Mechanical arm telescopic gun head

Abstract

The utility model relates to a telescopic gun head of a mechanical arm, which belongs to the technical field of dry ice cleaning machines and comprises a mounting rack and a mechanical arm device fixedly mounted at the top of the mounting rack, and a cleaning gun head is arranged at one end, far away from the mounting rack, of the mechanical arm device. An angle adjusting structure for adjusting the cleaning gun head is arranged between the mechanical arm device and the cleaning gun head and comprises a fixing plate arranged at the end, close to the cleaning gun head, of the mechanical arm device. According to the mechanical arm telescopic gun head, by arranging the mounting plate and the rotating shaft, the mounting plate can rotate on the fixing plate, meanwhile, the cleaning gun head can rotate, and by arranging the first crank, the second crank and the telescopic rod, on one hand, the mounting plate can rotate more stably; on the other hand, the driving mechanism drives the first crank to rotate, the mounting plate and the cleaning gun head can be driven to rotate, the effect of conveniently and independently adjusting the angle of the cleaning gun head is achieved, and the cleaning position is more accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of dry ice cleaning machines, and particularly to a telescopic gun head for a robotic arm. Background Technique

[0002] A dry ice cleaning machine is an advanced cleaning device that uses solid carbon dioxide (dry ice) as a cleaning medium. The working principle of a dry ice cleaning machine is mainly based on the physical properties of dry ice, that is, dry ice will directly sublimate from a solid state to a gaseous state under normal temperature and pressure, and absorb a large amount of heat during this process. Specifically, the dry ice cleaning machine sprays dry ice particles onto the surface of the object to be cleaned at high speed through compressed air.

[0003] The dry ice cleaning speed is fast, and it can complete the cleaning work of large areas or difficult-to-clean areas in a short time, significantly improving work efficiency. At the same time, since dry ice cleaning does not require additional energy consumption (such as heating or cooling), it has the advantage of energy conservation.

[0004] The gun head (spray gun) of a dry ice cleaning machine is an important part of the dry ice cleaning machine, which is used to spray dry ice particles onto the surface of the object to be cleaned at high speed to achieve the purpose of cleaning. The gun heads of dry ice cleaning machines are mostly made of low-temperature resistant materials such as POM plastics to ensure the structural stability and durability during the high-speed spraying and sublimation process of dry ice particles. The gun head structure usually includes a nozzle, a gun body, connecting components, etc., and is reasonably designed for easy operation and maintenance.

[0005] During the use of a dry ice cleaning machine, it is usually necessary to cooperate with a robotic arm to complete the all-round cleaning of an object. However, the existing gun heads of dry ice cleaning machines are not convenient for their own movement. Therefore, it is necessary for the entire robotic arm to drive the gun head for various small adjustments, which increases the movement burden of the robotic arm and at the same time results in inaccurate angle adjustment and cannot meet the production requirements. Therefore, a telescopic gun head for a robotic arm is proposed to solve the problems mentioned above. Content of the Utility Model

[0006] In view of the deficiencies of the prior art, the utility model provides a telescopic gun head for a robotic arm, which has the advantage of being convenient and solves the problems that the existing gun heads of dry ice cleaning machines are not convenient for their own movement, so it is necessary for the entire robotic arm to drive the gun head for various small adjustments, which increases the movement burden of the robotic arm and at the same time results in inaccurate angle adjustment and cannot meet the production requirements.

[0007] To achieve the above purpose, the utility model provides the following technical solution: A telescopic gun head for a robotic arm, including a mounting frame and a robotic arm device fixedly installed on the top of the mounting frame. One end of the robotic arm device away from the mounting frame is provided with a cleaning gun head, and an angle adjustment structure for adjusting the cleaning gun head is arranged between the robotic arm device and the cleaning gun head;

[0008] The angle adjustment structure includes a fixing plate arranged at one end of the robotic arm device close to the cleaning gun head. An installation plate is arranged on the front surface of the fixing plate. A rotating shaft is rotatably connected between the installation plate and the fixing plate. A first crank is rotatably installed on the front surface of the fixing plate. A second crank is rotatably installed on the front surface of the installation plate. A telescopic rod is fixedly connected between the first crank and the second crank.

[0009] Furthermore, the cleaning gun head is fixedly installed on one side of the installation plate close to the fixing plate, and the rotating shaft penetrates through the installation plate and the fixing plate respectively.

[0010] Furthermore, a driving box is fixedly connected to the back surface of the fixing plate, and a driving mechanism extending into its interior is arranged on the top of the driving box.

[0011] Furthermore, the driving mechanism includes a driving motor fixedly installed on the top of the driving box. A driving shaft extending into the interior of the driving box is fixedly connected to the output shaft of the driving motor. A transmission gear is fixedly connected to one end of the driving shaft located inside the driving box. A rotating shaft extending into its interior is rotatably connected to the front surface of the driving box. A driven gear meshing with the transmission gear is fixedly connected to the outside of the rotating shaft.

[0012] Furthermore, the front surface of the rotating shaft extends to the front surface of the fixing plate. The first crank is fixedly connected to the rotating shaft, and one end of the rotating shaft away from the first crank is rotatably connected to the driving box.

[0013] Furthermore, a positioning plate is fixedly connected to the outside of the rotating shaft. A positioning block extending into the interior of the driving box is fixedly connected to the back surface of the positioning plate. A positioning groove adapted to the positioning block is formed on the inner wall of the driving box.

[0014] Furthermore, an electric guide rail is fixedly installed at one end of the robotic arm device close to the cleaning gun head, and an installation sliding seat is slidably connected to the outside of the electric guide rail.

[0015] Furthermore, a vision camera is fixedly installed on the top of the installation sliding seat, and a pipeline connection end is fixedly connected to one end of the cleaning gun head close to the vision camera.

[0016] Compared with the prior art, the present utility model provides a robotic arm telescopic gun head, which has the following beneficial effects:

[0017] 1. For this robotic arm telescopic gun head, by arranging the installation plate and the rotating shaft, the installation plate can rotate on the fixing plate, and at the same time, the cleaning gun head can rotate. By further arranging the first crank, the second crank and the telescopic rod, on the one hand, the installation plate can rotate more stably, and on the other hand, by driving the first crank to rotate through the driving mechanism, the installation plate and the cleaning gun head can be driven to rotate, so as to achieve the effect of facilitating the independent adjustment of the angle of the cleaning gun head, making the cleaning position more accurate.

[0018] 2. The telescopic gun head of the robotic arm drives the transmission gear to rotate by setting a driving motor, and then drives the driven gear and the rotating shaft to rotate through the transmission gear, so that the rotating shaft can drive the first crank to rotate at the same time, and then the effect of independently adjusting the angle of the cleaning gun head can be achieved, solving the problem that the existing dry ice cleaning machine gun head is not convenient for its own movement, and then the whole robotic arm needs to drive the gun head for various small adjustments, which increases the movement burden of the robotic arm, and at the same time will cause the angle adjustment to be inaccurate and unable to meet the production requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structure diagram of the present invention;

[0020] Figure 2 is a schematic structural diagram of the first crank of the present invention;

[0021] Figure 3 is a rear view of the structure of the cleaning gun head of the present invention;

[0022] Figure 4 is a schematic structural diagram of the driving mechanism of the present invention;

[0023] Figure 5 is a schematic structural diagram of the vision camera of the present invention.

[0024] In the figure: 1 mounting frame, 2 robotic arm device, 3 cleaning gun head, 4 fixing plate, 5 mounting plate, 6 rotating shaft, 7 first crank, 8 second crank, 9 telescopic rod, 10 driving box, 11 driving motor, 12 driving shaft, 13 transmission gear, 14 rotating shaft, 15 driven gear, 16 positioning plate, 17 electric guide rail, 18 mounting slide, 19 vision camera, 20 pipeline connection end. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Embodiment 1:

[0027] Please refer to Figures 1 to 4, A telescopic gun head of a robotic arm in this embodiment includes a mounting frame 1 and a robotic arm device 2 fixedly installed on the top of the mounting frame 1. A cleaning gun head 3 is provided at one end of the robotic arm device 2 away from the mounting frame 1. An angle adjustment structure for adjusting the cleaning gun head 3 is provided between the robotic arm device 2 and the cleaning gun head 3. The angle adjustment structure includes a fixing plate 4 provided at one end of the robotic arm device 2 close to the cleaning gun head 3. A mounting plate 5 is provided on the front surface of the fixing plate 4. A rotating shaft 6 is rotatably connected between the mounting plate 5 and the fixing plate 4. A first crank 7 is rotatably installed on the front surface of the fixing plate 4, and a second crank 8 is rotatably installed on the front surface of the mounting plate 5. A telescopic rod 9 is fixedly connected between the first crank 7 and the second crank 8.

[0028] Among them, the cleaning gun head 3 is fixedly installed on one side of the mounting plate 5 close to the fixing plate 4, and the rotating shaft 6 penetrates through the mounting plate 5 and the fixing plate 4 respectively.

[0029] It should be noted that by providing the mounting plate 5 and the rotating shaft 6, the mounting plate 5 can rotate on the fixing plate 4, and at the same time, the cleaning gun head 3 can rotate. By further providing the first crank 7, the second crank 8 and the telescopic rod 9, on the one hand, the rotation of the mounting plate 5 can be made more stable.

[0030] In this embodiment, a driving box 10 is fixedly connected to the back surface of the fixing plate 4. A driving mechanism extending into its interior is provided on the top of the driving box 10. The driving mechanism includes a driving motor 11 fixedly installed on the top of the driving box 10. A driving shaft 12 extending into the interior of the driving box 10 is fixedly connected to the output shaft of the driving motor 11. A transmission gear 13 is fixedly connected to one end of the driving shaft 12 located inside the driving box 10. A rotating shaft 14 extending into its interior is rotatably connected to the front surface of the driving box 10. A driven gear 14 meshing with the transmission gear 13 is fixedly connected to the outside of the rotating shaft 14.

[0031] Among them, the front surface of the rotating shaft 14 extends to the front surface of the fixing plate 4. The first crank 7 is fixedly connected to the rotating shaft 14. One end of the rotating shaft 14 away from the first crank 7 is rotatably connected to the driving box 10. A bearing adapted to the rotating shaft 14 is fixedly installed inside the driving box 10.

[0032] It should be noted that a positioning plate 16 is fixedly connected to the outside of the rotating shaft 14. A positioning block extending into the interior of the driving box 10 is fixedly connected to the back surface of the positioning plate 16. A positioning groove adapted to the positioning block is formed on the inner wall of the driving box 10, and the shape of the positioning groove is annular.

[0033] Embodiment Two:

[0034] Please refer to Figures 1 to 5, on the basis of the first embodiment, it includes an electric guide rail 17 fixedly installed at one end of the robotic arm device 2 close to the cleaning gun head 3. An installation slide seat 18 is slidably connected to the outside of the electric guide rail 17, and a vision camera 19 is fixedly installed on the top of the installation slide seat 18.

[0035] In this embodiment, one end of the cleaning gun head 3 close to the vision camera 19 is fixedly connected to a pipeline connection end 20.

[0036] By adopting the above technical solution, the cleaning situation is monitored in real time through the vision camera 19, and the accuracy and efficiency of cleaning are improved.

[0037] The working principle of the above embodiment is as follows:

[0038] First, move the device to the designated position, then start the robotic arm device 2 to drive the cleaning gun head 3 to adjust. At this time, dry ice is conveyed into the cleaning gun head 3, and then the cleaning process of the object is completed. During the cleaning process, the driving motor 11 can be started to drive the cleaning gun head 3 to make small adjustments to complete the all-round cleaning of the object. At the same time, the staff can also monitor the cleaning situation in real time through the vision camera 19 to improve the accuracy and efficiency of cleaning.

[0039] All the electrical components mentioned in the text are electrically connected to the main controller and the power supply. The main controller can be a conventional known device such as a computer for control, and the existing publicly disclosed power connection technology will not be elaborated in the text.

[0040] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0041] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A telescopic gun head for a robotic arm, comprising a mounting frame (1) and a robotic arm device (2) fixedly mounted on the top of the mounting frame (1), characterized in that: One end of the robotic arm device (2) far from the mounting frame (1) is provided with a cleaning gun head (3), and an angle adjustment structure for adjusting the cleaning gun head (3) is arranged between the robotic arm device (2) and the cleaning gun head (3). The angle adjustment structure includes a fixing plate (4) arranged at one end of the robotic arm device (2) close to the cleaning gun head (3). An installation plate (5) is arranged on the front surface of the fixing plate (4). A rotating shaft (6) is rotatably connected between the installation plate (5) and the fixing plate (4). A first crank (7) is rotatably installed on the front surface of the fixing plate (4). A second crank (8) is rotatably installed on the front surface of the installation plate (5). A telescopic rod (9) is fixedly connected between the first crank (7) and the second crank (8).

2. The telescopic gun head of the robotic arm according to claim 1, characterized in that: The cleaning gun head (3) is fixedly installed on one side of the installation plate (5) close to the fixing plate (4), and the rotating shaft (6) penetrates through the installation plate (5) and the fixing plate (4) respectively.

3. The telescopic gun head of a robotic arm according to claim 1, wherein: A driving box (10) is fixedly connected to the back surface of the fixing plate (4), and a driving mechanism extending into its interior is arranged at the top of the driving box (10).

4. The telescopic gun head of the robotic arm according to claim 3, characterized in that: The driving mechanism includes a driving motor (11) fixedly installed at the top of the driving box (10). A driving shaft (12) extending into the interior of the driving box (10) is fixedly connected to the output shaft of the driving motor (11). A transmission gear (13) is fixedly connected to one end of the driving shaft (12) located inside the driving box (10). A rotating shaft (14) extending into its interior is rotatably connected to the front surface of the driving box (10). A driven gear (15) meshing with the transmission gear (13) is fixedly connected to the outside of the rotating shaft (14).

5. The telescopic gun head of a robotic arm according to claim 4, characterized in that: The front surface of the rotating shaft (14) extends to the front surface of the fixing plate (4), the first crank (7) is fixedly connected to the rotating shaft (14), and one end of the rotating shaft (14) far from the first crank (7) is rotatably connected to the driving box (10).

6. The telescopic gun head of the robotic arm according to claim 4, wherein: A positioning plate (16) is fixedly connected to the outside of the rotating shaft (14), a positioning block extending into the interior of the driving box (10) is fixedly connected to the back surface of the positioning plate (16), and a positioning groove adapted to the positioning block is formed on the inner wall of the driving box (10).

7. A telescopic gun head of a robotic arm according to claim 1, wherein: An electric guide rail (17) is fixedly installed at one end of the robotic arm device (2) close to the cleaning gun head (3), and an installation sliding seat (18) is slidably connected to the outside of the electric guide rail (17).

8. The telescopic gun head of a robotic arm according to claim 7, wherein: A vision camera (19) is fixedly installed on the top of the installation sliding seat (18), and a pipeline connection end (20) is fixedly connected to one end of the cleaning gun head (3) close to the vision camera (19).

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