrifugal regulating unit 45 increases in diameter under the action of the rotating centrifugal force, thereby pushing the roller 48 and the regulating rod 42 upward, thereby moving the regulating plug 44 upward, increasing the insertion depth of the regulating plug 44 in the liquid inlet hole 43, thereby reducing the liquid inlet pore and the coolant flow rate, and keeping the coolant regulation at a relatively high level. Under low flow conditions, the heat dissipation requirements of the motor body 22 can be met. When the drill bit 25 encounters rocks with higher hardness such as granite and gypsum rock, the friction resistance of the drilling increases, and the speed of the drill bit 25 and the motor output shaft 23 decreases, the heat generated by the motor body 22 will further increase. At this time, as the speed of the motor output shaft 23 decreases, the diameter of the centrifugal adjustment unit 45 decreases, causing the adjustment rod 42 to move downward, and driving the adjustment plug 44 downward, reducing the insertion depth of the adjustment plug 44, thereby increasing the flow rate of the liquid inlet pore and the coolant, and further improving the heat dissipation and cooling effect of the motor body 22.Moreover, the flow regulating mechanism 4 of the present invention can synchronously regulate the flow of the coolant while the friction resistance of the drill bit 25 increases. Compared with the liquid flow rate controller, liquid flow rate regulator and the like which need to be manually adjusted according to the actual construction conditions of the drill bit 25, the regulating process is more convenient and quick. At the same time, although there are intelligent automatic liquid flow rate regulators on the market, in order to realize the intelligent regulation of the coolant, electronic components such as temperature detection mechanisms and control mechanisms need to be added, which will increase the equipment cost and the difficulty of subsequent maintenance, and is not conducive to the promotion and use of the equipment.

[0029] Specifically, the centrifugal adjustment unit 45 includes a rotating disk 451, a sleeve 452, an end plate 453, a spring 454, a limiting end 455, a telescopic rod 456, an arc plate 457, and an elastic connecting strip 458. The rotating disk 451 is fixedly mounted on the motor output shaft 23. The outer ring of the rotating disk 451 is fixedly mounted with a plurality of evenly distributed sleeves 452. The telescopic rod 456 is movably inserted in each of the sleeves 452. The inner ring of the sleeve 452 is provided with the limiting end 455. The end of the telescopic rod 456 is fixedly mounted with the end plate 453. The spring 454 is movably sleeved on the telescopic rod 456, and one end of the spring 454 abuts against the limiting end 455, and the other end abuts against the end plate 453. The outer end of each telescopic rod 456 is fixedly mounted with the arc plate 457. , the elastic connecting strips 458 are installed between adjacent arc plates 457; wherein, a plurality of the arc plates 457 and a plurality of the elastic connecting strips 458 are staggeredly connected to form a circular ring. When the motor output shaft 23 rotates at a high speed, the turntable 451 is synchronously driven to rotate at a high speed. At this time, the telescopic rod 456 slides outward along the sleeve 452 under the action of the rotating centrifugal force, thereby causing the arc plate 457 to slide outward, so that the diameter of the circular ring increases, and at this time, the elastic connecting strips 458 are stretched and extended, and the spring 454 is squeezed and contracted. When the speed of the motor output shaft 23 and the turntable 451 decreases, the centrifugal force on the telescopic rod 456 decreases. At this time, the telescopic rod 456 retracts under the action of the reset elastic force of the spring 454, and drives the arc plate 457 to shrink and move, thereby reducing the diameter of the circular ring.

[0030] Specifically, the lubrication mechanism 5 includes a sealing piston 51 and a coolant delivery slot 52. The coolant delivery slot 52 is arranged in the shell wall of the outer shell 31, and one end of the coolant delivery slot 52 extends to the joint between the outer shell 31 and the motor output shaft 23, and the other end is communicated with the adjustment hole 41. The sealing piston 51 is slidably installed in the adjustment hole 41, and the sealing piston 51 is fixedly installed on the adjustment rod 42; when the motor output shaft 23 rotates normally and the adjustment rod 42 is at a higher position, the sealing piston 51 is located above the coolant delivery slot 52, thereby sealing the coolant delivery slot 52 so that the coolant does not flow out. When the speed of the motor output shaft 23 decreases and the adjusting rod 42 descends, the adjusting rod 42 drives the sealing piston 51 to slide down along the adjusting hole 41 to below the coolant delivery slot 52, so that the coolant delivery slot 52 is connected with the coolant, and the coolant is delivered to the joint between the motor output shaft 23 and the outer shell 31 along the coolant delivery slot 52, so that the coolant flows along the motor output shaft 23 to the drill bit 25, thereby improving the lubricity of the drill bit 25 and preventing the drill bit 25 from being stuck due to excessive friction resistance. At the same time, the coolant can also clean the joint between the motor output shaft 23 and the outer shell 31 to prevent dust and debris generated by drilling from clogging the joint and increasing the working resistance of the output shaft.

[0031] When the present invention is working, the position of the drill bit 25 is adjusted by the six-axis robot arm 1 so that the drill bit 25 is facing the drilling point, and then the motor body 22 is turned on to drive the motor output shaft 23 to rotate, thereby driving the drill chuck 24 and the drill bit 25 to rotate to perform drilling; when the motor output shaft 23 rotates, it synchronously drives the first transmission wheel 32 to rotate, and the first transmission wheel 32 drives the second transmission wheel 34 to rotate through the transmission belt 33, thereby driving the rotating shaft 35 to rotate, and the rotating shaft 35 drives the active shaft 365 and the active hydraulic gear The wheels 363 rotate synchronously, and the active hydraulic gear 363 drives the driven hydraulic gear 364 to rotate. The upper ends of the two hydraulic gears separate from each other during the rotation process, forming a low pressure, thereby sucking coolant from the coolant inlet 37 and pushing the coolant along the side wall of the hydraulic cavity 362 to the lower end of the hydraulic cavity 362, and the lower ends of the two hydraulic gears close together to form a high pressure, pumping the coolant out from the outlet hole 361, thereby driving the coolant to flow, and when the coolant flows in the spiral heat dissipation slot 38, The heat generated by the motor body 22 when working is absorbed by the heat conduction of the motor housing 21, thereby dissipating heat and cooling the motor body 22 to prevent it from burning due to excessive temperature. The coolant after absorbing heat and heating is transported back to the coolant tank through the coolant outlet 39 to be recycled after cooling; when the motor output shaft 23 works normally and rotates at a high speed, it synchronously drives the turntable 451 to rotate at a high speed. At this time, the telescopic rod 456 slides outward along the sleeve 452 under the action of the rotating centrifugal force, so that the arc plate 457 slides outward, so that the diameter of the ring increases, thereby pushing the roller 48 and the adjusting rod 42 upward, and then the adjusting plug 44 moves up, increasing the insertion depth of the adjusting plug 44 in the liquid inlet hole 43, thereby reducing the liquid inlet pore and the flow rate of the coolant, and keeping the coolant adjustment at a lower flow state, the heat dissipation demand of the motor body 22 can be met, and at this time, the sealing piston 51 is located above the coolant delivery slot 52, thereby sealing the coolant delivery slot 52, so that the coolant does not flow out;When the drill bit 25 encounters a rock with a high hardness such as granite or gypsum, the friction resistance of the drilling increases. When the rotation speed of the drill bit 25 and the motor output shaft 23 decreases, the rotation speed of the turntable 451 decreases, and the centrifugal force on the telescopic rod 456 decreases. At this time, the telescopic rod 456 retracts under the reset elastic force of the spring 454, and drives the arc plate 457 to shrink and move, thereby reducing the diameter of the ring, causing the adjustment rod 42 to move downward, and driving the adjustment plug 44 to move downward, reducing the insertion depth of the adjustment plug 44, thereby increasing the liquid inlet pore and the flow rate of the coolant, thereby improving the heat dissipation and cooling effect on the motor body 22. At the same time, the adjusting rod 42 drives the sealing piston 51 to slide down along the adjusting hole 41 to the bottom of the coolant delivery slot 52, so that the coolant delivery slot 52 is connected with the coolant, and the coolant is delivered to the joint between the motor output shaft 23 and the outer shell 31 along the coolant delivery slot 52, and then the coolant flows along the motor output shaft 23 to the drill bit 25, thereby improving the lubricity of the drill bit 25 and preventing the drill bit 25 from being stuck due to excessive friction resistance. At the same time, the coolant can also clean the joint between the motor output shaft 23 and the outer shell 31 to prevent the dust and debris generated by drilling from clogging the joint and increasing the working resistance of the output shaft. ;

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An industrial intelligent six-axis robot, characterized in that: The invention comprises a six-axis robot arm (1), a drilling mechanism (2), a heat dissipation mechanism (3), a flow regulating mechanism (4), and a lubricating mechanism (5), wherein the drilling mechanism (2) is mounted at the end of the six-axis robot arm (1), the heat dissipation mechanism (3) for water-cooling the drilling mechanism (2) is mounted on the drilling mechanism (2), the flow regulating mechanism (4) for regulating the flow of coolant in the heat dissipation mechanism (3) and thus regulating the heat dissipation efficiency is mounted inside the drilling mechanism (2), and the lubricating mechanism (5) for lubricating the drilling mechanism (2) is mounted inside the heat dissipation mechanism (3); The drilling mechanism (2) comprises a motor housing (21), a motor body (22), a motor output shaft (23), a drill chuck (24), and a drill bit (25); the motor housing (21) is fixedly mounted on the end of the six-axis robot arm (1); the motor body (22) is mounted inside the motor housing (21); one end of the motor output shaft (23) is drivingly mounted inside the motor body (22), and the other end extends to the outside of the motor housing (21); the drill chuck (24) is fixedly mounted on the end of the motor output shaft (23); and the drill bit (25) is fixedly mounted on the drill chuck (24); The heat dissipation mechanism (3) comprises an outer shell (31), a first transmission wheel (32), a transmission belt (33), a second transmission wheel (34), a rotating shaft (35), a hydraulic drive unit (36), a coolant inlet (37), a spiral heat dissipation slot (38), and a coolant outlet (39); the outer shell (31) is fixedly mounted on one end of the motor shell (21); the first transmission wheel (32) is arranged inside the outer shell (31) and fixedly mounted on the motor output shaft (23); the rotating shaft (35) is movably mounted on the upper end inside the outer shell (31); and the second transmission wheel (34) is fixedly mounted on the rotating shaft (35). The first transmission wheel (32) and the second transmission wheel (34) are connected to each other by the transmission belt (33); the hydraulic drive unit (36) is installed on the outer side of the motor housing (21); the rotating shaft (35) is connected to the hydraulic drive unit (36); a coolant inlet (37) is provided on the top of the hydraulic drive unit (36); the spiral heat dissipation slot (38) is provided in the shell wall of the motor housing (21); one end of the spiral heat dissipation slot (38) is connected to the hydraulic drive unit (36); and the other end of the spiral heat dissipation slot (38) is provided with the coolant outlet (39); The hydraulic drive unit (36) comprises a liquid outlet (361), a hydraulic chamber (362), a driving hydraulic gear (363), a driven hydraulic gear (364), a driving shaft (365), and a driven shaft (366); the liquid outlet (361) is arranged at the bottom end of the hydraulic chamber (362) and is communicated with one end of the spiral heat dissipation slot hole (38); the driving shaft (365) and the driven shaft (366) are both movably mounted inside the hydraulic chamber (362), and one end of the driving shaft (365) is connected to the rotating shaft (35); the driving hydraulic gear (363) and the driven hydraulic gear (364) are respectively fixedly mounted on the driving shaft (365) and the driven shaft (366), and the driving hydraulic gear (363) and the driven hydraulic gear (364) are meshingly connected with each other in transmission; The flow regulating mechanism (4) comprises a regulating hole (41), a regulating rod (42), a liquid inlet hole (43), a regulating plug (44), a centrifugal regulating unit (45), a circular slot hole (46), a mounting frame (47), and a roller (48). The circular slot hole (46) is arranged on the outer ring of the motor output shaft (23). The centrifugal regulating unit (45) is arranged in the circular slot hole (46) and is fixedly mounted on the motor output shaft (23). The regulating hole (41) is arranged in the shell wall of the motor housing (21). One end of the regulating hole (41) is communicated with one side of the liquid inlet end of the spiral heat dissipation slot hole (38), and the other end is communicated with the circular slot hole (46). The liquid inlet hole (4 3) is arranged on the outer side surface of the liquid inlet end of the spiral heat dissipation slot hole (38) and is connected to the liquid outlet hole (361); the adjustment rod (42) is movably inserted into the adjustment hole (41), and one end of the adjustment rod (42) extends into the spiral heat dissipation slot hole (38), and the other end extends into the circular slot hole (46); the adjustment hole (41) is fixedly installed on one end of the adjustment rod (42) and extends into the liquid inlet hole (43); the mounting frame (47) is fixedly installed on the other end of the adjustment rod (42); the roller (48) is movably installed on the bottom surface of the adjustment rod (42), and the roller (48) rolls against the outer ring of the centrifugal adjustment unit (45).

2. An industrial intelligent six-axis robot according to claim 1, characterized in that: The centrifugal adjustment unit (45) comprises a rotating disk (451), a sleeve (452), an end plate (453), a spring (454), a limiting end head (455), a telescopic rod (456), an arc plate (457), and an elastic connecting strip (458); the rotating disk (451) is fixedly mounted on the motor output shaft (23); a plurality of evenly distributed sleeves (452) are fixedly mounted on the outer ring of the rotating disk (451); the telescopic rod (456) is movably inserted in each of the sleeves (452); and the sleeves (452) are provided with a plurality of sleeves (452) disposed on the outer ring of the rotating disk (451). The inner circle of the barrel mouth is provided with the limiting end head (455), the end of the telescopic rod (456) is fixedly installed with the end plate (453), the spring (454) is movably sleeved on the telescopic rod (456), and one end of the spring (454) abuts against the limiting end head (455), and the other end abuts against the end plate (453), the outer end of each telescopic rod (456) is fixedly installed with the arc plate (457), and the elastic connecting strip (458) is installed between adjacent arc plates (457).

3. An industrial intelligent six-axis robot according to claim 2, characterized in that: The lubrication mechanism (5) comprises a sealing piston (51) and a coolant delivery slot (52). The coolant delivery slot (52) is arranged in the shell wall of the outer shell (31), and one end of the coolant delivery slot (52) extends to the joint between the outer shell (31) and the motor output shaft (23), and the other end is connected to the adjustment hole (41). The sealing piston (51) is slidably installed in the adjustment hole (41), and the sealing piston (51) is fixedly installed on the adjustment rod (42).

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