Industrial robot, method of operation and use thereof in composite insulators

Abstract

The application discloses an industrial manipulator, an operating method and application of the industrial manipulator in composite insulators, and comprises a bottom plate, a hollow shaft carrier is fixed at the right position of the top end of the bottom plate, a screw rod linear lifting module is installed at the top end of the hollow shaft carrier, a supporting arm is installed at the moving end of the screw rod linear lifting module, a rotary following type clamping assembly is installed at the bottom end of the supporting arm, and a servo motor is installed at the top end of the shell of the screw rod linear lifting module. The application utilizes a highly integrated single motor driving design, fundamentally simplifies the control logic and architecture of the system, greatly improves the reliability and stability of the manipulator, and the lifting, rotation and radial multi-zone ring spraying glazing assembly of the blank are automatically completed under the driving of a single power source, without additional sensors or control instructions, while ensuring the completeness of the glazing function, effectively reducing the structural complexity, mechanical cost and maintenance cost of the equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of composite insulator processing, in particular to an industrial manipulator, an operation method and application thereof in composite insulators. BACKGROUND

[0002] In the processing flow of ceramic composite insulators, the surface of the dried body is usually rough, so it needs to be polished by sandpaper or trimmed with a knife to ensure the accuracy of the size and the smoothness of the surface, which lays a good foundation for the subsequent glazing process. Glazing is to uniformly coat a special glaze on the surface of the body, and after high-temperature firing, the glaze will melt to form a glassy protective layer. This layer of glaze not only seals the body and improves the surface smoothness, but also enhances the mechanical strength, and has the functions of anti-pollution flashover and moisture-proof. At present, the common glazing method is spraying, and the spraying robot performs accurate operation according to the preset trajectory and spraying parameters to ensure the uniform thickness of the glaze layer.

[0003] Specifically, the industrial manipulator completes the glazing work of the ceramic composite insulator through a highly automated and precisely controlled operation process. First, based on the three-dimensional model of the insulator, the best motion trajectory of the spray gun and the spraying parameters are planned through offline programming to ensure that all complex surfaces are covered. In actual operation, the manipulator carries the spray gun and cooperates with the positioner: the workpiece rotates at a constant speed on the positioner, and the manipulator moves according to the preset path, so that the spray gun always maintains a stable distance and angle with the body surface, achieving uniform spraying without dead angles. The glaze supply system continuously delivers glaze and atomizes it at the spray gun, forming a fine and continuous glaze mist covering layer. The entire process is monitored in real time by sensors for glaze flow and pressure, and the control system dynamically adjusts the manipulator action and glaze output to ensure uniform glaze layer thickness and no defects; However, at the present stage, when using the industrial manipulator to cooperate with the positioner and the spray gun to complete the glazing work of the ceramic composite insulator body, multiple motors in the command equipment need to work, that is, the positioner as an auxiliary device makes the body exposed to the spray gun at different angles and positions through multi-degree-of-freedom motion such as rotation and inclination, and the manipulator arm also needs multiple motors to control the motion of each joint. In this process, multiple motors need to be accurately synchronized, and any abnormal operation or control delay of any motor may cause deviation of the spraying trajectory, affecting the uniformity and quality of the glaze layer. Therefore, the control system also needs to have a high real-time response capability and a stable communication mechanism, otherwise it is easy to cause coordination errors. Secondly, the mechanical cost and maintenance cost of this kind of technical solution are high, and each high-performance servo motor and its driver is a considerable investment. SUMMARY

[0004] The application aims to provide an industrial manipulator, an operation method and application thereof in composite insulators, a rotary following type clamping assembly fixes the upper end of a rod body of a composite insulator blank, when a servo motor, a screw linear lifting module and a rotary following type clamping assembly drive a support arm to move downward and make the composite insulator blank gradually pass through a radial multi-zone ring spraying glazing assembly, the composite insulator rotates under the driving of the rotary following type clamping assembly, and the lower end of the screw in the screw linear lifting module converts power through a chain wheel transmission assembly and a connecting rod reciprocating intermittent transmission assembly, so that the radial multi-zone ring spraying glazing rotates reciprocatingly to eliminate the glazing blind area, until the blank completely passes through the radial multi-zone ring spraying glazing assembly and completes glazing, thereby solving the problems in the background art.

[0005] To achieve the above object, the application provides the following technical scheme in one aspect: an industrial manipulator, comprising:

[0006] A hollow shaft carrier is fixed at the right side of the top end of the bottom plate, a screw linear lifting module is installed at the top end of the hollow shaft carrier, a support arm is installed at the moving end of the screw linear lifting module, a rotary following type clamping assembly is installed at the bottom end of the support arm, and a servo motor is installed at the top end of the shell of the screw linear lifting module.

[0007] A rack is fixed in the inside of the U-shaped frame, a connecting rod reciprocating intermittent transmission assembly is installed in the inside of the U-shaped frame, a chain wheel transmission assembly that is in power connection with the lower end of the screw of the screw linear lifting module is installed in the inside of the hollow shaft carrier, and the connecting rod reciprocating intermittent transmission assembly receives the rotating power from the screw through the chain wheel transmission assembly.

[0008] A radial multi-zone ring spraying glazing assembly is installed at the top end of the rack, the chain wheel transmission assembly and the connecting rod reciprocating intermittent transmission assembly transmit reciprocating intermittent rotating power to the input shaft of the radial multi-zone ring spraying glazing assembly, a PLC control panel is installed on one side of the surface of the rack, and the input end of the PLC control panel is electrically connected with the output end of the servo motor.

[0009] Preferably, the rotary following type clamping assembly comprises a short shaft rotatably installed at one side of the bottom end of the support arm, a chuck fixed at the lower end of the short shaft, a driving bevel gear shaft rotatably installed at the other side of the bottom end of the support arm, and a driven bevel gear shaft rotatably installed on the inner wall of the support arm above the driving bevel gear shaft, one end of the driven bevel gear shaft and the upper end of the driving bevel gear shaft are in meshing with each other, and a belt transmission structure one is installed between the driving bevel gear shaft and the short shaft.

[0010] Preferably, the rotary following clamping assembly further includes a linear rack fixed on the left outer wall of the lead screw linear lifting module housing and a final stage gear fixed at the other end of the driven bevel gear shaft, the final stage gear and the linear rack meshing with each other.

[0011] Preferably, the radial multi-zone ring spray glazing assembly includes a hollow liquid storage ring rotatably mounted on the left side of the top of the frame, a plurality of bends evenly spaced on the inner wall of the hollow liquid storage ring, and a spray nozzle mounted on one end of each bend. A switch valve is installed on one edge of the top of the hollow liquid storage ring. Two multi-wedge wheels are rotatably mounted on the top of the frame on the right side of the hollow liquid storage ring. A friction belt is fitted between the two multi-wedge wheels, and the friction belt is in contact with the outer wall of the hollow liquid storage ring. The lower ends of the two multi-wedge wheels extend into the interior of the frame and are equipped with a belt drive structure. The lower end of one of the multi-wedge wheels receives the rotational power of the lead screw from the linear lifting module through a connecting rod reciprocating intermittent transmission assembly and a sprocket transmission assembly.

[0012] Preferably, a plurality of I-beam wheels are rotatably mounted on the top of the frame at the edge of the hollow liquid storage ring, and the I-beam wheels are in contact with the outer wall of the hollow liquid storage ring.

[0013] Preferably, the sprocket drive assembly includes a drive shaft rotatably mounted at the central axis position inside the hollow shaft carrier, a driven gear fixed at the top of the drive shaft, and a driving gear fixed at the lower end of the lead screw of the linear lifting module. The driving gear and the driven gear mesh with each other, and a sprocket drive structure for driving the reciprocating intermittent transmission assembly of the connecting rod is installed at the lower end of the drive shaft.

[0014] Preferably, the connecting rod reciprocating intermittent transmission assembly includes a conversion shaft rotatably mounted on the right outer wall of the U-shaped frame via a bearing seat and two profiles fixed on the left outer wall of the U-shaped frame. A slide table is slidably mounted between the two profiles. A rotating handle is fixed to the lower end of the conversion shaft. A fisheye connecting rod is hinged to one side of the bottom end of the rotating handle. One end of the fisheye connecting rod is hinged to the bottom end of the slide table. The top end of the conversion shaft is powered by the lower end of the transmission shaft through a sprocket transmission structure. A C-port seat is fixed on the top wall of the frame below one of the multi-wedge wheels. A gear and rack transmission conversion structure is installed inside the C-port seat.

[0015] Preferably, the gear and rack transmission conversion structure includes a helical rack slidably installed inside the C-port seat and a helical gear fixed to the lower end of one of the multi-wedge wheels. The helical gear and the helical rack mesh with each other, and one end of the helical rack extends through to the outside of the C-port seat and is fixedly connected to one side of the outer wall of the slide table.

[0016] According to another aspect of the present invention, a method for operating an industrial robot, as described above, is provided, comprising the following steps:

[0017] S101: The ceramic composite insulator blanks that have been dried and surface polished are vertically hoisted to the equipment station, and the upper end of the blank rod is firmly clamped and fixed by the rotary follower clamping assembly;

[0018] S102: The operator selects the glazing production program on the PLC control panel and confirms the start. The servo motor works according to the direction, speed, angle and response time set on the PLC control panel, thereby driving the linear lifting module of the lead screw, and driving the support arm and its end rotary following clamping assembly to move downward at a uniform speed together with the blank. At the same time, the workpiece continues to rotate at a uniform speed to ensure that the circumferential surface of the blank can be evenly covered by the glaze.

[0019] S103: As the blank gradually passes through the radial multi-zone ring spray glazing assembly, the radial multi-zone ring spray glazing assembly continuously sprays glaze onto the blank from multiple directions. At the same time, the screw rotation power of the screw linear lifting module is transmitted to the sprocket drive assembly. The sprocket drive assembly and the connecting rod reciprocating intermittent transmission assembly convert the rotation into the regular, periodic reciprocating oscillation of the radial multi-zone ring spray glazing assembly, so that the radial multi-zone ring spray glazing assembly moves back and forth intermittently at a certain angle, so that the glaze covers the deep grooves, inner sides and all shaded areas of the complex umbrella skirt structure of the workpiece.

[0020] S104: Once the blank has completely passed through the radial multi-zone ring glazing assembly, the glazing work is complete. The operator then releases the clamps, carefully transfers the glazed blank to the drying area, prepares for the subsequent firing process, and begins the clamping cycle for the next workpiece.

[0021] According to another aspect of the present invention, an industrial robot operation method is provided for use in composite insulators. Driven by a single servo motor, the support arm, the rotary following clamping assembly, and the clamped insulator blank are driven to descend at a constant speed via a linear lifting module. At the same time, the rotational motion of the lead screw is decomposed into the continuous uniform rotation of the blank itself and the regular reciprocating oscillation of the radial multi-zone ring spraying glazing assembly through a sprocket transmission assembly and a connecting rod reciprocating intermittent transmission assembly.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: The industrial robot, its operating method, and its application in composite insulators are achieved through a structure that integrates a PLC control panel, a servo motor, a lead screw linear lifting module, a support arm, a rotary following clamping assembly, a sprocket drive assembly, a connecting rod reciprocating intermittent drive assembly, and a radial multi-zone ring spray glazing assembly. The rotary following clamping assembly fixes the upper end of the composite insulator blank's rod. When the servo motor and the lead screw linear lifting module drive the support arm and the rotary following clamping assembly to move downwards, causing the composite insulator blank to gradually pass through the radial multi-zone ring spray glazing assembly, the composite insulator rotates under the drive of the rotary following clamping assembly, and the lead screw linearly... The lower end of the lead screw in the linear lifting module converts power through the sprocket drive assembly and the connecting rod reciprocating intermittent drive assembly, so that the radial multi-zone ring spray glazing performs reciprocating intermittent rotation to eliminate glazing blind spots until the blank has completely passed through the radial multi-zone ring spray glazing assembly and completed glazing. Utilizing a highly integrated single motor drive design, the control logic and architecture of the system are fundamentally simplified, greatly improving the reliability and stability of the robot. Moreover, the lifting and rotation of the blank and the movement of the radial multi-zone ring spray glazing assembly are all automatically completed under the drive of a single power source, without the need for additional sensors or control commands. While ensuring the completeness of the glazing function, it effectively reduces the structural complexity, mechanical cost and maintenance cost of the equipment.

[0023] In traditional multi-motor collaborative solutions, each joint of the robot arm, the rotation of the positioner, and the glaze supply system require independent servo motors and drivers. Communication delays or speed fluctuations on any axis can lead to disordered spraying trajectories and uneven glaze layers. In contrast, this solution uses only one servo motor as the power source. Through purely mechanical transmission mechanisms such as lead screws, sprockets, and connecting rods, the single rotational input is cleverly converted into a composite motion in three directions: the downward movement of the workpiece, the rotation of the workpiece, and the reciprocating intermittent rotation of the radial multi-zone ring spray glazing assembly. The mechanical hard connection ensures absolute synchronization and a definite phase relationship between all movements. That is, the downward movement speed of the workpiece must form a fixed ratio with its rotation speed and even the oscillation frequency of the spray gun. There are no delays, missed steps, or communication interruptions that may occur in electronic control. This eliminates quality defects caused by multi-axis coordination misalignment from the source, making the entire glazing process extremely stable and reliable.

[0024] Secondly, once the technical solution is deployed, its motion relationship is determined by the mechanical structure, making debugging extremely simple. Only the speed of the main motor needs to be set, which greatly reduces the technical threshold requirements for operators. In terms of maintenance, mechanical repair workers are far more familiar with traditional mechanical transmissions such as gears, sprockets, and lead screws than with the ability to troubleshoot precision servo systems. Daily maintenance, inspection, and fault repair become more intuitive and easier, effectively reducing equipment downtime.

[0025] Finally, the radial multi-zone ring spray glazing assembly uniformly sprays glaze onto the complex grooves and overhangs under the workpiece's skirt. Through the connecting rod reciprocating intermittent transmission assembly, the continuous rotation of the servo motor and lead screw is converted into the periodic oscillation of the radial multi-zone ring spray glazing assembly. This oscillation action is automatically and forcibly coupled with the downward movement and rotation of the workpiece, ensuring that the glaze jet can periodically change its angle, effectively filling the dead corners and meeting the glazing requirements of the complex shape of the ceramic composite insulator. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the front cross-sectional structure of the present invention;

[0028] Figure 3 This is a three-dimensional cross-sectional structural diagram of the present invention;

[0029] Figure 4 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0030] Figure 5 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0031] Figure 6 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 3 ;

[0032] Figure 7 This is a three-dimensional structural diagram of Embodiment 2 of the present invention;

[0033] Figure 8 For the present invention Figure 7 Enlarged structural diagram at point A in the middle;

[0034] Figure 9 This is a schematic diagram of the three-dimensional structure of the radial multi-zone circumferential spray glazing assembly in Embodiment 3 of the present invention. Figure 1 ;

[0035] Figure 10 This is a schematic diagram of the three-dimensional structure of the radial multi-zone circumferential spray glazing assembly in Embodiment 3 of the present invention. Figure 2 ;

[0036] Figure 11 This is a schematic diagram of the three-dimensional structure of the connecting rod reciprocating intermittent transmission assembly in Embodiment 4 of the present invention. Figure 1 ;

[0037] Figure 12 This is a schematic diagram of the three-dimensional structure of the connecting rod reciprocating intermittent transmission assembly in Embodiment 4 of the present invention. Figure 2 .

[0038] In the diagram: 1. Base plate; 2. Frame; 3. Hollow shaft carrier; 4. Lead screw linear lifting module; 5. Servo motor; 6. Support arm; 7. Rotary following clamping assembly; 701. Short shaft; 702. Chuck; 703. Belt drive structure one; 704. Driving bevel gear shaft; 705. Driven bevel gear shaft; 706. Final stage gear; 707. Linear rack; 8. Radial multi-zone ring spray glazing assembly; 801. Hollow liquid reservoir ring; 802. I-beam wheel; 803. Multi-wedge wheel; 804. Friction belt; 805. Bend; 806. Nozzle; 807. Switch valve; 808. Belt drive structure II; 9. U-shaped frame; 10. Sprocket drive assembly; 1001. Drive shaft; 1002. Drive gear; 1003. Driven gear; 1004. Sprocket drive structure; 11. Connecting rod reciprocating intermittent transmission assembly; 1101. C-port seat; 1102. Gear and rack drive conversion structure; 1103. Profile; 1104. Slide table; 1105. Conversion shaft; 1106. Rotary handle; 1107. Fisheye connecting rod; 12. PLC control panel. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0040] Example 1, by Figures 1 to 6 The present invention includes a base plate 1, a hollow shaft carrier 3 fixed at the right side of the top of the base plate 1, a lead screw linear lifting module 4 installed at the top of the hollow shaft carrier 3, a support arm 6 installed at the moving end of the lead screw linear lifting module 4, a rotary following clamping assembly 7 installed at the bottom end of the support arm 6, and a servo motor 5 installed at the top of the housing of the lead screw linear lifting module 4. The high dynamic performance of the servo motor 5 enables the lead screw linear lifting module 4 to smoothly and accurately complete the lifting movement of the blank, ensuring that the position of the blank is accurate during the spraying process, thereby ensuring the uniformity and quality stability of the glaze layer.

[0041] The lead screw linear lifting module 4 is driven by the servo motor 5 and undertakes the task of precisely moving the workpiece along the vertical direction. It has a simple structure, stable transmission and high positioning accuracy, and can realize continuous and smooth linear lifting motion.

[0042] The frame 2 is fixed on the left outer wall of the hollow shaft carrier 3 and the base plate 1. A U-shaped frame 9 is fixed inside the frame 2. A connecting rod reciprocating intermittent transmission assembly 11 is installed inside the U-shaped frame 9. A sprocket transmission assembly 10 is installed inside the hollow shaft carrier 3, which is connected to the lower end of the lead screw of the lead screw linear lifting module 4. The connecting rod reciprocating intermittent transmission assembly 11 receives the rotational power from the lead screw through the sprocket transmission assembly 10.

[0043] Radial multi-zone ring spray glazing assembly 8 is mounted on the top of frame 2. Chain drive assembly 10 and connecting rod reciprocating intermittent drive assembly 11 transmit reciprocating intermittent rotational power to the input shaft of radial multi-zone ring spray glazing assembly 8. PLC control panel 12 is mounted on one side of frame 2. The input terminal of PLC control panel 12 is electrically connected to the output terminal of servo motor 5.

[0044] This embodiment provides a method for operating an industrial robot, as described above, which includes the following steps:

[0045] S101: The ceramic composite insulator blanks that have been dried and surface polished are vertically hoisted to the equipment station, and the upper end of the blank rod is firmly clamped and fixed by the rotary following clamping assembly 7.

[0046] S102: The operator selects the glazing production program on the PLC control panel 12 and confirms the start. The servo motor 5 works according to the direction, speed, angle and response time set on the PLC control panel 12, thereby driving the lead screw linear lifting module 4, and driving the support arm 6 and its end rotary following clamping assembly 7 to move downward at a uniform speed together with the blank. At the same time, the workpiece continues to rotate at a uniform speed to ensure that the circumferential surface of the blank can be evenly covered by the glaze.

[0047] S103: As the blank gradually passes through the radial multi-zone ring spray glazing assembly 8, the radial multi-zone ring spray glazing assembly 8 continuously sprays glaze onto the blank from multiple directions. At the same time, the screw rotation power of the screw linear lifting module 4 is transmitted to the sprocket drive assembly 10. The sprocket drive assembly 10 and the connecting rod reciprocating intermittent transmission assembly 11 convert the rotation into the regular, periodic reciprocating oscillation of the radial multi-zone ring spray glazing assembly 8, so that the radial multi-zone ring spray glazing assembly 8 rotates back and forth at a certain angle and intermittently, so that the glaze covers the deep grooves, inner sides and all shaded areas of the complex umbrella skirt structure of the workpiece.

[0048] S104: Once the blank has completely passed through the radial multi-zone ring glazing assembly 8, the glazing work is completed. The operator then releases the clamps, carefully transfers the glazed blank to the drying area, prepares for the subsequent firing process, and begins the clamping cycle for the next workpiece.

[0049] The application of the industrial robot operation method in composite insulators in this embodiment is driven by a single servo motor 5, which drives the support arm 6, the rotary following clamping assembly 7, and the clamped insulator blank to descend at a uniform speed via the lead screw linear lifting module 4. At the same time, the rotational motion of the lead screw is decomposed into the continuous uniform rotation of the blank itself and the regular reciprocating oscillation of the radial multi-zone ring spraying glazing assembly 8 through the sprocket transmission assembly 10 and the connecting rod reciprocating intermittent transmission assembly 11.

[0050] Example 2, based on Example 1, is... Figure 7 and Figure 8 The rotary following clamping assembly 7 includes a short shaft 701 rotatably mounted on one side of the bottom end of the support arm 6, a chuck 702 fixed at the lower end of the short shaft 701, an active bevel gear shaft 704 rotatably mounted on the other side of the bottom end of the support arm 6, and a driven bevel gear shaft 705 rotatably mounted on the inner wall of the support arm 6 above the active bevel gear shaft 704. One end of the driven bevel gear shaft 705 meshes with the upper end of the active bevel gear shaft 704. A belt drive structure 703 is installed between the active bevel gear shaft 704 and the short shaft 701. The operator places the upper end of the metal rod of the ceramic composite insulator blank in the chuck 702 and uses the chuck 702 to fix the metal rod of the blank, ensuring that the blank remains stable throughout the glazing process.

[0051] The rotary following clamping assembly 7 also includes a linear rack 707 fixed on the outer left side of the housing of the lead screw linear lifting module 4 and a final gear 706 fixed at the other end of the driven bevel gear shaft 705. The final gear 706 and the linear rack 707 mesh with each other. When the servo motor 5 and the lead screw linear lifting module 4 drive the support arm 6 and the blank to move down at a constant speed, the final gear 706 and the linear rack 707 mesh with each other. During the downward movement of the support arm 6, the final gear 706 and the driven bevel gear shaft 705 are rotated. Then, the driven bevel gear shaft 705 transmits rotational power to the short shaft 701 through the active bevel gear shaft 704 and the belt drive structure 703, so that the chuck 702 and the blank rotate. By making the blank rotate evenly during the spraying process, a 360-degree no-dead-angle spraying coverage is achieved.

[0052] Example 3, based on Example 2, by Figure 9 and Figure 10The radial multi-zone ring spray glazing assembly 8 includes a hollow liquid storage ring 801 rotatably mounted on the left side of the top of the frame 2, a plurality of bends 805 circumferentially and equally spaced on the inner wall of the hollow liquid storage ring 801, and a nozzle 806 mounted on one end of each bend 805. A switch valve 807 is installed on one edge of the top of the hollow liquid storage ring 801. Two multi-wedge wheels 803 are rotatably mounted on the top of the frame 2 on the right side of the hollow liquid storage ring 801. A friction belt 804 is fitted between the two multi-wedge wheels 803. The friction belt 804 and the outer wall of the hollow liquid storage ring 801 are in contact with each other. The lower ends of the two multi-wedge wheels 803 extend into the interior of the frame 2 and are equipped with a belt drive structure 808. The lower end of one of the multi-wedge wheels 803 receives the rotational power of the lead screw from the lead screw linear lifting module 4 through a connecting rod reciprocating intermittent transmission assembly 11 and a sprocket transmission assembly 10.

[0053] The staff connects the liquid inlet of the switch valve 807 to the external glaze delivery pump, so that the glaze is pumped into the hollow liquid storage ring 801 through the switch valve 807. At this time, the bend pipe 805 diverts the glaze and causes the glaze to be sprayed onto the ceramic composite insulator blank at the nozzle 806. At this time, multiple nozzles 806 are radially and circumferentially distributed at equal intervals to perform uniform glaze spraying in multiple directions.

[0054] As the blank continues to move downward, the lower end of the lead screw of the linear lifting module 4 transmits rotational power to the connecting rod reciprocating intermittent transmission assembly 11 through the sprocket transmission assembly 10. The connecting rod reciprocating intermittent transmission assembly 11 forces one of the multi-wedge wheels 803 to reciprocate intermittently. Then, the two multi-wedge wheels 803 are powered together through the friction belt 804 and the belt drive structure 808. The friction belt 804 drives the hollow liquid storage ring 801 to rotate clockwise and counterclockwise at a certain frequency, thereby eliminating the glaze spraying blind zone between adjacent nozzles 806 and effectively improving the uniformity and adhesion of the glaze layer.

[0055] Several I-beam wheels 802 are rotatably mounted on the top of the frame 2 at the edge of the hollow liquid storage ring 801. The I-beam wheels 802 are in contact with the outer wall of the hollow liquid storage ring 801. The I-beam wheels 802 are used to assist the rotation of the hollow liquid storage ring 801 and improve the rotational stability of the hollow liquid storage ring 801.

[0056] Example 4, based on Example 3, by Figure 11 and Figure 12The sprocket drive assembly 10 includes a drive shaft 1001 rotatably mounted at the central axis position inside the hollow shaft carrier 3, a driven gear 1003 fixed at the top of the drive shaft 1001, and a driving gear 1002 fixed at the lower end of the lead screw of the linear lifting module 4. The driving gear 1002 and the driven gear 1003 mesh with each other. The lower end of the drive shaft 1001 is equipped with a sprocket drive structure 1004 for driving the connecting rod reciprocating intermittent transmission assembly 11. The lower end of the lead screw in the linear lifting module 4 drives the drive shaft 1001 to rotate through the driving gear 1002 and the driven gear 1003. Then, the lower end of the drive shaft 1001 transmits rotational power to the connecting rod reciprocating intermittent transmission assembly 11 through the sprocket drive structure 1004. The sprocket drive assembly 10 has a compact structure, high transmission efficiency, and stable power transmission.

[0057] The connecting rod reciprocating intermittent transmission assembly 11 includes a conversion shaft 1105 rotatably mounted on the right outer wall of the U-shaped frame 9 via a bearing housing, and two profiles 1103 fixed on the left outer wall of the U-shaped frame 9. A slide table 1104 is slidably mounted between the two profiles 1103. A handle 1106 is fixed to the lower end of the conversion shaft 1105. A fisheye connecting rod 1107 is hinged to one side of the bottom end of the handle 1106. One end of the fisheye connecting rod 1107 is hinged to the bottom end of the slide table 1104. The top end of the conversion shaft 1105 is connected to the lower end of the transmission shaft 1001 via a sprocket transmission structure 1004. The end is connected to the power supply. A C-port seat 1101 is fixed on the top wall of the frame 2 below one of the multi-wedge wheels 803. A gear and rack transmission conversion structure 1102 is installed inside the C-port seat 1101. The conversion shaft 1105 in the connecting rod reciprocating intermittent transmission assembly 11 obtains the rotational power from the transmission shaft 1001 through the sprocket transmission structure 1004. Then, the handle 1106 rotates around the central axis of the conversion shaft 1105. During the rotation, the handle 1106 drives the slide table 1104 to reciprocate linearly along the extension direction of the profile 1103 through the fisheye connecting rod 1107.

[0058] The gear and rack transmission conversion structure 1102 includes a helical rack slidably installed inside the C-port 1101 and a helical gear fixed to the lower end of one of the multi-wedge wheels 803. The helical gear and the helical rack mesh with each other. One end of the helical rack passes through to the outside of the C-port 1101 and is fixedly connected to the outer wall of one side of the slide table 1104. Since the slide table 1104 is connected to the rack in the gear and rack transmission conversion structure 1102, the slide table 1104 enables one of the multi-wedge wheels 803 to obtain reciprocating forward and reverse rotation power through the gear and rack transmission conversion structure 1102, thereby realizing the periodic motion switching of the radial multi-zone ring spray glazing assembly 8. The mechanical structure of the connecting rod reciprocating intermittent transmission assembly 11 is simple and reliable, the movement is smooth, and it is easy to maintain and adjust later.

[0059] In this embodiment, the ceramic composite insulator blank, which has been dried and surface-polished, is first vertically hoisted to the equipment station. The upper end of the blank rod is firmly clamped and fixed by the rotary following clamping assembly 7. After clamping, the operator selects the glazing production program on the PLC control panel 12 and confirms the start. During this process, the rotary following clamping assembly 7 is used to firmly clamp the upper end of the blank rod, ensuring that the blank remains stable throughout the glazing process and avoiding uneven glaze layer due to vibration or displacement. At the same time, the rotary following clamping assembly 7 receives and converts the power from the lead screw linear lifting module 4 and the servo motor 5. This causes the clamped blank to rotate. After the equipment starts, the servo motor 5 operates according to the direction, speed, angle, and response time set by the PLC control panel 12, thereby driving the lead screw linear lifting module 4 and causing the support arm 6 and its end-end rotary following clamping assembly 7 to move downwards at a uniform speed together with the blank. At the same time, the workpiece continues to rotate at a uniform speed to ensure that the circumferential surface of the blank can be evenly covered by glaze. As the blank gradually passes through the radial multi-zone ring spray glazing assembly 8, the radial multi-zone ring spray glazing assembly 8 continuously sprays glaze onto the blank from multiple directions. At the same time, the rotational power of the lead screw of the lead screw linear lifting module 4 is transmitted to the chain. At the wheel drive assembly 10, the sprocket drive assembly 10 and the connecting rod reciprocating intermittent drive assembly 11 convert rotation into regular, periodic reciprocating oscillation of the radial multi-zone ring spray glazing assembly 8. This causes the radial multi-zone ring spray glazing assembly 8 to rotate back and forth intermittently at a certain angle. As the workpiece descends at a continuous, uniform speed, it continues to rotate. Meanwhile, the radial multi-zone ring spray glazing assembly 8 surrounding the workpiece is not stationary but undergoes synchronous, periodic oscillation. This ensures that the glaze covers the deep grooves, inner sides, and all shaded areas of the workpiece's complex umbrella-shaped structure, thus completely eliminating glazing blind spots. Throughout the entire operation... During the process, staff need to monitor the equipment status and operating parameters on the PLC control panel 12 in real time to ensure that the movement speed and position accuracy of the lead screw linear lifting module 4 and the servo motor 5 meet the process requirements. If any abnormality is found, such as movement jamming, positioning deviation or uneven spraying, staff should immediately adjust the parameters or stop the equipment through the PLC control panel 12 for inspection and correction. When the blank has completely passed through the radial multi-zone ring spray glazing assembly 8, the glazing work is completed. The operator then releases the clamp and carefully transfers the glazed blank to the drying area to prepare for the subsequent firing process and start the clamping cycle of the next workpiece.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0061] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robotic arm, characterized in that, include: A base plate (1) is fixed with a hollow shaft carrier (3) at the right side of the top of the base plate (1), and a lead screw linear lifting module (4) is installed at the top of the hollow shaft carrier (3), and a support arm (6) is installed at the moving end of the lead screw linear lifting module (4), and a rotary following clamping assembly (7) is installed at the bottom end of the support arm (6), and a servo motor (5) is installed at the top of the housing of the lead screw linear lifting module (4). The frame (2) is fixed on the left outer wall of the hollow shaft carrier (3) and the base plate (1). A U-shaped frame (9) is fixed inside the frame (2). A connecting rod reciprocating intermittent transmission assembly (11) is installed inside the U-shaped frame (9). A sprocket transmission assembly (10) that maintains power connection with the lower end of the lead screw of the lead screw linear lifting module (4) is installed inside the hollow shaft carrier (3). The connecting rod reciprocating intermittent transmission assembly (11) receives rotational power from the lead screw through the sprocket transmission assembly (10). A radial multi-zone ring spray glazing assembly (8) is mounted on the top of the frame (2). The sprocket drive assembly (10) and the connecting rod reciprocating intermittent drive assembly (11) transmit reciprocating intermittent rotational power to the input shaft of the radial multi-zone ring spray glazing assembly (8). A PLC control panel (12) is mounted on one side of the surface of the frame (2). The input end of the PLC control panel (12) is electrically connected to the output end of the servo motor (5).

2. An industrial robot according to claim 1, characterized in that: The rotary following clamping assembly (7) includes a short shaft (701) rotatably mounted on one side of the bottom end of the support arm (6), a chuck (702) fixed at the lower end of the short shaft (701), an active bevel gear shaft (704) rotatably mounted on the other side of the bottom end of the support arm (6), and a driven bevel gear shaft (705) rotatably mounted on the inner wall of the support arm (6) above the active bevel gear shaft (704). One end of the driven bevel gear shaft (705) meshes with the upper end of the active bevel gear shaft (704), and a belt drive structure (703) is installed between the active bevel gear shaft (704) and the short shaft (701).

3. An industrial robot according to claim 2, characterized in that: The rotary following clamping assembly (7) also includes a linear rack (707) fixed on the outer left side of the housing of the lead screw linear lifting module (4) and a final gear (706) fixed at the other end of the driven bevel gear shaft (705). The final gear (706) and the linear rack (707) mesh with each other.

4. An industrial robot according to claim 3, characterized in that: The radial multi-zone ring spray glazing assembly (8) includes a hollow liquid storage ring (801) rotatably mounted on the left side of the top of the frame (2), a plurality of bends (805) circumferentially and equally spaced on the inner wall of the hollow liquid storage ring (801), and a nozzle (806) mounted on one end of each bend (805). A switching valve (807) is installed on one edge of the top of the hollow liquid storage ring (801), and two multi-wedge wheels are rotatably mounted on the top of the frame (2) on the right side of the hollow liquid storage ring (801). (803), a friction belt (804) is fitted between the two multi-wedge wheels (803). The friction belt (804) and the outer wall of the hollow liquid storage ring (801) are in contact with each other. The lower ends of the two multi-wedge wheels (803) extend into the interior of the frame (2) and are equipped with a belt drive structure (808). The lower end of one of the multi-wedge wheels (803) receives the screw rotation power from the screw linear lifting module (4) through the connecting rod reciprocating intermittent transmission assembly (11) and the sprocket transmission assembly (10).

5. An industrial robot according to claim 4, characterized in that: Several I-beam wheels (802) are rotatably mounted on the top of the frame (2) at the edge of the hollow liquid storage ring (801), and the I-beam wheels (802) and the outer wall of the hollow liquid storage ring (801) are in contact with each other.

6. An industrial robot according to claim 4, characterized in that: The sprocket drive assembly (10) includes a drive shaft (1001) rotatably mounted on the central axis inside the hollow shaft carrier (3), a driven gear (1003) fixed at the top of the drive shaft (1001), and a drive gear (1002) fixed at the lower end of the lead screw of the lead screw linear lifting module (4). The drive gear (1002) and the driven gear (1003) mesh with each other. The lower end of the drive shaft (1001) is equipped with a sprocket drive structure (1004) for driving the reciprocating intermittent transmission assembly (11) of the connecting rod.

7. An industrial robot according to claim 6, characterized in that: The connecting rod reciprocating intermittent transmission assembly (11) includes a conversion shaft (1105) rotatably mounted on the right outer wall of the U-frame (9) via a bearing seat and two profiles (1103) fixed on the left outer wall of the U-frame (9). A slide table (1104) is slidably mounted between the two profiles (1103). A handle (1106) is fixed to the lower end of the conversion shaft (1105), and a fisheye connecting rod (1) is hinged to one side of the bottom end of the handle (1106). 107), one end of the fisheye connecting rod (1107) is hinged to the bottom end of the slide table (1104), the top end of the conversion shaft (1105) is connected to the lower end of the transmission shaft (1001) through the sprocket transmission structure (1004), and a C-port seat (1101) is fixed on the top wall of the frame (2) below one of the multi-wedge wheels (803). A gear and rack transmission conversion structure (1102) is installed inside the C-port seat (1101).

8. An industrial robot according to claim 7, characterized in that: The gear and rack transmission conversion structure (1102) includes a helical rack that is slidably installed inside the C-port seat (1101) and a helical gear fixed to the lower end of one of the multi-wedge wheels (803). The helical gear and the helical rack mesh with each other. One end of the helical rack extends through to the outside of the C-port seat (1101) and is fixedly connected to one side of the outer wall of the slide (1104).

9. A method for operating an industrial robot, comprising the industrial robot as described in any one of claims 1-8, characterized in that: Includes the following steps: S101: The ceramic composite insulator blank that has been dried and surface polished is vertically hoisted to the equipment station and the upper end of the rod of the blank is firmly clamped and fixed by the rotary following clamping assembly (7); S102: The operator selects the glazing production program on the PLC control panel (12) and confirms the start. The servo motor (5) runs according to the direction, speed, angle and response time set on the PLC control panel (12), thereby driving the lead screw linear lifting module (4) and driving the support arm (6) and its end rotary following clamping assembly (7) to move downward at a uniform speed together with the blank. At the same time, the workpiece continues to rotate at a uniform speed to ensure that the circumferential surface of the blank can be evenly covered by the glaze. S103: As the blank gradually passes through the radial multi-zone ring spray glazing assembly (8), the radial multi-zone ring spray glazing assembly (8) continuously sprays glaze onto the blank from multiple directions. At the same time, the screw rotation power of the screw linear lifting module (4) is transmitted to the sprocket drive assembly (10). The sprocket drive assembly (10) and the connecting rod reciprocating intermittent transmission assembly (11) convert the rotation into the regular, periodic reciprocating oscillation of the radial multi-zone ring spray glazing assembly (8), so that the radial multi-zone ring spray glazing assembly (8) moves back and forth intermittently at a certain angle, so that the glaze covers the deep groove, inner side and all shaded areas of the complex umbrella skirt structure of the workpiece. S104: Once the blank has completely passed through the radial multi-zone ring spray glazing assembly (8), the glazing work is completed. The operator then releases the clamp and carefully transfers the glazed blank to the drying area to prepare for the subsequent firing process and begins the clamping cycle of the next workpiece.

10. The application of the industrial robot operation method according to claim 9 in composite insulators, characterized in that: Driven by a single servo motor (5), the support arm (6), the rotary following clamping assembly (7), and the clamped insulator blank descend at a constant speed via the lead screw linear lifting module (4). At the same time, the rotational motion of the lead screw is decomposed into the continuous uniform rotation of the blank itself and the regular reciprocating oscillation of the radial multi-zone ring spray glazing assembly (8) through the sprocket transmission assembly (10) and the connecting rod reciprocating intermittent transmission assembly (11).

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