Mechanical arm of cable bridge production industrial robot, cable bridge and method

Abstract

The invention discloses a mechanical arm of a cable bridge production industrial robot, a cable bridge and a method, and belongs to the field of cable bridge manufacturing. The mechanical arm comprises a base, a rotating seat, a large supporting arm and an adjusting arm, and multi-degree-of-freedom posture adjustment is achieved through cooperative control of a plurality of servo motors. The machining assembly is fixed to the T-shaped supporting plate, a concentric circle nested shaft system and gear transmission are used for accurately controlling a tail end installation disc to rotate, and welding, grinding and clamping tools can be compatible. The device integrates a moving assembly and an adjusting assembly, and longitudinal and transverse movement of the mechanical arm between the double supporting bottom plates is achieved through a synchronous belt and a lead screw mechanism. Through cooperation with the supporting frame capable of vertically ascending and descending, automatic machining of the cable bridge is achieved, the problems that manual operation is low in efficiency, unstable in quality and severe in working environment are effectively solved, and production efficiency and safety are remarkably improved.

Description

A robotic arm for an industrial robot manufacturing cable tray, a cable tray, and a method thereof. Technical Field

[0001] This invention relates to the field of cable tray technology, and in particular to a robotic arm for an industrial robot in cable tray production, as well as the cable tray and method thereof. Background Technology

[0002] The production of cable trays involves multiple processes, such as the fixed connection between the tray body and the tray panel, the welding between the tray body and the mounting plate, and the welding between multiple tray bodies. Additionally, clamping and grinding operations may be required.

[0003] Traditional cable tray production methods often rely on manual operation, which has many problems: manual operation has limited speed, and switching between various process steps takes a lot of time, resulting in a long overall production cycle and failing to meet the needs of large-scale production.

[0004] Manual operation is greatly affected by the worker's skill level and fatigue level, which can easily lead to problems such as weak welding and uneven grinding, resulting in inconsistent product quality and affecting the performance and safety of cable trays.

[0005] Some operations in the production of cable trays, such as handling and welding, require workers to exert considerable physical strength. Long-term high-intensity labor not only affects the workers' physical health but also easily leads to operational errors, further affecting product quality.

[0006] The welding and grinding processes generate harmful factors such as high temperatures, sparks, and dust, posing a threat to workers' health. Furthermore, manual operation in some hazardous environments increases the risk of accidents. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of traditional cable tray production, which relies on manual operation, resulting in low production efficiency, unstable quality, high labor intensity, and high safety risks. This invention proposes a robotic arm for cable tray production, as well as the cable tray and its method.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a robotic arm for an industrial robot in cable tray production, comprising a robotic arm base; a rotating base rotatably connected to the top of the robotic arm base; a supporting arm rotatably connected to the top of the rotating base; a V servo motor fixedly mounted on one side of the rotating base, its output shaft connected to the rotating shaft of the supporting arm to control the rotation of the supporting arm; an adjusting arm rotatably connected to one side of the rotating base; a III servo motor fixedly mounted on one side of the rotating base, its output shaft connected to the rotating shaft of the adjusting arm to control the rotation of the adjusting arm; and an IV servo motor fixedly mounted on one side of the robotic arm base. The output shafts of servo motors IV and III rotate through the base of the robotic arm and are fixedly mounted with a worm gear. A rotating shaft I is fixedly mounted at the bottom of the rotating base, and a worm wheel meshing with the worm gear is fixedly sleeved on the outer wall of shaft I. A T-shaped support plate is rotatably connected to the top of the support arm and also rotatably connected to the top of the adjusting arm. A machining assembly is fixedly mounted on the top of the T-shaped support plate and is used for machining the bridge frame. Servo motors V and III work together to control the movement of the support arm and the adjusting arm, adjusting the spatial position and angle of the T-shaped support plate to achieve multi-degree-of-freedom movement and improve machining flexibility.

[0009] In one possible design, the processing assembly includes: a fixed base, fixedly connected to the top of the T-shaped support plate; an outer sleeve, an inner rod, and a middle rod, rotatably passing through the fixed base and arranged concentrically; three servo motors (No. VI), fixedly mounted at one end of the fixed base, each with its output shaft rotatably passing through the fixed base and fixedly mounted with a drive gear; three driven gears, respectively fixedly sleeved on the outer walls of the outer sleeve, inner rod, and middle rod, and meshing with the drive gears; a connecting block, fixedly connected to one end of the outer sleeve; a U-shaped base, rotatably sleeved on the outer wall of the connecting block; and a mounting plate, rotatably passing through one end of the U-shaped base. The rotation of the outer sleeve, inner rod, and middle rod is controlled by the meshing transmission of the drive gears and driven gears driven by the servo motors (No. VI), thereby adjusting the angles of the U-shaped base and the mounting plate to achieve multi-directional positioning of the end effector.

[0010] In one possible design, a moving assembly is also included, comprising: four No. I mounting plates, symmetrically fixed in pairs to the bottom of the robotic arm base; a connecting shaft that rotatably passes through two No. I mounting plates located on the same side; No. II moving wheels, fixedly sleeved at both ends of the connecting shaft; No. II servo motor, fixedly mounted on one side of the bottom of the robotic arm base; a synchronous pulley, fixedly sleeved on the outer wall of the output shaft of the No. II servo motor and one of the connecting shafts; and a synchronous belt that drives the transmission of the transmission through the outer walls of the two synchronous pulleys.

[0011] In one possible design, the system also includes an adjustment assembly and two supporting base plates arranged in parallel below the robotic arm base. Servo motor II drives the connecting shaft and moving wheel II via a synchronous belt drive, causing the robotic arm to move along the supporting base plates. The adjustment assembly includes: a connecting seat, multiple of which are fixedly connected between the two supporting base plates; a sliding support seat, slidably connected inside the connecting seat; moving wheel I, fixedly installed at the four bottom corners of the sliding support seat; a strip groove I, formed on the top of the sliding support seat; a strip groove IV, formed on the top of the supporting base plate, which, together with strip groove I, forms a guide rail path; servo motor I, fixedly installed on one side of one of the supporting base plates; a threaded plate, fixedly connected to the bottom of the sliding support seat; an adjusting screw, fixedly connected to the output shaft of servo motor I, and threaded through the threaded plate; and a threaded plate, fixedly connected to the bottom of the sliding support seat. The servo motor I drives the adjusting screw to rotate, causing the threaded plate and the sliding support seat to move along a linear guide rail, thus realizing the transfer of the robotic arm base between the supporting base plates.

[0012] In one possible design, a support assembly is also included, comprising: two side support frames, each side support frame being fixedly connected to both sides of the support base plate via two connecting rods; a limiting strip, fixedly connected to the inner walls of both sides of the side support frames; a top support frame, slidably connected between the two side support frames, having limiting holes on both sides for slidable connection with the limiting strip; a lifting motor, fixedly installed on the bottom inner wall of the side support frames; a lifting screw, fixedly connected to the output shaft of the lifting motor and threaded through the top support frame; and a rectangular protective cover, fixedly installed on the bottom inner wall of the side support frames and surrounding the lifting motor; wherein the lifting motor drives the lifting screw to rotate, causing the top support frame to rise and fall vertically along the limiting strip, adjusting the height of the cable tray.

[0013] In one possible design, the processing assembly further includes: a No. III rotating shaft, rotatably mounted on one inner wall of the U-shaped base; a No. I bevel gear, fixedly mounted on one end of the intermediate rod; a No. V bevel gear, fixedly sleeved on the outer wall of the No. III rotating shaft and meshing with the No. I bevel gear; a No. II bevel gear, fixedly mounted on one end of the inner rod; a No. VI bevel gear, fixedly sleeved on the outer wall of the No. III rotating shaft and meshing with the No. II bevel gear; a No. II rotating shaft, rotatably connected to one inner wall of the U-shaped base; a spur gear, fixedly sleeved on the outer walls of the No. II and No. III rotating shafts and meshing with each other; a No. IV bevel gear, fixedly sleeved on the outer wall of the No. II rotating shaft; and a No. III bevel gear, fixedly sleeved on one end of the mounting plate and meshing with the No. IV bevel gear. The meshing transmission of the bevel gears precisely controls the 360° rotation of the mounting plate, adapting to welding or grinding angles.

[0014] In one possible design, the moving component further includes: a rectangular hole formed on the top of the support base plate; a second strip groove formed inside the connecting seat; and a third strip groove formed on the bottom inner wall of the rectangular hole and communicating with the second strip groove; wherein the first moving wheel rolls in the guide rail formed by the second and third strip grooves to ensure smooth movement of the sliding support seat.

[0015] In one possible design, the No. I rotating shaft is made of shape memory alloy and is linked with the rotating seat and the supporting arm.

[0016] A cable tray for manufacturing the robotic arm of an industrial robot using the aforementioned cable tray includes: a cable tray body, a cable tray panel fixedly mounted to the bottom of the cable tray body by screws, and a plurality of cable tray mounting plates welded to the top of the cable tray body.

[0017] A method for producing the aforementioned cable tray includes the following steps: S1, fixing the cable tray body and the cable tray panel together with screws and placing them on top of a top support frame; S2, starting the lifting motor, driving the lifting screw to rotate, causing the top support frame to rise and fall vertically along the limit strip, adjusting the cable tray body to the processing height; S3, starting servo motor II, driving the connecting shaft and moving wheel II to rotate via synchronous belt transmission, causing the robotic arm to move along slots I and IV to the processing position; S4, when it is necessary to move across the support base plate, starting servo motor I, driving the adjusting screw to rotate, causing the sliding support seat and the robotic arm base to move to another support base plate; S5. S6. Start servo motor IV to drive the worm gear to rotate, which in turn rotates the worm wheel and the rotating seat, adjusting the orientation of the support arm; S7. Start servo motors V and III to coordinate the rotation of the support arm and the adjusting arm, adjusting the spatial position of the T-shaped support plate; S8. Start servo motor VI to control the rotation of the outer sleeve, intermediate rod, and inner rod through the meshing of the drive gear and driven gear, thereby adjusting the angle of the end effector on the mounting plate; S9. Perform welding through the welding gun on the mounting plate, or grinding through the grinding head, or clamping through the fixture; In this process, the coordinated control of multiple servo motors enables efficient and flexible processing of the cable tray, improving production efficiency and product quality.

[0018] In this application, during use, the cable tray body and the cable tray panel are fixedly connected by screws. When welding the cable tray body and the cable tray mounting plate, or when welding two cable tray bodies, it can be placed on top of the top support frame. Welding is achieved by installing a welding gun on the mounting plate. Other components can be installed to achieve functions such as clamping and grinding. When processing the cable tray body, servo motor II is started. Servo motor II drives the connecting shaft to rotate via a synchronous belt and synchronous pulley. The connecting shaft drives the moving wheel II to rotate. The moving wheel II then drives the robotic arm to slide within the slots IV and I, allowing for position adjustment on one side of the top support frame. When it is necessary to move to the other side of the top support frame, the robotic arm can be adjusted. When the robotic arm base is positioned on a sliding support, servo motor I is activated. The output shaft of servo motor I drives the adjusting screw to rotate, which in turn moves the threaded plate. The threaded plate then moves the sliding support from the interior of one support plate to the interior of another support plate via a connecting seat. At this time, moving wheel I slides inside slots II and III. Multiple sliding supports can move synchronously to another support plate, facilitating the normal movement of the robotic arm base on the other support plate and allowing for easy resetting. When the robotic arm base is processing the bridge frame body at different positions, the lifting motor can be activated. The output shaft of the lifting motor drives the lifting screw to rotate, which in turn moves the top support frame up and down, adjusting the limit holes and... The limit bars ensure the stability of the top support frame's vertical movement, allowing adjustment of the bridge frame's height for easier machining of the robotic arm base. During machining of the robotic arm base, servo motor IV can be activated. Its output shaft drives the worm gear, which in turn drives the worm wheel, which in turn drives shaft I. Shaft I then drives the rotating seat, allowing adjustment of the overall orientation of the support arm and rotating seat. Activating servo motor V rotates the support arm, and simultaneously activating servo motor III rotates the adjusting arm, allowing adjustment of the T-shaped support plate's height and angle, thus changing the orientation of the connecting block. By activating different positions... Servo motor VI can drive corresponding driven gears through different positions of the driving gears. The outermost driven gear drives the outer sleeve to rotate, adjusting the position of the connecting block. The driven gear in the middle position drives the middle rod to rotate, which in turn, through the meshing of bevel gears I and V, can adjust the angle of the U-shaped seat. When the innermost driven gear rotates, it drives the inner rod to rotate, which in turn drives bevel gear II to rotate bevel gear VI. Bevel gear VI drives shaft III to rotate, which in turn drives shaft II through a spur gear. Shaft II drives bevel gear IV, which in turn drives bevel gear III. Bevel gear III then drives the mounting plate to rotate, thus adjusting the angle of the mounting plate and facilitating the machining process. Beneficial effects

[0019] This robotic arm has multiple processing functions. By installing different components on the mounting plate, such as a welding gun, it can perform welding, as well as clamping and grinding functions, meeting various process requirements in the cable tray production process and improving the overall production efficiency.

[0020] The robotic arm uses multiple servo motors to precisely control the rotation of different joints. For example, servo motor V controls the rotation of the support arm and servo motor III controls the rotation of the adjustment arm. This allows for flexible adjustment of the robotic arm's posture and position, enabling the processing of the bridge frame body at different positions and angles, greatly improving the flexibility and adaptability of the processing.

[0021] The robotic arm base is equipped with a moving component. Servo motor II drives the connecting shaft to rotate via a synchronous belt and synchronous pulley, which in turn causes the moving pulley II to move the entire robotic arm within the slots IV and I, thus adjusting the position of the robotic arm on one side of the top support frame.

[0022] When it is necessary to move to the other side of the top support frame, the No. 1 servo motor drives the adjusting screw to rotate, so that the threaded plate moves the sliding support between the two support base plates. Multiple sliding support bases can move synchronously, which facilitates the normal movement and reset of the robotic arm base on the other support base plate. This allows the robotic arm to adjust its position quickly and accurately within a large range, improving the processing range and efficiency.

[0023] The lifting motor drives the lifting screw to rotate, allowing the top support frame to move up and down, thereby adjusting the height of the bridge frame body and facilitating machining by the robotic arm base. The design of limit holes and limit strips ensures the stability of the top support frame's vertical movement, guaranteeing accurate positioning of the bridge frame body during height adjustment and preventing displacement, thus improving machining precision.

[0024] The robotic arm achieves multi-degree-of-freedom movement through the operation of components such as the rotating base, supporting arm, adjusting arm, and T-shaped support plate. The machining assembly utilizes multiple bevel gears and spur gears for precise adjustment of the mounting plate angle, facilitating the installation of different machining tools. The structure of the support base plate and side support frame provides stable support for the robotic arm and bridge, ensuring the stability and reliability of the entire production process.

[0025] A dynamic adaptive precision compensation system is constructed by using a NiTi shape memory alloy to make the No. I rotating shaft. By utilizing the phase change characteristics of the alloy, the inevitable heat damage (ΔT) and vibration (F) during the processing are converted into control variables for triggering deviation correction. An accurate response bending is generated through the formula ΔB = α * ΔT * L to automatically cancel the thermal drift caused by thermal expansion. At the same time, in combination with the linkage feedback of the vibration sensor and the No. II and No. I servo motors, the trajectory of the moving component is fine-tuned in real time according to the force feedback coefficient β to actively suppress the end jitter during grinding or welding. This dual compensation mechanism makes the compensated attitude error A′ much smaller than the original error A (A′ < A). It not only ensures the uniformity of the weld seam and the flatness of the grinding surface under continuous high-temperature operation but also effectively prevents the fatigue damage of the robotic arm caused by rigid confrontation through the automatic stress release function of the alloy under the overload threshold, achieving the organic unity of high-precision processing and long equipment life. Brief Description of the Drawings

[0026] Figure 1 is a three-dimensional structural diagram of the robotic arm and cable tray of the cable tray manufacturing industrial robot proposed in this invention; Figure 2 is an exploded view of the robotic arm and cable tray body and cable tray panel of the cable tray manufacturing industrial robot proposed in this invention; Figure 3 is a three-dimensional structural diagram of the side support frame and top support frame of the side support frame and top support frame of the cable tray manufacturing industrial robot proposed in this invention; Figure 4 is an exploded view of the side support frame and top support frame of the side support frame and top support frame of the cable tray manufacturing industrial robot proposed in this invention; Figure 5 is a three-dimensional view of the support base plate and sliding support seat of the support arm and cable tray of the cable tray manufacturing industrial robot proposed in this invention; Figure 6 is an exploded view of the sliding support seat and servo motor I of the support arm and cable tray of the cable tray manufacturing industrial robot proposed in this invention; Figure 7 is an exploded view of the support base plate and connecting seat of the support arm and cable tray of the cable tray manufacturing industrial robot proposed in this invention; Figure 8 is a view of the robotic arm of the cable tray manufacturing industrial robot proposed in this invention. Figure 9 is an exploded view of the robotic arm and worm gear in the cable tray of the industrial robot for cable tray production proposed in this invention; Figure 10 is a three-dimensional structural diagram of the robotic arm and outer sleeve and supporting arm in the cable tray of the industrial robot for cable tray production proposed in this invention; Figure 11 is a three-dimensional structural diagram of the robotic arm and outer sleeve and fixed seat in the cable tray of the industrial robot for cable tray production proposed in this invention; Figure 12 is a three-dimensional structural diagram of the driving gear and driven gear in the cable tray of the industrial robot for cable tray production proposed in this invention; Figure 13 is an exploded view of the robotic arm and outer sleeve and inner rod in the cable tray of the industrial robot for cable tray production proposed in this invention; Figure 14 is an exploded view of the robotic arm and U-shaped seat and mounting plate I in the cable tray of the industrial robot for cable tray production proposed in this invention; Figure 15 is an exploded view of the robotic arm and U-shaped seat and mounting plate II in the cable tray of the industrial robot for cable tray production proposed in this invention.

[0027] In the diagram: 1. Support base plate; 2. Connecting rod; 3. Side support frame; 4. Top support frame; 5. Cable tray main body; 6. Robotic arm base; 7. Cable tray mounting plate; 8. Limiting strip; 9. Lifting screw; 10. Rectangular protective cover; 11. Lifting motor; 12. Sliding support seat; 13. Connecting seat; 14. Bellows protective cover; 15. No. I strip groove; 16. No. I moving wheel; 17. Adjusting screw; 18. No. I servo motor; 19. Threaded plate; 20. No. II strip groove; 21. No. III strip groove; 22. Rectangular hole; 23. No. IV strip groove; 24. No. II servo motor; 25. No. II moving wheel; 26. No. I mounting plate; 27. Connecting shaft; 28. Adjusting arm; 29. ​​Support Large arm; 30. Servo motor III; 31. U-shaped seat; 32. Outer sleeve; 33. Fixed seat; 34. Rotating shaft I; 35. Worm gear; 36. Worm; 37. Servo motor IV; 38. Rotating seat; 39. Servo motor V; 40. Connecting block; 41. Servo motor VI; 42. Mounting plate; 43. Driven gear; 44. Driven gear; 45. Inner rod; 46. Intermediate rod; 47. Bevel gear I; 48. Bevel gear II; 49. Rotating shaft II; 50. Bevel gear III; 51. Spur gear; 52. Bevel gear IV; 53. Bevel gear V; 54. Bevel gear VI; 55. Rotating shaft III; 56. Cable tray panel; 57. Limiting hole; 58. T-shaped support plate. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] In one embodiment: Referring to Figures 1-15, a robotic arm for an industrial robot manufacturing cable trays is provided. The robotic arm has a robotic arm base 6 as its core support structure. A rotating seat 38 is mounted on the top of the robotic arm base 6 via a rotating connector. A No. IV servo motor 37 is fixedly mounted on one side of the robotic arm base 6. The output shaft of the No. IV servo motor 37 rotates through the robotic arm base 6 and is fixedly mounted with a worm gear 36. A No. I rotating shaft 34 is fixedly mounted on the bottom of the rotating seat 38. A worm wheel 35 that meshes with the worm gear 36 is fixedly sleeved on the outer wall of the No. I rotating shaft 34. The upper part of the rotating seat 38 is connected to the supporting arm 29 via a rotating shaft. The output shaft of the No. V servo motor 39 fixedly mounted on one side of the rotating seat 38 is directly connected to the rotating shaft of the supporting arm 29. The rotation angle of the supporting arm 29 in the horizontal plane can be precisely controlled by the servo control system. The top of the support arm 29 is connected to the T-shaped support plate 58 via a rotating shaft. An adjusting arm 28 is installed on the other side of the rotating seat 38 via a rotating shaft. The top of the adjusting arm 28 is rotatably connected to the bottom of the T-shaped support plate 58. The No. III servo motor 30 fixed on the rotating seat 38 drives the adjusting arm 28 to rotate via a gear transmission mechanism. The rotation of the support arm 29 is used to adjust the spatial posture of the T-shaped support plate 58.

[0030] The processing component is mounted on top of the T-shaped support plate 58 via a fixed base 33. Its internal structure employs a three-axis nested structure: the outer sleeve 32, the intermediate rod 46, and the inner rod 45 are arranged concentrically, each driven independently by three servo motors 41 mounted on the fixed base 33. Each servo motor's output shaft meshes with its corresponding driven gear 43 via a drive gear 44, forming a three-stage transmission system: the outermost transmission controls the rotation of the outer sleeve 32, causing the connecting block 40 to swing horizontally; the intermediate transmission meshes with the bevel gear 53 on the U-shaped base 31 via the bevel gear 47 at the end of the intermediate rod 46, achieving pitch angle adjustment of the U-shaped base 31; the innermost transmission drives the bevel gear 54 via the bevel gear 48 at the end of the inner rod 45, which in turn drives the rotation of the rotating shaft 49 via a spur gear 51. The bevel gear 52 on the rotating shaft 49 meshes with the bevel gear 50 at the end of the mounting plate 42, ultimately achieving 360° continuous rotation of the mounting plate 42. The mounting plate 42 can be replaced with end effectors such as welding guns, grinding heads or fixtures according to process requirements. The inner wall of one side of the U-shaped seat 31 is fixedly fitted with a rotating shaft 55.

[0031] The bottom of the robotic arm base 6 is equipped with four sets of moving components. A connecting shaft 27 is mounted between the two No. I mounting plates 26 on each side via bearings. Both ends of the connecting shaft 27 are equipped with No. II moving wheels 25. The right connecting shaft 27 is connected to the No. II servo motor 24 fixed to the bottom of the robotic arm base 6 via a synchronous belt drive system. When the No. II servo motor 24 is driven, the synchronous belt drives the synchronous wheel to rotate, which in turn causes the connecting shaft 27 and the No. II moving wheel 25 to rotate, realizing the linear movement of the robotic arm on the support base plate 1.

[0032] The dual-support base plate 1 adopts a parallel layout, with the two base plates fixedly connected by multiple connecting seats 13. Adjustment components are installed inside the connecting seats 13. The sliding support base 12 has No. I moving wheels 16 installed at its four corners, allowing it to slide within the guide rail system formed by No. II strip groove 20 and No. III strip groove 21. When the robotic arm needs to move laterally, the No. I servo motor 18 drives the adjusting screw 17 to rotate, and the threaded plate 19 moves the sliding support base 12 along No. II strip groove 20, while the No. I moving wheels 16 roll in No. III strip groove 21, thus enabling the transfer of the robotic arm base 6 between different support base plates 1. The bellows cover 14 extends and retracts with the threaded plate 19, protecting the adjusting screw 17 from dust contamination. The top of the support base plate 1 has two symmetrically arranged No. IV strip grooves 23, and the top of the sliding support seat 12 has two symmetrically arranged No. I strip grooves 15. Both No. I strip groove 15 and No. IV strip groove 23 are used in conjunction with No. II moving wheel 25. The two support base plates 1 have rectangular holes 22 on the side that are close to each other.

[0033] The support assembly consists of a frame structure formed by two side support frames 3. Two symmetrically arranged connecting rods 2 are fixedly installed on both sides of the support base plate 1. One end of each connecting rod 2 on the same side is fixedly connected to the same side support frame 3. A limiting strip 8 welded to the inner side of the side support frame 3 forms a sliding fit with the limiting holes 57 on both sides of the top support frame 4. A lifting motor 11 is fixed to the bottom of the side support frame 3, and its output shaft is connected to a lifting screw 9 via a coupling. The top end of the lifting screw 9 is fixed to the top of the side support frame 3 via a bearing. A threaded hole is opened in the center of the top support frame 4 to engage with the lifting screw 9. When the lifting motor 11 starts, the lifting screw 9 rotates, causing the top support frame 4 to rise and fall vertically along the limiting strip 8. A rectangular protective cover 10 completely encloses the lifting motor 11, preventing welding sparks and dust from entering the motor.

[0034] This robotic arm, through the precise coordination of servo motors and a gear transmission system, enables flexible adjustment of processing components in six degrees of freedom in space. The coordinated work of the moving and adjusting components extends the robotic arm's coverage area to the entire production area. The lifting function of the support components can adapt to the processing needs of different specifications of cable trays, and the three-stage transmission system ensures that the end effector maintains a stable posture during processes such as welding and grinding. Actual production tests show that this robotic arm can improve cable tray production efficiency, increase welding qualification rate, and free operators from high-intensity, high-risk environments, significantly improving the safety of the production environment.

[0035] This application can be used in the field of cable trays, or in other fields applicable to this application.

[0036] In another embodiment: Referring to Figures 1-15, the cable tray includes a tray body 5. A tray panel 56 is fixed to the bottom of the tray body 5 with screws. Multiple tray mounting plates 7 are welded to the top of the tray body 5. During production, the tray body 5 and tray panel 56 are initially fixed with screws, and the assembly is placed on a top support frame 4. According to the welding position requirements, the lifting motor 11 adjusts the height of the top support frame 4 to position the weld seam in the optimal processing position. The robotic arm is positioned above the processing area via moving and adjusting components. Servo motors V and III work together to move the processing components to the target position. Servo motor VI drives the three-stage transmission system according to a preset program, enabling the welding gun on the mounting plate 42 to complete the welding of the tray body 5 and the tray mounting plate 7 at a specified angle and speed, or to achieve butt welding of two tray bodies 5. When grinding is required, the grinding head on the mounting plate 42 is replaced, and the grinding angle and pressure are adjusted through the same transmission system. The gripping operation is achieved by installing a pneumatic gripper, which utilizes the rotation of the mounting plate 42 and the pitch of the U-shaped base 31 to achieve multi-degree-of-freedom gripping.

[0037] The No. I rotating shaft 34 is made of shape memory alloy (α is the phase transformation coefficient, L is the arm length, and β is the force feedback coefficient), preferably NiTi alloy, and is linked with the rotating seat 38, the supporting arm 29, the adjusting arm 28, and the processing components. When vibration F or heat is generated during processing, causing the temperature to rise by ΔT, the alloy responds by bending ΔB=α*ΔT*L, thereby automatically adjusting the posture of the arm 28 to compensate for deviations after welding or grinding; the compensated posture error A'=A-(α*ΔT*L+β*F), where A' is the compensated error, A is the original error, and F is the value measured by the vibration sensor; the vibration sensor is integrated into the output end of the No. IV servo motor 37 and electrically connected to the No. II servo motor 24 and the No. I servo motor 18, monitoring vibration in real time and providing feedback. The No. II servo motor 24 finely adjusts the rotation of the connecting shaft 27 according to the signal, so that the No. II moving wheel 25 moves precisely along the compensation path; when ΔT or F exceeds the threshold, the alloy automatically recovers and releases stress. This reconstruction is applicable to general production of industrial assembly of various materials, overcoming the problems of precision loss and reliability caused by vibration and heat in traditional arm equipment.

[0038] Those skilled in the art should understand that the working principles and wiring methods of servo motors V (39), III (30), VI (41), the lifting motor 11, I (18), II (24), and IV (37) are all conventional techniques in the field. In specific implementations, technicians can select appropriate motor models and parameters according to actual needs; such selections do not constitute a substantial limitation on the technical solution of this invention.

[0039] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm for an industrial robot used in cable tray manufacturing, characterized in that, include: Robotic arm base (6); rotating seat (38), rotatably connected to the top of the robotic arm base (6); supporting arm (29), rotatably connected to the top of the rotating seat (38); servo motor V (39), fixedly installed on one side of the rotating seat (38), its output shaft connected to the rotating shaft of the supporting arm (29) to control the rotation of the supporting arm (29); adjusting arm (28), rotatably connected to one side of the rotating seat (38); servo motor III (30), fixedly installed on one side of the rotating seat (38), its output shaft connected to the rotating shaft of the adjusting arm (28) to control the rotation of the adjusting arm (28); servo motor IV (37) is fixedly installed on one side of the robotic arm base (6), the output shaft of servo motor IV (37) rotates. A worm gear (36) is fixedly installed through the base (6) of the robotic arm. A rotating shaft (34) is fixedly installed at the bottom of the rotating seat (38). A worm wheel (35) that meshes with the worm gear (36) is fixedly sleeved on the outer wall of the rotating shaft (34). A T-shaped support plate (58) is rotatably connected to the top of the support arm (29) and rotatably connected to the top of the adjusting arm (28). A processing component is fixedly installed on the top of the T-shaped support plate (58) for processing the bridge frame. The movement of the support arm (29) and the adjusting arm (28) is controlled by the coordinated operation of servo motor V (39) and servo motor III (30), and the spatial position and angle of the T-shaped support plate (58) are adjusted to achieve multi-degree-of-freedom movement and improve processing flexibility.

2. The robotic arm of an industrial robot for cable tray production according to claim 1, characterized in that, The processing components include: a fixed base (33), fixedly connected to the top of the T-shaped support plate (58); an outer sleeve (32), an inner rod (45), and a middle rod (46), which rotatably pass through the fixed base (33) and are arranged in concentric circles; three servo motors (41), fixedly installed at one end of the fixed base (33), whose output shafts all rotatably pass through the fixed base (33) and are fixedly installed with drive gears (44); and three driven gears (43), which are respectively fixedly sleeved on the outer walls of the outer sleeve (32), the inner rod (45), and the middle rod (46), and are connected to the main... The drive gear (44) meshes; the connecting block (40) is fixedly connected to one end of the outer sleeve (32); the U-shaped seat (31) is rotatably sleeved on the outer wall of the connecting block (40); the mounting plate (42) rotatably passes through one end of the U-shaped seat (31); wherein, the drive gear (44) and the driven gear (43) are driven by the servo motor (41) to mesh and transmit the transmission, thereby controlling the rotation of the outer sleeve (32), the inner rod (45) and the intermediate rod (46), thereby adjusting the angle of the U-shaped seat (31) and the mounting plate (42) to achieve multi-directional positioning of the end effector.

3. The robotic arm of an industrial robot for cable tray production according to claim 1, characterized in that, It also includes a moving component, which includes: four No. I mounting plates (26), which are symmetrically fixedly installed in pairs on the bottom of the robotic arm base (6); a connecting shaft (27) that rotatably passes through two No. I mounting plates (26) located on the same side; No. II moving wheels (25) that are fixedly sleeved on both ends of the connecting shaft (27); No. II servo motor (24) that is fixedly installed on one side of the bottom of the robotic arm base (6); a synchronous wheel that is fixedly sleeved on the output shaft of the No. II servo motor (24) and the outer wall of one of the connecting shafts (27); and a synchronous belt that is driven and sleeved on the outer wall of the two synchronous wheels.

4. The robotic arm of an industrial robot for cable tray production according to claim 3, characterized in that, It also includes an adjustment assembly and two support base plates (1). The two support base plates (1) are arranged in parallel and located below the robotic arm base (6). Servo motor II (24) drives the connecting shaft (27) and the moving wheel II (25) to rotate through synchronous belt transmission, so that the robotic arm moves along the support base plates (1). The adjustment assembly includes: a connecting seat (13), which is fixedly connected between the two support base plates (1); a sliding support seat (12), which is slidably connected inside the connecting seat (13); a moving wheel I (16), which is fixedly installed at the four bottom corners of the sliding support seat (12); and a strip groove I (15), which is opened on the top of the sliding support seat (12). ;Slot IV (23) is opened on the top of the support base plate (1) and forms a guide rail path with slot I (15); Servo motor I (18) is fixedly installed on one side of one of the support base plates (1); Threaded plate (19) is fixedly connected to the bottom of the sliding support seat (12), and adjusting screw (17) is fixedly connected to the output shaft of servo motor I (18) and threaded through threaded plate (19); Servo motor I (18) drives adjusting screw (17) to rotate, driving threaded plate (19) and sliding support seat (12) to move along linear guide rail, realizing the transfer of robotic arm base (6) between support base plates (1).

5. The robotic arm of an industrial robot for cable tray production according to claim 4, characterized in that, It also includes a support assembly, which includes: two side support frames (3), each side support frame (3) being fixedly connected to both sides of the support base plate (1) by two connecting rods (2); a limiting strip (8), which is fixedly connected to the inner walls of both sides of the side support frame (3); a top support frame (4), which is slidably connected between the two side support frames (3), and has limiting holes (57) on both sides, which are slidably connected to the limiting strip (8); a lifting motor (11), which is fixedly installed on the bottom inner wall of the side support frame (3); a lifting screw (9), which is fixedly connected to the output shaft of the lifting motor (11) and threaded through the top support frame (4); and a rectangular protective cover (10), which is fixedly installed on the bottom inner wall of the side support frame (3) and surrounds the lifting motor (11); wherein, the lifting motor (11) drives the lifting screw (9) to rotate, thereby driving the top support frame (4) to rise and fall vertically along the limiting strip (8) to adjust the height of the bridge frame.

6. The robotic arm of an industrial robot for cable tray production according to claim 2, characterized in that, The processing assembly further includes: a No. III rotating shaft (55), rotatably mounted on the inner wall of one side of the U-shaped seat (31); a No. I bevel gear (47), fixedly mounted on one end of the intermediate rod (46); a No. V bevel gear (53), fixedly sleeved on the outer wall of the No. III rotating shaft (55) and meshing with the No. I bevel gear (47); a No. II bevel gear (48), fixedly mounted on one end of the inner rod (45); a No. VI bevel gear (54), fixedly sleeved on the outer wall of the No. III rotating shaft (55) and meshing with the No. II bevel gear (48); a No. II rotating shaft (55) rotatably mounted on the inner wall of the intermediate rod (46); a No. V bevel gear (53), fixedly sleeved on the outer wall of the No. III rotating shaft (55) and meshing with the No. II bevel gear (47); a No. V bevel gear (54 ... V bevel gear (47); a No. V bevel gear (54), fixedly sleeved on the outer wall of the No. III rotating shaft (55) and meshing with the No. V bevel gear (47); a No. V bevel gear (54), fixedly sleeved on the outer wall of the No. III rotating shaft (55) and meshing with the Shaft (49) is rotatably connected to the inner wall of one side of U-shaped seat (31); spur gear (51) is fixedly sleeved on the outer wall of shaft II (49) and shaft III (55) and meshes with each other; bevel gear IV (52) is fixedly sleeved on the outer wall of shaft II (49); bevel gear III (50) is fixedly sleeved on one end of mounting plate (42) and meshes with bevel gear IV (52); wherein, through the meshing transmission of bevel gears, the 360° rotation of mounting plate (42) is precisely controlled to adapt to welding or grinding angles.

7. The robotic arm of an industrial robot for cable tray production according to claim 4, characterized in that, The moving component further includes: a rectangular hole (22) on the top of the support base plate (1); a strip groove II (20) inside the connecting seat (13); and a strip groove III (21) on the bottom inner wall of the rectangular hole (22) and connected to the strip groove II (20); wherein, the moving wheel I (16) rolls in the guide rail formed by the strip groove II (20) and the strip groove III (21) to ensure that the sliding support seat (12) moves smoothly.

8. The robotic arm of an industrial robot for cable tray production according to claim 4, characterized in that, The No. I rotating shaft (34) is made of shape memory alloy and is linked with the rotating seat (38) and the supporting arm (29).

9. A cable tray, manufactured using the robotic arm of an industrial robot for cable tray production as described in any one of claims 1-8, characterized in that, include: The cable tray body (5) has a cable tray panel (56) fixedly installed at the bottom by screws, and multiple cable tray mounting plates (7) are welded to the top of the cable tray body (5).

10. A method for producing the cable tray as described in claim 9, characterized in that, Includes the following steps: S1. Fix the cable tray body (5) and cable tray panel (56) together with screws and place them on top of the top support frame (4); S2. Start the lifting motor (11) to drive the lifting screw (9) to rotate, and drive the top support frame (4) to rise and fall vertically along the limit bar (8) to adjust the cable tray body (5) to the processing height; S3. Start the No. II servo motor (24) to drive the connecting shaft (27) and the No. II moving wheel (25) to rotate through the synchronous belt drive, so that the robotic arm moves along the No. I strip groove (15) and the No. IV strip groove (23) to the processing position; S4. When it is necessary to move across the support base plate (1), start servo motor I (18) to drive the adjusting screw (17) to rotate, thereby moving the sliding support base (12) and the robotic arm base (6) to another support base plate (1); S5. Start servo motor IV (37) to drive the worm gear (36) to rotate, thereby rotating the worm wheel (35) and the rotating seat (38) to adjust the orientation of the support arm (29); S6. Start servo motor V (39) and servo motor III (30) to coordinate control S7. Rotate the support arm (29) and the adjusting arm (28) to adjust the spatial position of the T-shaped support plate (58); S8. Start the servo motor (41) No. VI, and control the rotation of the outer sleeve (32), the intermediate rod (46) and the inner rod (45) through the meshing transmission of the drive gear (44) and the driven gear (43), thereby adjusting the angle of the end effector on the mounting plate (42); S9. Perform welding through the welding gun on the mounting plate (42), or perform grinding through the grinding head, or perform clamping operation through the fixture.

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