Waterproof structure for joints of robot

Abstract

A waterproof structure for all joints of a robot comprises the robot and waterproof rings, the robot comprises a material taking gripper, a small mechanical arm, a large mechanical arm and a base, the waterproof rings comprise the first waterproof ring, the sixth waterproof ring, the seventh waterproof ring and the eighth waterproof ring, the base is connected with the first waterproof ring, the front end of the material taking gripper is connected with the eighth waterproof ring, and the sixth waterproof ring is connected with the eighth waterproof ring. The left side of the material taking gripper is connected with a sixth waterproof ring, and the right side of the material taking gripper is connected with a seventh waterproof ring. According to the robot waterproof sealing ring, various unsafe problems that the robot cannot work underwater and the like are solved, the sealing ring is arranged below the assembly gap between the robot body and the joint structure, and the sealing performance between the robot waterproof sealing ring and each joint of the robot is greatly improved; besides being suitable for being used in paint spraying robot electric cabinets and high-risk and toxic occasions, the waterproof effect is good, the application range is wide, the production efficiency is improved, and resources and cost are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a waterproof structure for joints of a robot. Background Art

[0002] With the progress of industrial modernization, more and more robots are used to replace manual work in various industries and various scenarios. There are some high-risk and toxic scenarios, such as industrial robots and painting robots in production workshops, and robots used in special occasions to operate on simple anti-shielding important components. They are prone to water short circuits, affecting their production and work efficiency. Utility Model Content

[0003] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a waterproof structure for each joint of a robot to solve the technical problems of insufficient waterproof performance and safety hazards in the prior art.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a waterproof structure for each joint of a robot, including a robot and a waterproof ring, the robot includes a material picking gripper, a mechanical small arm, a mechanical large arm and a base, the waterproof ring includes a first waterproof ring, a sixth waterproof ring, a seventh waterproof ring and an eighth waterproof ring, the base is connected to the first waterproof ring, the front end of the material picking gripper is connected to the eighth waterproof ring, the left side of the material picking gripper is connected to the sixth waterproof ring, and the right side of the material picking gripper is connected to the seventh waterproof ring.

[0005] As a further improvement of the utility model: the material grabbing gripper is connected to the mechanical small arm through a first rotating shaft, and the mechanical small arm is connected to the mechanical large arm through a second rotating shaft.

[0006] As a further improvement of the utility model: the mechanical arm is connected to the third rotating shaft, and the third rotating shaft is connected to the base through the fourth base rotating shaft.

[0007] As a further improvement of the utility model: the waterproof ring adopts an O-type rubber waterproof ring.

[0008] As a further improvement of the utility model: the waterproof ring also includes a second waterproof ring, a third waterproof ring, a fourth waterproof ring and a fifth waterproof ring, and the fifth waterproof ring is connected to the first rotating shaft.

[0009] As a further improvement of the utility model: the fourth waterproof ring is connected to the mechanical arm, and the third waterproof ring is connected to the second rotating shaft.

[0010] As a further improvement of the utility model: the third rotating shaft is connected to the mechanical arm, and the fourth base rotating shaft is connected to the third rotating shaft.

[0011] As a further improvement of the present invention: the base is a fully enclosed waterproof structure, which is used to assemble external components carried by the robot.

[0012] As a further improvement of the utility model: the robot also includes a power supply, a driver, a core electric control box and a base top cover, and the base top cover covers the base without external components assembled thereon.

[0013] As a further improvement of the utility model: the power supply, driver, and core electric control box are arranged in the body of the robot.

[0014] As a further improvement of the utility model: the waterproof ring is fastened to the components of the robot through an L-shaped top.

[0015] As a further improvement of the utility model: the base and the first waterproof ring are penetrated by a screw rod, and the screw rod and the screw are locked and connected by a patch.

[0016] As a further improvement of the utility model: the robot is connected to a drainage switch valve, and a front end thread of the drainage valve is wrapped with a waterproof tape.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] The utility model solves various unsafe problems such as the robot being unable to operate underwater, and by arranging a sealing ring under the assembly gap between the robot body and the joint structure, the airtightness between the robot's waterproof sealing ring and the robot's joints is greatly improved. In addition to being suitable for use in spray painting robot cabinets and high-risk and toxic environments, the utility model not only has good waterproof effect, but also has a wide range of applications, improves production efficiency, and saves resources and costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] In the figure: 1. first waterproof ring; 2. second waterproof ring; 3. third waterproof ring; 4. fourth waterproof ring; 5. fifth waterproof ring; 6. sixth waterproof ring; 7. seventh waterproof ring; 8. eighth waterproof ring; 9. material grabber; 10. mechanical small arm; 11. mechanical large arm; 12. base; 13. first rotating axis; 14. second rotating axis; 15. third rotating axis; 16. fourth base rotating axis. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in combination with the specific embodiments of the utility model and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0024] The utility model is further described in conjunction with the accompanying drawings and embodiments: Figure 1 The waterproof structure of each joint of a robot shown in the figure includes a robot and a waterproof ring. The robot includes a material grabbing gripper 9, a mechanical small arm 10, a mechanical large arm 11 and a base 12. The waterproof ring includes a first waterproof ring 1, a sixth waterproof ring 6, a seventh waterproof ring 7 and an eighth waterproof ring 8. The base 12 is connected to the first waterproof ring 7, the front end of the material grabbing gripper 9 is connected to the eighth waterproof ring 8, the left side of the material grabbing gripper 9 is connected to the sixth waterproof ring 6, and the right side of the material grabbing gripper 9 is connected to the seventh waterproof ring 7.

[0025] As a preferred embodiment, the material grabbing gripper 9 is connected to the mechanical small arm 10 via a first rotating shaft 13 , and the mechanical small arm 10 is connected to the mechanical large arm 11 via a second rotating shaft 14 .

[0026] As a preferred embodiment, the mechanical arm 11 is connected to the third rotating shaft 15 , and the third rotating shaft 15 is connected to the base 12 via a fourth base rotating shaft 16 .

[0027] As a preferred embodiment, the waterproof ring is an O-type rubber waterproof ring.

[0028] As a preferred embodiment, the waterproof ring further includes a second waterproof ring 2 , a third waterproof ring 3 , a fourth waterproof ring 4 and a fifth waterproof ring 5 , and the fifth waterproof ring 5 is connected to the first rotating shaft 13 .

[0029] As a preferred embodiment, the fourth waterproof ring 4 is connected to the mechanical arm 10 , and the third waterproof ring 3 is connected to the second rotating shaft 14 .

[0030] As a preferred embodiment, the third rotating shaft 15 is connected to the mechanical arm 11 , and the fourth base rotating shaft 16 is connected to the third rotating shaft 15 .

[0031] As a preferred embodiment, the base 12 is a fully enclosed waterproof structure, which is used to assemble external components carried by the robot.

[0032] As a preferred embodiment, the robot further comprises a power supply, a driver, a core electric control box and a base top cover, wherein the base top cover covers the base without external components assembled thereon.

[0033] As a preferred embodiment, the power supply, driver, and core electric control box are arranged in the body of the robot.

[0034] As a preferred embodiment, the sealing ring is made of polyurethane rubber, nitrile rubber, fluororubber, polytetrafluoroethylene or silicone rubber.

[0035] As a preferred embodiment, the front end thread of the drainage switch valve is wrapped with 7-8 turns of waterproof tape.

[0036] As a preferred embodiment, the base is fixed with 6 screws, and each screw is added with a patch and a spring washer for locking.

[0037] As a preferred embodiment, the drainage switch valve is a rotary switch, which is turned clockwise to close the valve and counterclockwise to open the valve or drain the water.

[0038] As a preferred embodiment, the base cover prevents liquid from accumulating in the base.

[0039] The working principle of this utility model:

[0040] The utility model solves various unsafe problems such as the robot being unable to operate underwater, and by arranging a sealing ring under the assembly gap between the robot body and the joint structure, the airtightness between the robot's waterproof sealing ring and the robot's joints is greatly improved. In addition to being suitable for use in spray painting robot cabinets and high-risk and toxic environments, the utility model not only has good waterproof effect, but also has a wide range of applications, improves production efficiency, and saves resources and costs.

[0041] Implementation case 1:

[0042] like Figure 1 The waterproof structure of each joint of a robot shown in the figure includes a robot and a waterproof ring. The robot includes a material grabbing gripper 9, a mechanical small arm 10, a mechanical large arm 11 and a base 12. The waterproof ring includes a first waterproof ring 1, a sixth waterproof ring 6, a seventh waterproof ring 7 and an eighth waterproof ring 8. The base 12 is connected to the first waterproof ring 7, the front end of the material grabbing gripper 9 is connected to the eighth waterproof ring 8, the left side of the material grabbing gripper 9 is connected to the sixth waterproof ring 6, and the right side of the material grabbing gripper 9 is connected to the seventh waterproof ring 7.

[0043] The material grabber 9 is connected to the mechanical arm 10 through a first rotating shaft 13, and the mechanical arm 10 is connected to the mechanical arm 11 through a second rotating shaft 14. The mechanical arm 11 is connected to a third rotating shaft 15, and the third rotating shaft 15 is connected to the base 12 through a fourth base rotating shaft 16. The waterproof ring adopts an O-type rubber waterproof ring, and the waterproof ring also includes a second waterproof ring 2, a third waterproof ring 3, a fourth waterproof ring 4 and a fifth waterproof ring 5. The fifth waterproof ring 5 is connected to the first rotating shaft 13, the fourth waterproof ring 4 is connected to the mechanical arm 10, the third waterproof ring 3 is connected to the second rotating shaft 14, the third rotating shaft 15 is connected to the mechanical arm 11, and the fourth base rotating shaft 16 is connected to the third rotating shaft 15. The base 12 is a fully enclosed waterproof structure for assembling external components carried by the robot. The robot also includes a power supply, a driver, a core electric control box and a base top cover. The base top cover covers the base without external components. The power supply, the driver and the core electric control box are arranged in the body of the robot.

[0044] In this embodiment, a waterproof structure is added to each joint of the robot. The waterproof structure adopts an O-shaped rubber waterproof ring. The waterproof ring is installed by buckling it with the L-shaped top of the robot's shell, and the front and back of the waterproof ring can be installed without deliberately adjusting the front and back of the waterproof ring; the base 12 first installs the rubber waterproof ring in front of the screw to the screw, and then assembles the base cover of the robot joint 1, and locks each of the 6 screws with a patch and a spring washer string together, and the O-shaped waterproof ring is installed on the thread of the drain switch valve. The waterproof tape is first wrapped and then the O-shaped water ring is installed. The front end thread of the drain switch valve is wrapped with waterproof tape for 7-8 turns.

[0045] Implementation case 2:

[0046] In this embodiment, Figure 1 The waterproof structure of each joint of a robot shown has the same technical means as the waterproof structure of implementation case one.

[0047] The installation sequence of this embodiment is as follows:

[0048] Step 1: Install an O-ring on the bottom of the robot;

[0049] Step 2: Install a waterproof ring on the front side of the robot;

[0050] Step 3: Install waterproof rings on the left and right holes of the robot;

[0051] Step 4: Install the waterproof ring on the rear side of the robot;

[0052] Step 5: Install waterproof rings on the front, back, left and right sides of the robot's bottom.

[0053] Implementation case three:

[0054] In this embodiment, Figure 1 The waterproof structure of each joint of a robot shown has the same technical means as the waterproof structure of implementation case one.

[0055] The present embodiment provides a waterproof structure for each joint of a robot, wherein a group of sealing rings are sequentially installed inside the outer shell of the robot and the top cover of the base, and a drainage switch valve is installed on the outside of the robot base; the reducer unit and the wiring unit are coordinated to perform internal protection, thereby preventing the reducer assembly and internal parts from being damaged due to environmental factors, thereby increasing the service life of the device.

[0056] Implementation Case 4:

[0057] In this embodiment, Figure 1 The waterproof structure of each joint of a robot shown has the same technical means as the waterproof structure of implementation case three.

[0058] When installing and using the reduction motor, first fix one end of the reduction motor to the robot, and then fix the bottom of the reduction motor to ensure the stability of the reduction motor. When the reduction motor rotates, the second planetary gear will be driven to rotate synchronously through the first planetary gear. When the second planetary gear rotates, the second transmission gear at the top will be driven to rotate synchronously through the transmission shaft. When the second transmission gear rotates, it will drive the first transmission gear to rotate synchronously through the synchronous belt on the outer surface. At the same time, the rotation of the first transmission gear will drive the dust removal blades connected to the center of the bottom surface to rotate synchronously. When the dust removal blades rotate, a partial pressure will be generated to purge the upper surface of the reduction motor, thereby preventing dust from accumulating on the outer surface of the reduction motor. At the same time, the reduction motor will drive one end The heat dissipation blades rotate synchronously, and while rotating, the heat dissipation blades will sweep one end surface of the reduction motor 1, thereby dissipating heat for the one end surface of the reduction motor. Since the size of the heat dissipation blades is larger than the size of one end surface of the reduction motor, when the heat dissipation blades rotate, lateral wind pressure will be generated, thereby laterally sweeping the outer surface of the reduction motor, thereby further preventing dust from accumulating on the outer surface of the reduction motor. Therefore, when the reduction motor is running, the heat dissipation blades and the dust removal blades will simultaneously remove dust from the outer surface of the reduction motor. By using a dust removal device on the top outer surface of the reduction motor, the upper surface of the reduction motor can be dusted, and the heat dissipation blades perform lateral dust removal at one end of the reduction motor, thereby ensuring the cleanliness of the outer surface of the reduction motor and avoiding affecting the heat dissipation efficiency of the reduction motor.

[0059] The main functions of this utility model:

[0060] The utility model solves various unsafe problems such as the robot being unable to operate underwater, and greatly improves the airtightness between the robot's waterproof sealing ring and the robot's joints. In addition to being suitable for use in spray painting robot cabinets and high-risk and toxic environments, it not only has good waterproof effects and a wide range of applications, but also improves production efficiency and saves resources and costs.

[0061] In summary, after reading the utility model document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical scheme and technical concept of the utility model without creative mental labor, which all fall within the scope of protection of the utility model.

[0062] In the description of the present utility model, it needs to be understood that the orientations or positional relationships indicated by terms such as "upper end face", "lower end face", "top", "bottom", "left" and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present utility model. Therefore, they cannot be understood as limitations on the actual use direction of the present utility model.

[0063] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and should all be included in the scope of the claims and specification of the present invention.

Claims

1. A waterproof structure for each joint of a robot, characterized in that: It includes a robot and a waterproof ring. The robot includes a material grabbing gripper, a mechanical small arm, a mechanical large arm and a base. The waterproof ring is connected to the robot, the material grabber is connected to the mechanical small arm, the mechanical small arm is connected to the mechanical large arm, and the mechanical large arm is connected to the base.

2. A waterproof structure for each joint of a robot according to claim 1, characterized in that: The material grabbing gripper is connected to the mechanical small arm through a first rotating shaft, and the mechanical small arm is connected to the mechanical large arm through a second rotating shaft.

3. A waterproof structure for each joint of a robot according to claim 2, characterized in that: The mechanical arm is connected to the third rotating shaft, and the third rotating shaft is connected to the base via a fourth base rotating shaft.

4. A waterproof structure for each joint of a robot according to claim 1, characterized in that: The waterproof ring adopts an O-type rubber waterproof ring.

5. The waterproof structure for each joint of a robot according to claim 1, characterized in that: The waterproof ring includes a first waterproof ring, a second waterproof ring, a third waterproof ring, a fourth waterproof ring, a fifth waterproof ring, a sixth waterproof ring, a seventh waterproof ring and an eighth waterproof ring. The base is connected to the first waterproof ring, the front end of the material grabbing grip is connected to the eighth waterproof ring, the left side of the material grabbing grip is connected to the sixth waterproof ring, the right side of the material grabbing grip is connected to the seventh waterproof ring, and the fifth waterproof ring is connected to the first rotating shaft.

6. A waterproof structure for each joint of a robot according to claim 5, characterized in that: The fourth waterproof ring is connected to the mechanical arm, and the third waterproof ring is connected to the second rotating shaft.

7. A waterproof structure for each joint of a robot according to claim 3, characterized in that: The third rotating shaft is connected to the mechanical arm, and the fourth base rotating shaft is connected to the third rotating shaft.

8. The waterproof structure for each joint of a robot according to claim 1, characterized in that: The base is a fully enclosed waterproof structure and is used for assembling external components carried by the robot.

9. A waterproof structure for each joint of a robot according to claim 1, characterized in that: The robot also includes a power supply, a driver, a core electric control box and a base top cover, wherein the base top cover covers the base without external components assembled thereon.

10. A waterproof structure for each joint of a robot according to claim 9, characterized in that: The power supply, driver and core electric control box are arranged in the body of the robot.

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