Rigid connecting rod structure of multi-degree-of-freedom heavy articulated arm robot

Abstract

The invention relates to the technical field of carbon block carrying robots, and discloses a rigid connecting rod structure of a multi-degree-of-freedom heavy articulated arm robot, which comprises an equipment main body, the equipment main body is formed by splicing a plurality of rigid connecting rods matched with fasteners, and two sliding rails are symmetrically and fixedly connected to the top of the equipment main body; a moving part is arranged above the top of the equipment body and slidably connected to the outer walls of the top ends of the two sliding rails, the bottom of the moving part is fixedly connected with a multi-degree-of-freedom clamping part used for grabbing carbon blocks in different directions, and a plurality of auxiliary sweeping mechanisms are symmetrically arranged on the outer walls of the two sides of the moving part. The multiple sets of auxiliary cleaning mechanisms comprise supporting frames fixedly connected to the outer walls of the bottom ends of the moving parts, it is guaranteed that the surfaces of the sliding rails are kept clean, the moving parts can smoothly slide on the outer walls of the sliding rails, the problems that sliding resistance is increased, and excessive abrasion is brought to the moving parts and the sliding rails are avoided, and the service life of equipment is prolonged; the equipment failure rate is reduced; and the carbon block carrying efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carbon block handling robots, in particular to a rigid link structure of a multi-degree-of-freedom heavy-duty articulated robot. BACKGROUND

[0002] The use of a multi-degree-of-freedom heavy-duty articulated robot for carbon block handling can significantly improve work efficiency and safety. The flexible multi-joint collaborative motion can adapt to complex spatial path planning, accurately grasp, lift and place heavy carbon blocks, and at the same time avoid the high-temperature and dust environment risks of manual operation. The rigid link structure provides high load support stability for the robot, suppresses load deformation and vibration through enhanced structural rigidity, ensures the positioning accuracy and controllability of the carbon blocks during the handling process, and prolongs the service life of the mechanical arm under high-strength cyclic operation.

[0003] During the handling process, the carbon blocks are prone to breakage due to their brittle material, and the mechanical impact and friction during transportation and stacking result in a large amount of carbon powder particles suspended in the air, forming a high-dust environment. If the dust is not cleaned and protected in time, the sliding friction coefficient will increase, causing power loss and positioning deviation. Hard carbon particles can also embed into the gap between the guide rail and the slider, accelerating the scratching and wear of the precision guide rail, even causing jamming and loss of control, reducing the reliability and maintenance period of the equipment. At the same time, during the equipment downtime for maintenance, the carbon block handling efficiency is also affected. SUMMARY

[0004] The present application aims to provide a rigid link structure of a multi-degree-of-freedom heavy-duty articulated robot to solve the problems raised in the background.

[0005] To achieve the above-mentioned purpose, a rigid link structure of a multi-degree-of-freedom heavy-duty articulated robot is provided, which includes a device main body, the device main body is spliced by a plurality of rigid links and fasteners, the top of the device main body is symmetrically fixedly connected with two slide rails, a moving part is arranged above the top of the device main body, the moving part is slidably connected to the outer walls at the top ends of the two slide rails, a multi-degree-of-freedom clamping part is fixedly connected to the bottom of the moving part for grasping carbon blocks in different directions, a plurality of groups of auxiliary cleaning mechanisms are symmetrically arranged on the outer walls of the two sides of the moving part, each group of auxiliary cleaning mechanisms includes a support frame fixedly connected to the outer wall at the bottom end of the moving part, the support frame is located directly above the slide rail, two side plates are symmetrically fixedly connected to the inner walls at the bottom end of the support frame, a rotating shaft is rotatably connected between the side walls of the two side plates, one end of the rotating shaft penetrates through the inner wall of the side plate and extends outward, a rolling brush is fixedly connected to the outer wall of the rotating shaft, and a transmission assembly is arranged on the extended end of the rotating shaft.

[0006] The rolling brush is used for cleaning the surface of the slide rail, removing carbon block impurities and carbon block powder, ensuring that the surface of the slide rail is kept clean, so that the moving part can smoothly slide on the outer wall of the slide rail, avoiding increasing the sliding resistance and causing excessive wear of the moving part and the slide rail, prolonging the service life of the equipment, and avoiding the overuse of the rolling brush on one side by rotating the rolling brush for cleaning.

[0007] As a further improvement of the technical solution, the transmission assembly is used to drive the rotating shaft with the rolling brush to rotate above the surface of the slide rail and complete the cleaning work of the carbon block impurities and carbon block powder on the surface of the slide rail. The transmission assembly comprises a bracket fixedly connected to the outer wall of the support frame on one side of the extending end of the rotating shaft. The side wall of the bracket is rotatably connected with a rotating wheel. The side wall of the rotating wheel is fixedly connected with a first transmission gear. The extending end of the rotating shaft is fixedly connected with a second transmission gear. The first transmission gear is engaged with the second transmission gear. The rotating wheel is made of rubber and has anti-slip lines on the surface. The rotating wheel is in contact with the top of the equipment body and rotates under the action of friction.

[0008] When the moving part slides on the outer wall of the two slide rails, the rotating wheel rolls on the top of the equipment body. Since the rotating wheel rotates synchronously with the first transmission gear, and the first transmission gear is engaged with the second transmission gear, the rotating shaft can rotate synchronously with the rolling brush. The rolling brush is used to clean the carbon block impurities and carbon block powder on the surface of the slide rail while rotating, avoiding the overuse of the rolling brush on one side.

[0009] As a further improvement of the technical solution, the inner side wall of the support frame and on one side of the rolling brush is fixedly connected with a rectangular plate. A plurality of square grooves are uniformly formed in the inner wall of the rectangular plate.

[0010] When the rolling brush in the rotating state contacts the rectangular plate, the surface of the rolling brush can be dispersed, improving the softness of the rolling brush and facilitating the improvement of the cleaning effect of the rolling brush.

[0011] As a further improvement of the technical solution, the top of the support frame is fixedly connected with a support frame. The inside of the support frame is fixedly connected with a fan. The bottom of the fan is fixedly connected with a dust guide cover. The side wall of the fan is fixedly connected with a pipeline. One end of the pipeline away from the fan is fixedly connected with a dust collection box. The dust collection box is installed on the outer wall of the top end of the support frame by bolts. The dust guide cover is located directly above the rolling brush. The fan absorbs the carbon block particle impurities and carbon block dust generated during the cleaning of the rolling brush during operation in cooperation with the dust guide cover. The dust collection box is detachably arranged for unified treatment of the collected carbon block waste.

[0012] By adsorbing carbon block impurities, the surrounding environment can be prevented from being polluted. At the same time, the adsorbed impurities and dust are discharged into the dust collection box through the pipeline, which is convenient for subsequent unified collection of the carbon block waste.

[0013] As a further improvement of the technical solution, the inner side wall of the bottom end of the support frame is further fixedly connected with a cross bar, the bottom of the cross bar is fixedly connected with a scraper, the scraper is clamped on the outer surface of the slide rail and is in sliding cooperation with the slide rail, and the two side surfaces of the scraper are designed as inclined surfaces for removing the carbon block particles remaining on the surface of the slide rail.

[0014] The inclined surfaces avoid the adhesion of the removed carbon block particles to the surface of the scraper, improve the cleanliness of the surface of the slide rail, facilitate the smooth sliding of the moving part on the surface of the slide rail, avoid the excessive wear of the surface of the slide rail, reduce the failure rate of the equipment, and improve the efficiency of the equipment in carrying the carbon block.

[0015] Compared with the prior art, the beneficial effects of the present application are: 1. By setting the auxiliary cleaning mechanism, the rotating shaft synchronously rotates with the roller brush, so that the roller brush can continuously clean the surface of the slide rail and remove carbon block impurities and carbon block powder, ensuring that the surface of the slide rail remains clean, so that the moving part can smoothly slide on the outer wall of the slide rail, avoiding the problem of excessive wear of the moving part and the slide rail, prolonging the service life of the equipment, reducing the failure rate of the equipment and improving the efficiency of the equipment in carrying the carbon block. By rotating the roller brush for cleaning, the problem of excessive use of the roller brush on one side is avoided, and the service life of the roller brush is prolonged.

[0016] 2. During the cleaning process of the roller brush, the fan is started to adsorb the impurities and dust removed by the roller brush in cooperation with the dust hood, avoiding pollution of the surrounding environment, and at the same time, the adsorbed impurities and dust are discharged into the dust collection box through the pipeline, facilitating subsequent collection of the carbon block waste. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic view of the overall structure of the present application; Figure 2 is a side view of the overall structure of the present application; Figure 3 is a schematic view of the local three-dimensional structure of the main body of the equipment of the present application; Figure 4 is a schematic view of the three-dimensional structure of the related components of the slide rail of the present application; Figure 5 is a schematic view of the three-dimensional structure of the support frame of the present application; Figure 6 is a schematic view of the three-dimensional structure of the related components of the transmission assembly of the present application; Figure 7 is a schematic view of the three-dimensional structure of the related components of the roller brush of the present application; Figure 8 is a schematic view of the three-dimensional structure of the related components of the rectangular plate of the present application; Figure 9It is a three-dimensional structure schematic diagram of the scraper of the application.

[0018] The meanings of the various reference numbers in the drawings are as follows: 1, device main body; 2, slide rail; 3, moving part; 31, clamping part; 4, auxiliary cleaning mechanism; 41, support frame; 42, side plate; 43, rotating shaft; 44, rolling brush; 45, transmission assembly; 51, support; 52, rotating wheel; 53, first transmission gear; 54, second transmission gear; 61, rectangular plate; 62, square groove; 71, support frame; 72, fan; 73, dust guide cover; 74, pipeline; 75, dust collection box; 81, horizontal rod; 82, scraper. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0020] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. Embodiment 1

[0021] Please refer to Figures 1-9The embodiment shown aims to provide a rigid link structure of a multi-degree-of-freedom heavy-duty articulated robot, which comprises a device body 1, the device body 1 is spliced by a plurality of rigid links cooperating with fasteners, two slide rails 2 are symmetrically and fixedly connected to the top of the device body 1, a moving part 3 is arranged above the top of the device body 1, the moving part 3 is slidably connected to the top outer walls of the two slide rails 2, a multi-degree-of-freedom clamping part 31 is fixedly connected to the bottom of the moving part 3, which is used for grabbing carbon blocks in different directions, and the sufficient rigidity and special link structure ensure the accurate movement of the moving part 3 in the X, Y, Z and rotating directions, and the clamping part 31 can be rotated in the horizontal direction and can achieve the purpose of flexible grabbing and placing of carbon blocks, a plurality of auxiliary cleaning mechanisms 4 are symmetrically arranged on the outer walls of the two sides of the moving part 3, the plurality of auxiliary cleaning mechanisms 4 comprise a support frame 41 fixedly connected to the bottom outer wall of the moving part 3, the support frame 41 is located directly above the slide rail 2, two side plates 42 are symmetrically and fixedly connected to the bottom inner walls of the support frame 41, a rotating shaft 43 is rotatably connected between the side walls of the two side plates 42, one end of the rotating shaft 43 penetrates through the inner wall of the side plate 42 and extends out, a rolling hair brush 44 is fixedly connected to the outer wall of the rotating shaft 43, a transmission assembly 45 is arranged on the extending end of the rotating shaft 43, the transmission assembly 45 is used for driving the rotating shaft 43 to rotate with the rolling hair brush 44, so that the rolling hair brush 44 can continuously clean the surface of the slide rail 2 and remove carbon block impurities and carbon block powder, and the surface of the slide rail 2 can be kept clean, so that the moving part 3 can smoothly slide on the outer wall of the slide rail 2, the problem of excessive wear of the moving part 3 and the slide rail 2 due to increased sliding resistance is avoided, the service life of the equipment is improved, and the carbon block carrying efficiency is improved.

[0022] The transmission assembly 45 is used for driving the rotating shaft 43 to rotate with the rolling hair brush 44 above the surface of the slide rail 2 and completing the cleaning work of carbon block impurities and carbon block powder on the surface of the slide rail 2, the transmission assembly 45 comprises a support 51 fixedly connected to the outer wall of the support frame 41 on one side of the extending end of the rotating shaft 43, a rotating wheel 52 is rotatably connected to the side wall of the support 51, a first transmission gear 53 is fixedly connected to the side wall of the rotating wheel 52, a second transmission gear 54 is fixedly connected to the extending end of the rotating shaft 43, the first transmission gear 53 is engaged with the second transmission gear 54, the rotating wheel 52 is made of rubber and has anti-skid lines formed on the surface, the rotating wheel 52 is in contact with the top of the device body 1 and rotates under the action of friction, when the moving part 3 slides on the outer walls of the two slide rails 2, the rotating wheel 52 rolls on the top of the device body 1, since the rotating wheel 52 rotates synchronously with the first transmission gear 53, and the first transmission gear 53 is engaged with the second transmission gear 54, the rotating shaft 43 can rotate synchronously with the rolling hair brush 44, the rolling hair brush 44 rotates while cleaning the carbon block impurities and carbon block powder on the surface of the slide rail 2, which not only improves the cleanliness of the surface of the slide rail 2, but also avoids the overuse of the rolling hair brush 44 on one side, thereby improving the service life of the rolling hair brush 44.

[0023] The inner side wall of the supporting frame 41 is fixedly connected with a rectangular plate 61 on the side of the rolling brush 44, and a plurality of square grooves 62 are uniformly arranged in the inner wall of the rectangular plate 61. By arranging the rectangular plate 61 in cooperation with the plurality of square grooves 62, when the rolling brush 44 in the rotating state contacts the rectangular plate 61, the surface of the rolling brush 44 can be dispersed, the flexibility of the rolling brush 44 is improved, and the cleaning effect of the rolling brush 44 is improved. The top of the supporting frame 41 is fixedly connected with a supporting frame 71, the supporting frame 71 is fixedly connected with a fan 72 inside, the fan 72 is fixedly connected with a dust guide cover 73 at the bottom, the fan 72 is fixedly connected with a pipeline 74 on the side wall, and the pipeline 74 is fixedly connected with a dust collection box 75 away from the fan 72. The dust collection box 75 is mounted on the outer wall of the top end of the supporting frame 41 by bolts, the dust guide cover 73 is located directly above the rolling brush 44, and the fan 72 cooperates with the dust guide cover 73 to absorb the carbon block particle impurities and carbon block dust generated during cleaning of the rolling brush 44 during operation. By starting the fan 72, the fan 72 cooperates with the dust guide cover 73 to adsorb the impurities and dust generated during cleaning of the rolling brush 44, so as to avoid pollution of the surrounding environment. At the same time, the pipeline 74 is used to discharge the adsorbed impurities and dust into the dust collection box 75, which is convenient for subsequent unified treatment. The dust collection box 75 is detachably arranged and is used for unified treatment of the collected carbon block waste.

[0024] The inner side wall of the bottom end of the supporting frame 41 is also fixedly connected with a horizontal rod 81, the bottom end of the horizontal rod 81 is fixedly connected with a scraper 82, the scraper 82 is clamped on the outer surface of the sliding rail 2 and is in sliding cooperation with the sliding rail 2, and the two side surfaces of the scraper 82 are designed as inclined surfaces. The scraper 82 is used for removing the carbon block particles remaining on the surface of the sliding rail 2, the horizontal rod 81 is used for supporting and fixing the scraper 82, and the scraper 82 slides back and forth on the outer wall of the sliding rail 2 along with the supporting frame 41, so as to remove the carbon block particles adhered to the surface of the sliding rail 2. By using the inclined surface, the removed carbon block particles are prevented from adhering to the surface of the scraper 82. By improving the cleanliness of the surface of the sliding rail 2, the moving part 3 can smoothly slide on the surface of the sliding rail 2, the excessive wear of the surface of the sliding rail 2 is avoided, the equipment failure rate is reduced, and the efficiency of the equipment for carrying carbon blocks is improved.

[0025] When working: The mobile part 3 and the clamping part 31 are supported by the device main body 1 which is rigid enough to ensure the accurate movement of the mobile part 3 in the X, Y, Z and rotation directions, and the clamping part 31 can rotate arbitrarily in the horizontal direction, realizing flexible grabbing and placing of the carbon blocks. When the mobile part 3 slides on the outer wall of the slide rail 2, the rotating wheel 52 rolls on the top of the device main body 1. Since the rotating wheel 52 rotates synchronously with the first transmission gear 53, and the first transmission gear 53 meshes with the second transmission gear 54, the rotating shaft 43 can rotate synchronously with the rolling brush 44, so that the rolling brush 44 can continuously clean the surface of the slide rail 2 and remove the carbon block impurities and carbon block powder, ensuring that the surface of the slide rail 2 remains clean, so that the mobile part 3 can smoothly slide on the outer wall of the slide rail 2, avoiding the problem of excessive wear of the mobile part 3 and the slide rail 2, prolonging the service life of the device. By rotating the rolling brush 44, the problem of excessive use of one side of the rolling brush 44 is avoided, and the service life of the rolling brush 44 is prolonged. During the cleaning process of the rolling brush 44, the fan 72 is started to enable the fan 72 to adsorb the impurities and dust removed by the rolling brush 44 together with the dust removal cover 73, expand the adsorption range by using the dust removal cover 73, and avoid pollution by adsorbing the carbon block impurities. At the same time, the adsorbed impurities and dust are discharged into the dust collection box 75 through the pipeline 74, which is convenient for subsequent collection of carbon block waste. In addition, during the movement of the support frame 41, the cross rod 81 supports and fixes the scraper 82, and the scraper 82 slides back and forth on the outer wall of the slide rail 2 together with the support frame 41, so as to shovel the carbon block particles adhered to the surface of the slide rail 2. The inclined surface is used to avoid the adhesion of the shovelled carbon block particles to the surface of the scraper 82, and the rolling brush 44 is used to improve the cleanliness of the surface of the slide rail 2, improve the sliding smoothness of the mobile part 3 and the slide rail 2, and avoid excessive wear of the surface of the slide rail 2.

[0026] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A rigid linkage structure for a multi-degree-of-freedom heavy-duty articulated arm robot, comprising a main body (1), wherein the main body (1) is assembled from multiple rigid linkages and fasteners, characterized in that: The top of the main body (1) of the device has two slide rails (2) symmetrically fixedly connected. A moving part (3) is provided above the top of the main body (1). The moving part (3) is slidably connected to the outer wall of the top of the two slide rails (2). A multi-degree-of-freedom clamping part (31) is fixedly connected to the bottom of the moving part (3) for gripping carbon blocks in different directions. Several sets of auxiliary cleaning mechanisms (4) are symmetrically arranged on the outer walls of both sides of the moving part (3). The multiple sets of auxiliary cleaning mechanisms (4) include a support frame (41) fixedly connected to the outer wall of the bottom end of the moving part (3). The support frame (41) is located directly above the slide rail (2). Two side plates (42) are symmetrically fixedly connected to the inner wall of the bottom end of the support frame (41). A rotating shaft (43) is rotatably connected between the side walls of the two side plates (42). One end of the rotating shaft (43) passes through the inner wall of the side plate (42) and extends out. A roller brush (44) is fixedly connected to the outer wall of the rotating shaft (43). A transmission component (45) is provided at the extended end of the rotating shaft (43).

2. The rigid linkage structure of the multi-degree-of-freedom heavy-duty articulated arm robot according to claim 1, characterized in that: The transmission assembly (45) is used to drive the rotating shaft (43) to rotate above the surface of the slide rail (2) with the brush (44) and complete the cleaning of carbon block impurities and carbon block powder on the surface of the slide rail (2).

3. The rigid linkage structure of the multi-degree-of-freedom heavy articulated arm robot according to claim 2, characterized in that: The transmission assembly (45) includes a bracket (51) fixedly connected to the outer wall of a support frame (41) located on one side of the extended end of the rotating shaft (43). A rotating wheel (52) is rotatably connected to the side wall of the bracket (51). A first transmission gear (53) is fixedly connected to the side wall of the rotating wheel (52). A second transmission gear (54) is fixedly connected to the extended end of the rotating shaft (43). The first transmission gear (53) and the second transmission gear (54) mesh with each other.

4. The rigid linkage structure of the multi-degree-of-freedom heavy articulated arm robot according to claim 3, characterized in that: The rotating wheel (52) is made of rubber and has anti-slip texture on its surface. The rotating wheel (52) contacts the top of the main body (1) of the equipment and rotates under the action of friction.

5. The rigid linkage structure of the multi-degree-of-freedom heavy-duty articulated arm robot according to claim 1, characterized in that: A rectangular plate (61) is fixedly connected to the inner wall of the support frame (41) and to one side of the brush (44). The inner wall of the rectangular plate (61) is evenly provided with multiple square grooves (62).

6. The rigid linkage structure of the multi-degree-of-freedom heavy-duty articulated arm robot according to claim 1, characterized in that: The support frame (41) is fixedly connected to the top of the support frame (41), and a fan (72) is fixedly connected inside the support frame (71). A dust guide cover (73) is fixedly connected to the bottom of the fan (72), and a pipe (74) is fixedly connected to the side wall of the fan (72). A dust collection box (75) is fixedly connected to the end of the pipe (74) away from the fan (72). The dust collection box (75) is installed on the top outer wall of the support frame (41) by bolts.

7. The rigid linkage structure of the multi-degree-of-freedom heavy-duty articulated arm robot according to claim 6, characterized in that: The dust guide hood (73) is located directly above the roller brush (44). During operation, the fan (72) works with the dust guide hood (73) to absorb carbon block particles and carbon block dust generated by the roller brush (44).

8. The rigid linkage structure of the multi-degree-of-freedom heavy articulated arm robot according to claim 6, characterized in that: The dust collection box (75) is detachable and is used for the unified processing of collected carbon block waste.

9. The rigid linkage structure of the multi-degree-of-freedom heavy-duty articulated arm robot according to claim 1, characterized in that: The support frame (41) is also fixedly connected to the inner side wall at the bottom end of the crossbar (81), and a scraper (82) is fixedly connected to the bottom of the crossbar (81). The scraper (82) is engaged with the outer surface of the slide rail (2) and slides in cooperation with the slide rail (2).

10. The rigid linkage structure of the multi-degree-of-freedom heavy-duty articulated arm robot according to claim 9, characterized in that: The scraper (82) has a beveled design on both sides to remove carbon particles stuck on the surface of the slide rail (2).

Images