Lifting assembly of industrial robot and industrial robot

Abstract

The utility model belongs to the technical field of industrial robots, and particularly relates to a lifting assembly of an industrial robot and the industrial robot, the lifting assembly comprises an extension arm, a lifting mechanism and a tool seat, the extension arm is connected with a body of the industrial robot, the lifting mechanism is connected with the extension arm, the tool seat is connected with the lifting mechanism, and the tool seat is connected with the lifting mechanism. The tool base is provided with a bottom limit position and a top limit position, the lifting mechanism is used for driving the tool base to move between the bottom limit position and the top limit position in the length direction of the extension arm, and the tool base is used for installing a cleaning tool of the industrial robot. When the industrial robot completes cleaning operation, the cleaning tool on the tool base is conveyed to the bottom end of the extension arm, the cleaning tool and the tool base can be prevented from being located at the top end of the extension arm all the time, the overall torque of the extension arm can be reduced, loads borne by a body of the industrial robot can be reduced, and the service life of the industrial robot is prolonged. And the movement efficiency and durability of each shaft of the industrial robot are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and in particular relates to a lifting component of an industrial robot and the industrial robot. Background Art

[0002] Insulator flashover occurs when contaminants adhere to the surface of power grid insulators (external insulation) and, under humid conditions, their soluble materials gradually dissolve in water, forming a conductive film on the surface. This significantly reduces the insulation level of the insulator and causes intense discharge under the action of an electric field. Typically, industrial robots are used to automatically clean contaminants from insulators.

[0003] An existing industrial robot includes a main body, an extension arm and a cleaning tool. The bottom end of the extension arm is connected to the main body, which can increase the robot's operating range. The cleaning tool is connected to the top end of the extension arm. The cleaning tool is electrically connected to the main body. The main body drives the extension arm to swing so that the cleaning tool moves to the position of the insulator. The cleaning tool recognizes the insulator through its own visual system and automatically cleans the insulator.

[0004] In existing industrial robots, the cleaning tooling is always at the top of the extension wall, resulting in a heavy weight at the top of the extension arm and a heavy load on the main body, which affects the motion efficiency and durability of each axis of the industrial robot. Summary of the Invention

[0005] The technical problem to be solved by the utility model is: in view of the problem that the existing industrial robot has a large load borne by the main body, a lifting component of the industrial robot and the industrial robot are provided.

[0006] In order to solve the above technical problems, on the one hand, an embodiment of the present utility model provides a lifting assembly of an industrial robot, including an extension arm, a lifting mechanism and a tooling seat, the extension arm is connected to the body of the industrial robot, the lifting mechanism is connected to the extension arm, the tooling seat is connected to the lifting mechanism, the tooling seat has a bottom limit position and a top limit position, the lifting mechanism is used to drive the tooling seat to move between the bottom limit position and the top limit position along the length direction of the extension arm, and the tooling seat is used for installing the cleaning tooling of the industrial robot.

[0007] Optionally, the lifting mechanism includes a driving member, a belt, a first synchronous wheel and a second synchronous wheel, the driving member is connected to the bottom end of the extension arm, the first synchronous wheel is connected to the driving member, the second synchronous wheel is rotatably assembled on the top end of the extension arm, the belt is wound around the first synchronous wheel and the second synchronous wheel, the tooling seat is located between the first synchronous wheel and the second synchronous wheel, the tooling seat is connected to the belt, the driving member drives the first synchronous wheel to rotate so that the belt drives the tooling seat to move between the first synchronous wheel and the second synchronous wheel, the position of the first synchronous wheel forms the bottom limit position, and the position of the second synchronous wheel forms the top limit position.

[0008] Optionally, the extension arm includes a base and an extension rod, the base is connected to the body of the industrial robot, the driving member is connected to the base, the bottom end of the extension rod is connected to the base, and the second synchronous wheel is rotatably assembled on the top end of the extension rod.

[0009] Optionally, the lifting mechanism further includes a mounting frame, the mounting frame is connected to the top end of the extension rod, and the second synchronous wheel is rotatably assembled on the mounting frame.

[0010] Optionally, the mounting frame includes a frame body, the frame body is connected to the extension rod, a mounting hole is provided on the frame body, a rotating shaft is provided in the mounting hole, the rotating shaft is fixedly connected to the frame body, and the second synchronous wheel is rotatably connected to the rotating shaft.

[0011] Optionally, the mounting frame further includes a clip plate and a first locking structure, the frame body is provided with a first clamping groove for one side of the extension rod to be clamped into, the clip plate is provided with a second clamping groove for the other side of the extension rod to be clamped into, and the first locking structure is used to lock the extension rod in the clamping space surrounded by the first clamping groove and the second clamping groove.

[0012] Optionally, the first locking structure includes a locking screw, a first locking hole is provided on the side of the frame facing the buckle plate, a second locking hole is provided on the buckle plate, the second locking hole passes through the buckle plate from the side of the buckle plate facing away from the frame to the side of the buckle plate facing the frame, and the locking screw passes through the second locking hole and is spirally assembled with the first locking hole.

[0013] Optionally, the tooling seat includes a connected mounting plate and a supporting plate, the mounting plate is connected to the belt, and the supporting plate is used for installing the cleaning tooling of the industrial robot.

[0014] Optionally, the lifting mechanism further includes a pressing plate, wherein the pressing plate and the mounting plate are respectively located on both sides of the belt in the thickness direction, and the pressing plate and the mounting plate are connected so that the pressing plate and the mounting plate clamp the belt.

[0015] According to the lifting assembly of the industrial robot in the embodiment of the present invention, the lifting mechanism can transport the cleaning tooling on the tooling seat to the top of the extension arm when the industrial robot needs to perform cleaning operations, and transport the cleaning tooling on the tooling seat to the bottom of the extension arm when the industrial robot completes the cleaning operations. In this way, the cleaning tooling and the tooling seat can be prevented from always being at the top of the extension arm, the overall torque of the extension arm can be reduced, and the load on the main body of the industrial robot can be reduced, thereby improving the movement efficiency and durability of each axis of the industrial robot.

[0016] On the other hand, an embodiment of the present invention provides an industrial robot, including a main body, a cleaning tool and the lifting assembly of the above-mentioned industrial robot, the extension arm is connected to the main body, the cleaning tool is connected to the tool seat, and the cleaning tool is used to clean insulators. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the assembly of the lifting assembly and the main body of an industrial robot provided by one embodiment of the present utility model;

[0018] Figure 2 for Figure 1 Assembly diagram of the middle mounting frame and the second synchronous wheel.

[0019] The figures in the specification are as follows: 1. Main body; 2. Extension arm; 3. Base; 4. Extension rod; 5. Work seat; 6. Mounting plate; 7. Load-bearing plate; 8. Lifting mechanism; 9. Driving member; 10. First synchronous wheel; 11. Belt; 12. Second synchronous wheel; 13. Pressure plate; 14. Locking screw; 15. Mounting frame; 16. Frame; 17. Mounting hole; 18. Rotating shaft; 19. First locking hole; 20. First clamping groove; 21. Buckle plate; 22. Second locking hole; 23. Second clamping groove; 24. Clamping space; 25. Locking screw. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] like Figure 1 and Figure 2As shown, an embodiment of the present invention provides a lifting assembly of an industrial robot, including an extension arm 2, a lifting mechanism 8 and a tooling seat 5, wherein the extension arm 2 is connected to the body 1 of the industrial robot, the lifting mechanism 8 is connected to the extension arm 2, and the tooling seat 5 is connected to the lifting mechanism 8. The tooling seat 5 has a bottom limit position and a top limit position, and the lifting mechanism 8 is used to drive the tooling seat 5 to move between the bottom limit position and the top limit position along the length direction of the extension arm 2, and the tooling seat 5 is used for installing the cleaning tooling of the industrial robot.

[0022] In one embodiment, the lifting mechanism 8 includes a driving member 9, a belt 11, a first synchronous wheel 10 and a second synchronous wheel 12. The driving member 9 is connected to the bottom end of the extension arm 2, the first synchronous wheel 10 is connected to the driving member 9, and the second synchronous wheel 12 is rotatably assembled on the top of the extension arm 2. The belt 11 is wound around the first synchronous wheel 10 and the second synchronous wheel 12. The tooling seat 5 is located between the first synchronous wheel 10 and the second synchronous wheel 12. The tooling seat 5 is connected to the belt 11. The driving member 9 drives the first synchronous wheel 10 to rotate so that the belt 11 drives the tooling seat 5 to move between the first synchronous wheel 10 and the second synchronous wheel 12. The position of the first synchronous wheel 10 forms the bottom limit position, and the position of the second synchronous wheel 12 forms the top limit position.

[0023] The driving member 9 drives the first synchronous wheel 10 to rotate. When the first synchronous wheel 10 rotates, the first synchronous wheel 10 drives the second synchronous wheel 12 to rotate via the belt 11. The belt 11 moves around the first synchronous wheel 10 and the second synchronous wheel 12. When the driving member 9 drives the first synchronous wheel 10 to rotate forward, the belt 11 raises the tooling base 5. When the driving member 9 drives the first synchronous wheel 10 to rotate reversely, the belt 11 lowers the tooling base 5. The structure is simple and easy to design.

[0024] In one embodiment, the extension arm 2 includes a base 3 and an extension rod 4, the base 3 is connected to the body 1 of the industrial robot, the driving member 9 is connected to the base 3, the bottom end of the extension rod 4 is connected to the base 3, and the second synchronous wheel 12 is rotatably assembled on the top end of the extension rod 4.

[0025] In this embodiment, the driving member 9 includes a motor and a reducer, both of which are installed on the base 3. The reducer is connected to the motor, and the first synchronous wheel 10 is connected to the reducer. The motor drives the reducer to drive the first synchronous wheel 10 to rotate. The reducer can notify the rotation and stop of the first synchronous wheel 10, and can also control the speed of the first synchronous wheel 10, so that the tooling seat 5 can be stopped at a certain height, thereby improving the scope of application.

[0026] In one embodiment, the lifting mechanism 8 further includes a mounting frame 15 , which is connected to the top end of the extension rod 4 , and the second synchronous wheel 12 is rotatably mounted on the mounting frame 15 .

[0027] The mounting frame 15 includes a frame body 16 , which is connected to the extension rod 4 . A mounting hole 17 is provided on the frame body 16 , and a rotating shaft 18 is provided in the mounting hole 17 . The rotating shaft 18 is fixedly connected to the frame body 16 , and the second synchronous wheel 12 is rotatably connected to the rotating shaft 18 .

[0028] The rotating shaft 18 is fixedly arranged on the frame 16, and the rotating shaft 18 cannot rotate. The second synchronous wheel 12 is sleeved on the rotating shaft 18, and the second synchronous wheel 12 can rotate on the rotating shaft 18. By installing the frame 16 on the second synchronous wheel 12, the second synchronous wheel 12 can be erected to provide installation space for the belt 11.

[0029] In one embodiment, the mounting frame 15 further includes a clip plate 21 and a first locking structure, the frame body 16 is provided with a first clamping groove 20 for one side of the extension rod 4 to be clamped into, and the clip plate 21 is provided with a second clamping groove 23 for the other side of the extension rod 4 to be clamped into, and the first locking structure is used to lock the extension rod 4 in the clamping space 24 surrounded by the first clamping groove 20 and the second clamping groove 23.

[0030] The first locking structure can realize locking and unlocking of the pinch plate 21 and the frame 16, and can adjust the position of the second synchronous wheel 12 on the extension rod 4, further improving the scope of application and enabling cleaning operations on insulators at more heights.

[0031] In one embodiment, the first locking structure includes a locking screw 25, a first locking hole 19 is provided on the side of the frame 16 facing the buckle plate 21, and a second locking hole 22 is provided on the buckle plate 21. The second locking hole 22 passes through the buckle plate 21 from the side of the buckle plate 21 facing away from the frame 16 to the side of the buckle plate 21 facing the frame 16, and the locking screw 25 passes through the second locking hole 22 and is screwed together with the first locking hole 19.

[0032] By screwing the locking screws 25 into the first locking hole 19 and the second locking hole 22, the buckle plate 21 and the frame body 16 can be locked, thereby fixing the mounting frame 15 on the extension rod 4 and facilitating the adjustment of the height of the mounting frame 15.

[0033] In one embodiment, the tooling seat 5 includes a connected mounting plate 6 and a supporting plate 7, the mounting plate 6 is connected to the belt 11, and the supporting plate 7 is used for installing the cleaning tooling of the industrial robot. The lifting mechanism 8 also includes a pressing plate 13, and the pressing plate 13 and the mounting plate 6 are respectively located on both sides of the thickness direction of the belt 11, and the pressing plate 13 and the mounting plate 6 are connected so that the pressing plate 13 and the mounting plate 6 clamp the belt 11.

[0034] The pressing plate 13 is connected to the mounting plate 6 via a locking screw 14 , which is convenient for assembly and disassembly and can adjust the position of the tooling seat 5 on the belt 11 .

[0035] The lifting assembly of the industrial robot in the embodiment of the present invention works as follows: when the industrial robot completes the cleaning operation, the lifting mechanism 8 transports the cleaning tool on the tool seat 5 to the bottom end of the extension arm 2, which can prevent the cleaning tool and the tool seat 5 from always being at the top end of the extension arm 2, reduce the overall torque of the extension arm 2, and thus reduce the load on the main body 1 of the industrial robot.

[0036] According to the lifting assembly of the industrial robot in the embodiment of the present invention, the lifting mechanism 8 can transport the cleaning tooling on the tooling seat 5 to the top of the extension arm 2 when the industrial robot needs to perform cleaning operations, and transport the cleaning tooling on the tooling seat 5 to the bottom of the extension arm 2 when the industrial robot completes the cleaning operation. In this way, the cleaning tooling and the tooling seat 5 can be prevented from always being at the top of the extension arm 2, the overall torque of the extension arm 2 can be reduced, and the load on the main body 1 of the industrial robot can be reduced, thereby improving the movement efficiency and durability of each axis of the industrial robot.

[0037] In other embodiments, the lifting mechanism 8 may be a screw-nut mechanism or a cylinder.

[0038] In addition, an embodiment of the present invention provides an industrial robot, including a main body 1, a cleaning tool and the lifting assembly of the above-mentioned industrial robot, the extension arm 2 is connected to the main body 1, the cleaning tool is connected to the tool seat 5, and the cleaning tool is used to clean insulators.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A lifting assembly of an industrial robot, characterized in that: The industrial robot comprises an extension arm (2), a lifting mechanism (8) and a tooling seat (5), wherein the extension arm (2) is connected to the body (1) of the industrial robot, the lifting mechanism (8) is connected to the extension arm (2), and the tooling seat (5) is connected to the lifting mechanism (8). The tooling seat (5) has a bottom limit position and a top limit position, and the lifting mechanism (8) is used to drive the tooling seat (5) to move between the bottom limit position and the top limit position along the length direction of the extension arm (2). The tooling seat (5) is used for installing the cleaning tooling of the industrial robot.

2. The lifting assembly of the industrial robot according to claim 1, characterized in that: The lifting mechanism (8) includes a driving member (9), a belt (11), a first synchronous wheel (10) and a second synchronous wheel (12), wherein the driving member (9) is connected to the bottom end of the extension arm (2), the first synchronous wheel (10) is connected to the driving member (9), and the second synchronous wheel (12) is rotatably assembled on the top end of the extension arm (2), the belt (11) is wound around the first synchronous wheel (10) and the second synchronous wheel (12), and the tooling seat (5) is located between the first synchronous wheel (10) and the second synchronous wheel (12), and the tooling seat (5) is connected to the belt (11). The driving member (9) drives the first synchronous wheel (10) to rotate so that the belt (11) drives the tooling seat (5) to move between the first synchronous wheel (10) and the second synchronous wheel (12), and the position of the first synchronous wheel (10) forms the bottom limit position, and the position of the second synchronous wheel (12) forms the top limit position.

3. The lifting assembly of the industrial robot according to claim 2, characterized in that: The extension arm (2) includes a base (3) and an extension rod (4), the base (3) is connected to the body (1) of the industrial robot, the driving member (9) is connected to the base (3), the bottom end of the extension rod (4) is connected to the base (3), and the second synchronous wheel (12) is rotatably assembled on the top end of the extension rod (4).

4. The lifting assembly of the industrial robot according to claim 3, characterized in that: The lifting mechanism (8) further comprises a mounting frame (15), wherein the mounting frame (15) is connected to the top end of the extension rod (4), and the second synchronous wheel (12) is rotatably mounted on the mounting frame (15).

5. The lifting assembly of the industrial robot according to claim 4, characterized in that: The mounting frame (15) includes a frame body (16), the frame body (16) is connected to the extension rod (4), a mounting hole (17) is provided on the frame body (16), a rotating shaft (18) is provided in the mounting hole (17), the rotating shaft (18) is fixedly connected to the frame body (16), and the second synchronous wheel (12) is rotatably connected to the rotating shaft (18).

6. The lifting assembly of the industrial robot according to claim 5, characterized in that: The mounting frame (15) further comprises a pinch plate (21) and a first locking structure. The frame body (16) is provided with a first clamping groove (20) for one side of the extension rod (4) to be clamped in, and the pinch plate (21) is provided with a second clamping groove (23) for the other side of the extension rod (4) to be clamped in. The first locking structure is used to lock the extension rod (4) in a clamping space (24) surrounded by the first clamping groove (20) and the second clamping groove (23).

7. The lifting assembly of the industrial robot according to claim 6, characterized in that: The first locking structure includes a locking screw (25), a first locking hole (19) is provided on a side of the frame (16) facing the gusset plate (21), a second locking hole (22) is provided on the gusset plate (21), the second locking hole (22) passes through the gusset plate (21) from a side of the gusset plate (21) facing away from the frame (16) to a side of the gusset plate (21) facing the frame (16), and the locking screw (25) passes through the second locking hole (22) and is screwed together with the first locking hole (19).

8. The lifting assembly of the industrial robot according to claim 4, characterized in that: The tooling seat (5) comprises a connected mounting plate (6) and a bearing plate (7), wherein the mounting plate (6) is connected to the belt (11), and the bearing plate (7) is used for mounting a cleaning tooling of an industrial robot.

9. The lifting assembly of the industrial robot according to claim 8, characterized in that: The lifting mechanism (8) further includes a pressing plate (13), wherein the pressing plate (13) and the mounting plate (6) are respectively located on both sides of the thickness direction of the belt (11), and the pressing plate (13) and the mounting plate (6) are connected so that the pressing plate (13) and the mounting plate (6) clamp the belt (11).

10. An industrial robot, characterized in that: The invention comprises a main body (1), a cleaning tool and a lifting assembly of an industrial robot according to any one of claims 1 to 9, wherein the extension arm (2) is connected to the main body (1), the cleaning tool is connected to the tool seat (5), and the cleaning tool is used for cleaning insulators.

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