Upper limb mechanical arm of humanoid industrial robot

Abstract

The invention discloses an upper limb mechanical arm of a humanoid industrial robot, and particularly relates to the technical field of manipulator control, the upper limb mechanical arm comprises a mechanical main arm, a mechanical arm seat and a chuck, the mechanical arm seat is used for controlling the mechanical main arm to move, a heat dissipation seat is arranged in the mechanical arm seat, and the heat dissipation seat is used for keeping circulation of air inside and outside the mechanical arm seat; a safety assembly is arranged between the mechanical arm base and the heat dissipation base. The safety assembly is used for keeping a good ventilation environment near the heat dissipation base and the mechanical arm base. Through the arrangement of the safety assembly, the mechanical arm base, the heat dissipation base and the mechanical main arm, dust particle adsorption of a dust screen on the surface of the heat dissipation base can be prevented, impurities accumulated on the dust screen of the heat dissipation base are reduced, and the heat dissipation efficiency of the mechanical arm base and the mechanical main arm is improved; temperature rise of key components in the mechanical main arm and the mechanical arm seat is prevented, and the performance and the service life of the mechanical main arm and the mechanical arm seat are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator control, and more particularly to an upper limb robotic arm of a humanoid industrial robot. Background Art

[0002] In machining, a robotic arm is a common mechanical device for the upper limb robotic arm of a humanoid industrial robot, which can be used for machining, material transfer, etc., and can complete some dangerous and highly repetitive tasks, and is widely used in the manufacturing industry; the robotic arm usually adopts one or more sequentially connected arm bodies, and the robotic arm and the robotic arm base are combined to form an upper limb robotic arm, which is used to provide a fixed-point support effect for other robotic arms to ensure the stable operation of the robotic arm. Each arm body is equipped with a motor, and the motor is used to realize the relative movement between the two arm bodies, so as to realize the movement of similar degrees of freedom; since the core component of the robotic arm transmission mechanism is the motor, and generally needs to run for a long time, and a large amount of heat will be generated after the motor runs for a long time. The inside of the arm body is a relatively enclosed space with poor air circulation, and the generated heat cannot be dissipated in time, resulting in too high a temperature of the motor. The different thermal expansion coefficients of each part inside the motor lead to changes in structural stress and small changes in the internal air gap, which will affect the dynamic response of the motor, and it is easy to lose steps during high-speed operation. Therefore, an exhaust fan is added to the base of the robotic arm and a structure communicating the inside of the arm body with the base is provided, and heat dissipation is realized through the exhaust fan in the base to ensure the safe use of the robotic arm. Since the internal cooling fan of the robotic arm needs to operate synchronously during the working process, when the cooling fan is working, it will rotate at a high speed to generate an air flow. When the air flow passes through the dust-proof net on the surface of the cooling fan, a certain pressure difference and velocity gradient will be formed on the surface of the dust-proof net. Under the action of this pressure difference and velocity gradient, smaller dust particles will be adsorbed onto the dust-proof net. These impurities are easy to accumulate on the dust-proof net of the cooling fan, which will lead to a reduction in the heat dissipation efficiency, increase the temperature of the robotic arm and other key components, and affect its performance and service life. Summary of the Invention

[0003] The purpose of the present invention is to provide an upper limb robotic arm of a humanoid industrial robot to solve the above deficiencies in the technology.

[0004] To achieve the above object, the present invention provides the following technical solution: An upper limb robotic arm of a humanoid industrial robot, including a main robotic arm, a robotic arm base, and a chuck, and the robotic arm base is used to control the movement of the main robotic arm. A heat dissipation base is provided inside the robotic arm base, and the heat dissipation base is used to maintain the air circulation inside and outside the robotic arm base. A safety component is provided between the robotic arm base and the heat dissipation base;

[0005] The safety component is used to maintain a good ventilation environment near the heat dissipation base and the robotic arm base, ensuring the safe control of the robotic arm base over the main robotic arm so that the main robotic arm moves along the specified coordinates. An interaction component that cooperates with the heat dissipation base is provided inside the safety component. The movement trajectory of the interaction component matches the inclination rate of the safety component under the movement of the safety component, and optimizes the air flow path around the safety component and the heat dissipation base. It is suitable for use in combination with the main robotic arm to ensure the safety of the main robotic arm. An internal cleaning component for connection is provided between the interaction component and the safety component, and the internal cleaning component is used to process the interaction component during movement to ensure the air circulation inside and outside the robotic arm base.

[0006] Preferably, the safety component includes a misaligned wireframe that is tilt-rotationally connected to one side of the heat dissipation base, support rods and centering columns installed outside the robotic arm base. A positioning column is fixedly connected to one side of the misaligned wireframe. A swing arm and a connecting collar are respectively sleeved outside the centering column. A support brush rod is commonly connected between the connecting collar and the positioning column, and the support brush rod is used to disturb the periphery of the misaligned wireframe to reduce the adsorption of impurities on the surfaces of the misaligned wireframe and the heat dissipation base, ensuring that air can normally flow into the interiors of the heat dissipation base and the robotic arm base. A limiting shaft column is fixedly connected to the top of the swing arm, and the limiting shaft column is sleeved on the top end of the support rod. A scraping component is provided outside the swing arm, and the scraping component accelerates the air circulation around the misaligned wireframe during the swinging of the swing arm. In addition, when the support brush rod moves irregularly to adjust the windward area of the misaligned wireframe, air can pass through the misaligned wireframe in different ways and paths, which helps to break the boundary layer of air flow, enhance the exchange of air with the misaligned wireframe and the internal heat of the equipment, avoid the occurrence of local overheating, and extend the service life of the equipment.

[0007] Preferably, the scraping component includes a rotating column rotatably connected to the outside of the swing arm and a convex new column fixedly connected to one end of the rotating column. A fan blade is commonly connected between the convex new column and the rotating column, and the fan blade rotates along the outer circumference of the swing arm. In addition, the setting of the swing arm and the scraping component drives the air flow to have an additional pushing effect on the dirt removed by the support brush rod. When the support brush rod brushes the dirt off the misaligned wireframe, the flowing air can prevent the dirt from reattaching to the misaligned wireframe and at the same time carry it away from near the robotic arm, and it can be used in combination with the main robotic arm.

[0008] Preferably, the interaction component includes a stabilizing plate fixedly connected between the support rod and the robotic arm base, and an interaction ring sleeved outside the centering column. A bottom support is fixedly connected to one side of the stabilizing plate close to the misaligned grid. An outer side brush rod is fixedly connected to the outside of the interaction ring, and the side brush rod is arranged in an inclined shape. One side of the side brush rod contacts the support brush rod and the misaligned grid. A sliding groove is formed in one side of the bottom support. A slider is movably connected inside the sliding groove. The top end of the slider is fixedly connected with a frame seat. A displacement ear column is slidably connected inside the frame seat. A displacement ear column is commonly connected between the frame seat and the side brush rod. A blowing component is commonly connected between the side brush rod and the bottom support, and the blowing component is used for blowing the air around the side brush rod and the misaligned grid.

[0009] Preferably, a side ear frame matched with the support brush rod is fixedly connected to one side of the bottom support close to the misaligned grid, and the side ear frame matches the movement track of the support brush rod, ensuring that when the support brush rod moves towards the vicinity of the side ear frame, a part of one side of the support brush rod is penetrated and blocked, facilitating self-cleaning of a part of the position of the support brush rod.

[0010] Preferably, the internal cleaning component includes a mounting frame fixedly connected to the top end of the stabilizing plate and an internal cleaning rod arranged on one side of the side brush rod. A support ring is fixedly connected inside the mounting frame. A displacement column is fixedly connected to the bottom end of the internal cleaning rod, and the displacement column penetrates through the support ring. The bottom end of the displacement column is connected with a bottom plate, and a support spring is commonly connected between the bottom plate and the support ring.

[0011] Preferably, the internal cleaning component further includes an inclined frame fixedly connected to one side of the slider and a moving wheel fixedly connected to the bottom end of the bottom plate, and the inclined frame is arranged in an inclined structure, and the inclined frame is in rolling connection with the moving wheel.

[0012] Preferably, a piston sleeve is fixedly connected to one side of the bottom support and a piston rod is fixedly connected to one side of the slider, and a piston cavity for inserting the piston rod is formed in one side of the piston sleeve. First connecting pipes and second connecting pipes with different lengths are respectively fixedly connected to the outside of the piston sleeve.

[0013] In the above technical solution, the technical effects and advantages provided by the present invention are as follows:

[0014] 1. Through the settings of the safety component, the robotic arm base, the heat dissipation base, and the main robotic arm, the present invention can prevent the dust particles from being adsorbed on the dust-proof net on the surface of the heat dissipation base, reduce the accumulation of impurities on the dust-proof net of the heat dissipation base, improve the heat dissipation efficiency of the robotic arm base and the main robotic arm, prevent the temperature of the key components in the main robotic arm and the robotic arm base from rising, and improve the performance and service life of the main robotic arm and the robotic arm base;

[0015] 2. Through the settings of the offset grid, support brush rod, heat dissipation base, and robotic arm base, the support brush rod can achieve multi-dimensional movement along one side of the offset grid. Irregular movement means that the support brush rod exerts forces on the offset grid at different positions and in different directions. In some areas, the support brush rod may clean with a relatively large pressure and at a special angle, which helps to more effectively remove stubborn attachments on the offset grid, timely increase the windward area of the offset grid and the heat dissipation base, and can quickly reduce the temperature of the key components inside the robotic arm base and the main robotic arm, ensuring the stable performance of the robotic arm;

[0016] 3. Through the settings of the swing arm, support brush rod, and scraping component, the swing of the swing arm and the scraping component can drive the surrounding air to flow, forming a convection effect with the support brush rod, offset grid, and the outside of the heat dissipation base. The static air layer will be replaced by the flowing air, enabling the heat near the robotic arm base to be taken away by the air more quickly, keeping the robotic arm in good performance, and improving the reliability and stability of the robotic arm;

[0017] 4. Through the settings of the interaction component, swing arm, support rod, and support brush rod, the coordinated cooperation between the movement of the interaction component and the moving support brush rod can drive the surrounding air to flow. The staggered movement of the support brush rod and the side brush rod can further disrupt the air flow layer and increase the air turbulence. This turbulent air can better adhere to the surfaces of the offset grid and the heat dissipation base, accelerating the removal of heat inside the robotic arm base and ensuring the stable operation of the robotic arm;

[0018] 5. Through the settings of the internal cleaning component, side brush rod, support brush rod, and robotic arm base, the staggered contact between the movement of the internal cleaning component and the side brush rod can be achieved during the movement process. During this process, the internal cleaning rod and the side brush rod come into contact at a certain angle and with a certain force, which can more effectively break the adhesion between the dirt and the surface of the side brush rod, making the dirt easier to fall off, preventing local overheating of the robotic arm base, and enhancing the stability of the robotic arm base and the main robotic arm;

[0019] 6. Through the settings of the air blowing component, bottom support, support brush rod, and robotic arm base, air can be blown in front of the support brush rod to blow away larger dust particles or debris on the offset grid in advance, making it easier for the support brush rod to contact the surface of the offset grid, reducing the load on the cleaning brush, and thus improving the cleaning speed. At the same time, blowing air behind the support brush rod can timely clean the brushed area, preparing for the next action of the support brush rod. Overall, it speeds up the cleaning process and helps to maintain the temperature stability of the robotic arm during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic diagram of the overall structure of the mechanical main arm of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the support brush rod and the dislocation grid frame of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of the support brush rod and the first movement state of the swing arm of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the support brush rod and the second movement state of the swing arm of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the fan blade of the present invention;

[0026] Figure 6 It is a partial cross-sectional view of the piston sleeve of the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of the support brush rod and the third movement state of the swing arm of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the support brush rod and the fourth movement state of the swing arm of the present invention;

[0029] Figure 9 It is a schematic diagram of the structure of the support brush rod and the fifth movement state of the swing arm of the present invention;

[0030] Figure 10 It is a schematic diagram of the structure of the internal removal rod and the side brush rod assembly of the present invention;

[0031] Figure 11 It is a schematic diagram of the structure of the inclined frame of the present invention;

[0032] Figure 12 It is a schematic diagram of the structure of the support spring of the present invention.

[0033] Explanation of reference numerals:

[0034] 1. Mechanical main arm; 11. Chuck; 12. Robotic arm base; 13. Heat dissipation base; 2. Safety component; 21. Dislocation grid; 22. Support brush rod; 23. Positioning column; 24. Swing arm; 25. Connecting collar; 26. Centering column; 27. Support rod; 28. Limiting shaft column; 3. Interaction component; 31. Interaction ring; 32. Stabilizing plate; 33. Side brush rod; 34. Bottom support; 35. Slide block; 36. Frame base; 37. Displacement ear column; 38. Side ear frame; 39. Chute; 4. Inner cleaning component; 41. Inner cleaning rod; 42. Inclined frame; 43. Moving wheel; 44. Mounting frame; 45. Displacement column; 46. Support ring; 47. Support spring; 48. Bottom plate; 5. Blowing component; 51. Piston rod; 52. Piston sleeve; 53. First connecting pipe; 54. Second connecting pipe; 55. Piston chamber; 6. Scraping component; 61. Rotating column; 62. New convex column; 63. Fan blade. Detailed implementation manners

[0035] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further introduced in detail below with reference to the accompanying drawings.

[0036] The present invention provides an upper limb robotic arm of a humanoid industrial robot as shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , including a mechanical main arm 1, a robotic arm base 12 and a chuck 11, and the robotic arm base 12 is used to control the movement of the mechanical main arm 1. A heat dissipation base 13 is arranged inside the robotic arm base 12, and the heat dissipation base 13 is used to keep the air inside and outside the robotic arm base 12 flowing. A safety component 2 is arranged between the robotic arm base 12 and the heat dissipation base 13; the specific structure and principle of the heat dissipation base 13 are both prior arts (refer to a robotic arm with a heat dissipation function disclosed in the authorized publication number CN207480636U). Therefore, this structure is common knowledge in the art, so it is not described in detail in this application. And the heat dissipation base 13 includes an exhaust fan and a dustproof net.

[0037] The safety component 2 is used to maintain a good ventilation environment near the heat dissipation base 13 and the robotic arm base 12, ensure the safe control of the mechanical main arm 1 by the robotic arm base 12, so that the mechanical main arm 1 moves along the specified coordinates; an interaction component 3 that cooperates with the heat dissipation base 13 is arranged inside the safety component 2, and the movement trajectory of the interaction component 3 matches the inclination rate of the safety component 2 under the movement of the safety component 2, and optimizes the air flow path around the safety component 2 and the heat dissipation base 13, which is suitable for being combined with the mechanical main arm 1 to ensure the safety of the mechanical main arm 1. An inner cleaning component 4 for connection is arranged between the interaction component 3 and the safety component 2, and the inner cleaning component 4 is used to process the interaction component 3 during movement to ensure the air circulation inside and outside the robotic arm base 12:

[0038] Refer toFigure 2 , Figure 3 and Figure 4 As shown in Figure 2 , Figure 3 and Figure 4 , the safety component 2 includes a dislocation grid 21 tilt-rotationally connected to one side of the heat dissipation base 13, a support rod 27 and a centering column 26 installed outside the robotic arm base 12. A positioning column 23 is fixedly connected to one side of the dislocation grid 21. A swing arm 24 and an adapter collar 25 are respectively sleeved outside the centering column 26. A support brush rod 22 is commonly connected between the adapter collar 25 and the positioning column 23. The support brush rod 22 is used to disturb the periphery of the dislocation grid 21 to reduce impurities adsorbed on the surfaces of the dislocation grid 21 and the heat dissipation base 13, ensuring that air can normally flow into the interiors of the heat dissipation base 13 and the robotic arm base 12. A limiting shaft column 28 is fixedly connected to the top of the swing arm 24, and the limiting shaft column 28 is sleeved on the top end of the support rod 27. A scraping component 6 is arranged outside the swing arm 24, and the scraping component 6 accelerates the air flow around the dislocation grid 21 during the swinging process of the swing arm 24;

[0039] Refer to Figure 2 , Figure 3 and Figure 4 As shown in ,

[0039] and Figure 2 , the support brush rod 22 changes from rotation to inclined movement and then from inclined movement to inclined horizontal movement and then from inclined horizontal movement to rotation along one side of the dislocation grid 21, reciprocating in this way; and by setting the dislocation grid 21 as an inclined structure, the inclined dislocation grid 21 can improve the heat conduction path from the inside and outside of the main robotic arm 1. Heat can be more smoothly transferred to the air along the inclination angle of the heat dissipation net, reducing the accumulation of heat inside and effectively lowering the temperature inside the robotic arm base 12, extending the service life of the robotic arm base 12 and the main robotic arm 1;

[0040] In addition, when the support brush rod 22 moves irregularly to adjust the windward area of the dislocation grid 21, air can pass through the dislocation grid 21 in different ways and paths, which helps to break the boundary layer of air flow, enhance the exchange of air with the dislocation grid 21 and the internal heat of the equipment, avoid the occurrence of local overheating phenomenon, and extend the service life of the equipment;

[0041] Refer to Figure 2 , Figure 3 and Figure 4As shown, when the robot arm seat 12 controls the robot main arm 1 to operate along the specified motion trajectory, and temperature is generated inside the robot arm seat 12 and the robot main arm 1, wind force is generated inside the robot arm seat 12 and the robot main arm 1 through the heat sink seat 13, which is used to dissipate heat for the stability of the robot arm seat 12 and the robot main arm 1. At this time, the output shaft of the heat sink seat 13 rotates to drive the offset grid 21 to rotate along one side of the heat sink seat 13, and then the rotation of the offset grid 21 drives the positioning column 23 to rotate synchronously. At this time, the positioning column 23 rotates and moves near the support rod 27, and The positioning column 23 rotates to push the support brush rod 22 to move. During this process, most of the position of the support brush rod 22 is exposed outside the offset grid 21. The movement of the support brush rod 22 pushes the connecting ring 25 to move at the same time, and the movement of the connecting ring 25 drives the centering column 26 to move synchronously. The movement of the centering column 26 drives the swing arm 24 to move, so that the swing arm 24 and one side of the support rod 27 move to the left, and the angle between the swing arm 24 and the support rod 27 is constantly changing. At this time, the outside of the support brush rod 22 and the outside of the swing arm 24 keep a certain angle corresponding to each other;

[0042] refer to Figure 7 , Figure 8 and Figure 9As shown, the misaligned grid 21 drives the positioning column 23 to slide past the support rod 27 and move closer to the inner removal component 4 under continuous rotation. The positioning column 23 pulls the support brush rod 22 to move. At this time, the positions of the support brush rod 22 and the misaligned grid 21 change again, and most of the positions of the support brush rod 22 move closer to one side of the misaligned grid 21. As the support brush rod 22 moves, it pulls the connecting collar 25 to move. Subsequently, the movement of the connecting collar 25 drives the centering column 26 to move synchronously. And the movement of the centering column 26 pushes the swing arm 24 to move from left to right. Immediately, the swing arm 24 swings along one side of the support rod 27 under the action of the limiting shaft column 28. During this process, the angle between the moving support brush rod 22 and the moving swing arm 24 is constantly increasing. And under the continuous movement of the misaligned grid 21, the positioning column 23 is driven to pass through the outside of the inner removal component 4. At this time, the swing arm 24 swings along the outside of the support rod 27 and moves closer to the vicinity of the inner removal component 4. And the swing angle of the swing arm 24 along one side of the support rod 27 is maximized, making the angle between the support brush rod 22 and the swing arm 24 maximized. Moreover, there is a certain distance between the centering column 26 and the inner removal component 4. During this process, the outside of the support brush rod 22 completely contacts one side of the misaligned grid 21. Thus, the rotation of the misaligned grid 21 drives the positioning column 23 to continuously rotate. As the positioning column 23 rotates, it drives the support brush rod 22 to rotate along one side of the misaligned grid 21. And the rotation of the support brush rod 22 drives the connecting collar 25 to rotate along the outside of the centering column 26, making the included angle between the support brush rod 22 and the swing arm 24 change from large to small. Subsequently, the movement of the positioning column 23 drives the support brush rod 22 to reset and re-push the centering column 26 to move. Then, the centering column 26 drives the swing arm 24 to move from right to left along the outside of the support rod 27, and reciprocates in turn, realizing that the outside contact surface of the support brush rod 22 continuously intersects with the misaligned grid 21, enabling different movement trajectories of the support brush rod 22 to clean different positions along one side of the misaligned grid 21, reducing the accumulation of impurities on the dust-proof net of the heat dissipation seat 13, improving the heat dissipation efficiency of the robotic arm seat 12 and the robotic main arm 1, preventing the temperature of the key components in the robotic main arm 1 and the robotic arm seat 12 from rising, and improving the performance and service life of the robotic main arm 1 and the robotic arm seat 12.

[0043] Reference Figure 3 、 Figure 4 and Figure 5 As shown in, the scraping component 6 includes a rotating column 61 rotatably connected to the outside of the swing arm 24 and a convex new column 62 fixedly connected to one end of the rotating column 61. A fan blade 63 is commonly connected between the convex new column 62 and the rotating column 61, and the fan blade 63 rotates along the outer circumference of the swing arm 24;

[0044] The setting of the swing arm 24 and the scraping assembly 6 drives the air flow to produce an additional driving effect on the dirt removed by the support brush rod 22. When the support brush rod 22 brushes the dirt off the offset grid 21, the flowing air can prevent the dirt from reattaching to the offset grid 21 and take it away from the vicinity of the mechanical arm, so that it can be used in combination with the mechanical main arm 1.

[0045] The swing arm 24 swings to drive the rotating column 61 and the convex column 62 to move synchronously, and then the fan blade 63 rotates when the leading edge of the fan blade 63 faces the airflow and contacts the air during the movement. At this time, the swing arm 24 swings along one side of the offset grid 21 and the supporting brush rod 22 to generate micro-airflow.

[0046] refer to Figure 7 , Figure 8 and Figure 9 As shown, the interactive component 3 includes a stabilizing plate 32 fixedly connected between the support rod 27 and the robot arm seat 12 and an interactive ring 31 sleeved on the outside of the centering column 26, the stabilizing plate 32 is fixedly connected to a bottom bracket 34 on one side close to the offset grid 21, the outside of the interactive ring 31 is fixedly connected to a side brush rod 33, and the side brush rod 33 is set to an inclined shape, and one side of the side brush rod 33 is in contact with the support brush rod 22 and the offset grid 21, a slide groove 39 is provided on one side of the bottom bracket 34, a slider 35 is movably connected to the inside of the slide groove 39, the top of the slider 35 is fixedly connected to a frame seat 36, and the frame seat 36 is internally slidably connected There is a displacement ear column 37, the displacement ear column 37 is commonly connected between the frame seat 36 and the side brush rod 33, and the blowing component 5 is commonly connected between the side brush rod 33 and the bottom bracket 34, and the blowing component 5 is used to blow the air around the side brush rod 33 and the offset grid 21; the side of the bottom bracket 34 close to the offset grid 21 is fixedly connected with a side ear frame 38 that matches the support brush rod 22, and the side ear frame 38 matches the movement trajectory of the support brush rod 22, ensuring that when the support brush rod 22 moves near the side ear frame 38, a part of one side of the support brush rod 22 passes through the block, so as to facilitate self-cleaning of part of the support brush rod 22;

[0047] The side ear frame 38 is provided with an L-shaped structure and the displacement ear column 37 is arc-shaped on the side close to the displaced grid frame 21;

[0048] refer to Figure 7 , Figure 8 and Figure 9As shown, when the swing arm 24 swings along one side of the support rod 27, the swing arm 24 drives the centering column 26 to move synchronously along one side of the support rod 27. Immediately, the centering column 26 pushes or pulls the interaction ring 31 to move horizontally and obliquely along one side of the misaligned grid 21. At this time, the movement of the interaction ring 31 drives the side brush rod 33 to move synchronously, and the side brush rod 33 moves along the guide on one side of the misaligned grid 21 to clean the unstable and protruding part of the misaligned grid 21. And during the movement of the side brush rod 33, part of the position near the misaligned grid 21 intersects with the support brush rod 22. Moreover, during the movement of the support brush rod 22 along one side of the misaligned grid 21, the support brush rod 22 approaches the side ear frame 38, and part of the support brush rod 22 slides past the side ear frame 38. At this time, the remaining part of the support brush rod 22 forms contact with the side ear frame 38 to contact the support brush rod 22 near the side ear frame 38. Part of the support brush rod 22 crosses one side of the side ear frame 38, so that the side ear frame 38 and part of the support brush rod 22 are in an intersecting state to clean the dirt on one side of the support brush rod 22. Thus, the movement of the side brush rod 33 pushes the displacement ear column 37 and the frame seat 36 to move. The movement of the frame seat 36 drives the slider 35 to move along the guide in the chute 39. Then, the movement of the side brush rod 33 and the moving support brush rod 22 cooperate with each other to drive the surrounding air to flow. And the intersecting movement of the support brush rod 22 and the side brush rod 33 can further disrupt the air flow layer and increase the air turbulence. This turbulent air can better fit the surfaces of the misaligned grid 21 and the heat dissipation seat 13, accelerate the removal of heat inside the robotic arm seat 12, and ensure the stable operation of the robotic arm.

[0049] Reference Figure 6 、 Figure 9 、 Figure 10 、 Figure 11 and Figure 12 As shown in, the internal cleaning component 4 includes a mounting bracket 44 fixedly connected to the top end of the stabilizing plate 32 and an internal cleaning rod 41 arranged on one side of the side brush rod 33. A support ring 46 is fixedly connected inside the mounting bracket 44. A displacement column 45 is fixedly connected to the bottom end of the internal cleaning rod 41, and the displacement column 45 passes through the support ring 46. The bottom end of the displacement column 45 is connected to a bottom plate 48, and a support spring 47 is commonly connected between the bottom plate 48 and the support ring 46; The internal cleaning component 4 further includes an inclined frame 42 fixedly connected to one side of the slider 35 and a moving wheel 43 fixedly connected to the bottom end of the bottom plate 48, and the inclined frame 42 is arranged in an inclined structure and is in rolling connection with the moving wheel 43;

[0050] One side of the bottom support 34 is fixedly connected with a piston sleeve 52 and a piston rod 51 fixedly connected to one side of the slider 35. And a piston cavity 55 for inserting the piston rod 51 is opened on one side of the piston sleeve 52. First connecting pipes 53 and second connecting pipes 54 with different lengths are respectively fixedly connected to the outside of the piston sleeve 52;

[0051] Reference Figure 6 、 Figure 9 、 Figure 10 、 Figure 11 and Figure 12 As shown, when the side brush rod 33 is moving, first, the side brush rod 33 moves and contacts the inner cleaning rod 41 inside it. And the contact part between one side of the side brush rod 33 and the inner cleaning rod 41 deforms, so that the contact part between the side brush rod 33 and the inner cleaning rod 41 slides over the inner cleaning rod 41. At this time, the inner cleaning rod 41 generates fluctuations on one side of the side brush rod 33 to remove the dust on one side of the side brush rod 33. And the slider 35 moves to drive the inclined frame 42 to move synchronously. Moreover, when the inclined frame 42 moves, a pulling state is formed with the moving wheel 43, so that the moving wheel 43 moves downward or upward along the inclined frame 42. Through the moving wheel 43 moving downward along the inclined frame 42, the pressure of the supporting spring 47 between the supporting ring 46 and the bottom plate 48 is released. The elasticity of the supporting spring 47 itself can give a downward thrust to one side of the bottom plate 48. Thus, the bottom plate 48 moves downward to drive the displacement column 45 to move downward synchronously along the inside of the supporting ring 46. Then, the inner cleaning rod 41 moves downward along one side of the side brush rod 33. Subsequently, the side brush rod 33 and the inner cleaning rod 41 achieve staggered contact during the movement process. During this process, the inner cleaning rod 41 and the side brush rod 33 achieve contact at a certain angle and force. During this process, the movement of the slider 35 also pushes the piston rod 51 to move inside the piston chamber 55. Immediately, the movement of the piston rod 51 conveys the air inside the piston chamber 55 to the inside of the first connecting pipe 53 and the second connecting pipe 54 respectively. At this time, the first connecting pipe 53 and the second connecting pipe 54 respectively discharge the air inside them near the side brush rod 33, the supporting brush rod 22 and the dislocation grid 21, which can more effectively break the adhesion between the dirt and the surface of the side brush rod 33, make the dirt easier to fall off, prevent local overheating of the robotic arm base 12, and enhance the stability of the robotic arm base 12 and the robotic main arm 1.

[0052] Working principle:

[0053] When in use;

[0054] Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown, the robotic arm base 12 controls the robotic main arm 1 to operate along a specified motion trajectory. When temperatures are generated inside the robotic arm base 12 and the robotic main arm 1, the heat dissipation base 13 immediately generates wind inside the robotic arm base 12 and the robotic main arm 1, which is used to dissipate heat from the inside of the robotic arm base 12 and the robotic main arm 1 to ensure stability. At this time, the output shaft of the heat dissipation base 13 rotates to drive the safety component 2 to rotate along one side of the heat dissipation base 13, enabling the safety component 2 to move multi-dimensionally along one side of the heat dissipation base 13, which is used to process the dust on the surface of the dust-proof net on one side of the heat dissipation base 13, reducing the adsorption of dust by the dust-proof net on one side of the heat dissipation base 13, and ensuring stable control between the robotic arm base 12 and the robotic main arm 1.

[0055] The movement of the safety component 2 drives the rotating column 61 and the convex column 62 to move synchronously. Immediately, when the leading edge of the fan blade 63 contacts the air during the movement of the fan blade 63, the fan blade 63 rotates. At this time, the swing arm 24 swings along one side of the dislocation grid 21 and the support brush rod 22, which can generate a micro-airflow.

[0056] Reference Figure 2 、 Figure 3 and Figure 4 As shown, under the movement of the safety component 2, the interaction ring 31 is pushed or pulled to move horizontally along one side of the dislocation grid 21 in an inclined manner. At this time, the movement of the interaction ring 31 drives the side brush rod 33 to move synchronously, and the side brush rod 33 moves and is guided along one side of the dislocation grid 21, which is used to clean the unstable inclined protrusions of the dislocation grid 21. Moreover, during the movement of the side brush rod 33, some positions of the part close to one side of the dislocation grid 21 are staggered with the support brush rod 22. And during the movement of the support brush rod 22 along one side of the dislocation grid 21, the support brush rod 22 moves closer to one side of the side ear frame 38, and a part of the support brush rod 22 slides past the side ear frame 38. At this time, the remaining part of the support brush rod 22 forms contact with the side ear frame 38, which is used to contact the support brush rod 22 near the side ear frame 38. A part of the support brush rod 22 crosses one side of the side ear frame 38, causing some positions of the side ear frame 38 and the support brush rod 22 to be in a staggered state, which is used to clean the dirt on one side of the support brush rod 22. Thus, the movement of the side brush rod 33 pushes the displacement ear column 37 and the frame seat 36 to move, and the movement of the frame seat 36 drives the slider 35 to move and be guided inside the sliding groove 39.

[0057] Reference Figure 6 、 Figure 9 、 Figure 10 、 Figure 11 and Figure 12As shown, the movement of the slider 35 can drive the blowing assembly 5 and the internal cleaning assembly 4 to cooperate with the side brush rod 33 and the support brush rod 22 at the same time. As the slider 35 moves, it pushes the piston rod 51 to move along the inside of the piston chamber 55. Then, the piston rod 51 moves to deliver the air inside the piston chamber 55 to the inside of the first connecting pipe 53 and the second connecting pipe 54 respectively. At this time, the first connecting pipe 53 and the second connecting pipe 54 discharge the air inside them to the vicinity of the side brush rod 33, the support brush rod 22 and the staggered wire frame 21 respectively. And the movement of the slider 35 drives the internal cleaning assembly 4 and the side brush rod 33 to achieve staggered contact during the movement. During this process, the internal cleaning assembly 4 and the side brush rod 33 achieve contact at a certain angle and with a certain force.

[0058] Only some exemplary embodiments of the present invention have been described by way of illustration. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of the claims of the present invention.

Claims

1. An upper limb mechanical arm of a humanoid industrial robot, comprising a mechanical main arm (1), a mechanical arm seat (12) and a clamp (11), wherein the mechanical arm seat (12) is used to control the movement of the mechanical main arm (1), a heat sink (13) is arranged inside the mechanical arm seat (12), and the heat sink (13) is used to maintain the circulation of air inside and outside the mechanical arm seat (12), characterized in that: A safety component (2) is provided between the mechanical arm seat (12) and the heat sink seat (13); The safety component (2) is used to maintain a good ventilation environment near the heat sink (13) and the mechanical arm seat (12), ensuring the safe control of the mechanical arm seat (12) on the mechanical main arm (1), so that the mechanical main arm (1) moves along the specified coordinates; an interactive component (3) is provided in the safety component (2) to cooperate with the heat sink (13), and the movement trajectory of the interactive component (3) matches the inclination rate of the safety component (2) under the movement of the safety component (2), and optimizes the air flow path around the safety component (2) and the heat sink (13), and is suitable for use in combination with the mechanical main arm (1) to ensure the safety of the mechanical main arm (1); an internal ventilation component (4) for connection is provided between the interactive component (3) and the safety component (2), and the internal ventilation component (4) is used to process the interactive component (3) during the movement to ensure the circulation of air inside and outside the mechanical arm seat (12).

2. The upper limb mechanical arm of a humanoid industrial robot according to claim 1, characterized in that: The safety component (2) comprises a dislocation grid (21) connected to one side of the heat sink (13) in an inclined and rotatable manner, and a support rod (27) and a centering column (26) installed on the outside of the mechanical arm seat (12); one side of the dislocation grid (21) is fixedly connected to a positioning column (23); the outside of the centering column (26) is respectively sleeved with a swing arm (24) and a connecting ring (25); a supporting brush rod (22) is commonly connected between the connecting ring (25) and the positioning column (23); and the supporting brush rod (22) is used to adjust the dislocation grid ( 21) to disturb the surroundings, reduce the impurities adsorbed on the surfaces of the dislocated grid (21) and the heat sink (13), and ensure that the air can flow normally to the inside of the heat sink (13) and the mechanical arm seat (12); the top of the swing arm (24) is fixedly connected with a limiting shaft column (28), and the limiting shaft column (28) is sleeved on the top of the support rod (27); the outside of the swing arm (24) is provided with a scraping component (6), and the scraping component (6) accelerates the circulation of air around the dislocated grid (21) during the swinging process of the swing arm (24).

3. The upper limb mechanical arm of a humanoid industrial robot according to claim 2, characterized in that: The scraping assembly (6) comprises a rotating column (61) rotatably connected to the outside of the swing arm (24) and a convex column (62) fixedly connected to one end of the rotating column (61); a fan blade (63) is connected between the convex column (62) and the rotating column (61), and the fan blade (63) rotates along the outer circumference of the swing arm (24).

4. The upper limb mechanical arm of a humanoid industrial robot according to claim 2, characterized in that: The interactive component (3) comprises a stabilizing plate (32) fixedly connected between a support rod (27) and a mechanical arm seat (12) and an interactive ring (31) sleeved on the outside of a centering column (26); a side of the stabilizing plate (32) close to the offset grid (21) is fixedly connected to a bottom bracket (34); the outside of the interactive ring (31) is fixedly connected to a side brush rod (33), and the side brush rod (33) is arranged in an inclined shape, and one side of the side brush rod (33) is in contact with the support brush rod (22) and the offset grid (21); the bottom bracket (34) is fixedly connected to the outside of the interactive ring (31); A slide groove (39) is provided on one side, a slider (35) is movably connected inside the slide groove (39), a frame seat (36) is fixedly connected to the top of the slider (35), a displacement ear column (37) is slidably connected inside the frame seat (36), the displacement ear column (37) is commonly connected between the frame seat (36) and the side brush rod (33), a blowing assembly (5) is commonly connected between the side brush rod (33) and the bottom bracket (34), and the blowing assembly (5) is used to blow air around the side brush rod (33) and the offset grid (21).

5. The upper limb mechanical arm of a humanoid industrial robot according to claim 4, characterized in that: A side ear frame (38) matched with the support brush rod (22) is fixedly connected to one side of the bottom bracket (34) close to the offset grid frame (21), and the side ear frame (38) matches the movement trajectory of the support brush rod (22), ensuring that when the support brush rod (22) moves toward the side ear frame (38), a part of one side of the support brush rod (22) passes through the block, so as to facilitate self-cleaning of a part of the support brush rod (22).

6. The upper limb mechanical arm of a humanoid industrial robot according to claim 5, characterized in that: The internal brush cleaning component (4) comprises a mounting frame (44) fixedly connected to the top of the stabilizing plate (32) and an internal brush cleaning rod (41) arranged on one side of the side brush rod (33); a support ring (46) is fixedly connected to the inside of the mounting frame (44); a displacement column (45) is fixedly connected to the bottom end of the internal brush cleaning rod (41); the displacement column (45) passes through the support ring (46); the bottom end of the displacement column (45) is connected to a bottom plate (48); and a support spring (47) is commonly connected between the bottom plate (48) and the support ring (46).

7. The upper limb mechanical arm of a humanoid industrial robot according to claim 6, characterized in that: The inner cleaning component (4) further comprises an inclined frame (42) fixedly connected to one side of the slider (35) and a moving wheel (43) fixedly connected to the bottom end of the bottom plate (48), wherein the inclined frame (42) is arranged as an inclined structure, and the inclined frame (42) and the moving wheel (43) are connected in a rolling manner.

8. The upper limb mechanical arm of a humanoid industrial robot according to claim 7, characterized in that: A piston sleeve (52) and a piston rod (51) fixedly connected to one side of the slider (35) are fixedly connected to one side of the base (34), and a piston cavity (55) for inserting the piston rod (51) is provided on one side of the piston sleeve (52). A first connecting pipe (53) and a second connecting pipe (54) of different lengths are fixedly connected to the outside of the piston sleeve (52).

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