Mechanical arm rotary joint protection structure for shot blasting

Abstract

The utility model discloses a protective structure for a rotary joint of a mechanical arm for shot blasting, which relates to the field of auxiliary protection of mechanical arms and comprises a first sliding sleeve, a second sliding sleeve, a first protective garment and a second protective garment, two ends of the first protective garment are respectively fastened and connected between the first sliding sleeve and the second sliding sleeve to protect the rotary joint of a first rotary shaft, and the second protective garment is fastened and connected between the second sliding sleeve and the first protective garment. And the second protective clothing is fixedly connected between the second sliding sleeve and the mechanical arm to protect a rotating joint of the second rotating shaft. The protective clothing is made into a split structure, the first sliding sleeve and the second sliding sleeve are designed, a fastening installation structure is provided for the split protective clothing, and through relative sliding of internal components of the first sliding sleeve and the second sliding sleeve, the protective clothing is prevented from twisting along with a rotating shaft of the mechanical arm to extrude a rotating joint, and the protective clothing is prevented from being damaged. And meanwhile, torsion damage of the protective clothing is avoided, and the safety of the mechanical arm under the severe working condition of shot blasting is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm auxiliary protection, specifically to a protective structure for the rotary joint of a robotic arm used for shot peening. Background Technology

[0002] With the continuous improvement of industrial automation and intelligence, robotic arms and manipulators are increasingly widely used in the industrial field. Robotic arms or manipulators are commonly used in harsh working environments such as shot peening to replace manual labor. In these environments, it is necessary to protect the rotating joints of the robotic arm used for shot peening to prevent damage from the accumulation of impurities and splashes during operation. Most existing protective methods are physical, using protective suits made of genuine leather, fabric, or synthetic materials attached to the robotic arm. However, these suits can twist and knot as the robotic arm rotates, pressing against the rotating joints of the arm's axis, thus preventing the robotic arm from moving. Alternatively, the protective suits may be torn due to the movement of the robotic arm, causing the protective suit to fail.

[0003] To address the problems existing in the prior art, this utility model designs and manufactures a protective structure for the rotating joint of a shot peening robotic arm, which breaks down the overall protective clothing into a split structure to overcome the aforementioned defects. Utility Model Content

[0004] To address the aforementioned problems, this invention proposes a protective structure for the rotating joints of a shot peening robotic arm. Taking a robotic arm with two rotating axes as an example, this application transforms the overall protective suit into a split protective suit and designs a protective structure on the robotic arm. The split protective suit is then installed and fixed, providing separate protection for the rotating joints of the robotic arm. This improves the protective effect of the protective suit and reduces the failure rate of the robotic arm under harsh working conditions.

[0005] This utility model provides a protective structure for the rotating joint of a shot peening robotic arm, comprising:

[0006] The first sliding sleeve has its inner ring circumferentially nested at the end of the first rotating shaft of the robotic arm, and the inner ring of the first sliding sleeve is clearance-fitted with the connecting disc of the first rotating shaft.

[0007] The second sliding sleeve has its inner ring circumferentially fitted onto the second rotating shaft of the robotic arm, and the inner ring of the second sliding sleeve is clearance-fitted with the second rotating shaft.

[0008] The first protective suit has its two ends connected to the first sliding sleeve and the second sliding sleeve, respectively.

[0009] The second protective suit has its two ends connected to the second sliding sleeve and the robotic arm, respectively.

[0010] Preferably, the first sliding sleeve includes a first outer sliding sleeve, which is a hollow annular structure, and has a stepped structure on its outer circumference; the first sliding sleeve also includes a first inner sliding sleeve, which is a hollow annular structure and is concentrically opposite to the first outer sliding sleeve, and has stepped structures on both its inner and outer circumferences. The stepped structure on the outer circumference of the first outer sliding sleeve and the stepped structure on the outer circumference of the first inner sliding sleeve together form the first protective clothing end connecting groove.

[0011] Preferably, the first outer sliding sleeve and the first inner sliding sleeve are evenly distributed with threaded holes along the center of the ring, and the first outer sliding sleeve and the first inner sliding sleeve are concentric and axially connected by screws.

[0012] Preferably, the connecting disk at the end of the first rotating shaft is embedded between the inner circumferential stepped structure of the first inner sliding sleeve and the first outer sliding sleeve, the connecting disk is in clearance fit with the first outer sliding sleeve, and the connecting disk is in clearance fit with the inner circumferential stepped structure of the first inner sliding sleeve.

[0013] Preferably, the second sliding sleeve includes two second inner sliding sleeves, which are symmetrical semi-cylindrical structures. The two second inner sliding sleeves are combined relative to each other to form a cylindrical structure, which is sleeved on the second rotating shaft. The outer cylinder walls of the two second inner sliding sleeve semi-cylindrical structures are symmetrically provided with multiple circumferential fixing grooves arranged at intervals, and the outer cylinder walls of the two second inner sliding sleeve semi-cylindrical structures are also provided with circumferential support grooves.

[0014] Preferably, the second sliding sleeve further includes two second outer sliding sleeves, which are symmetrical semi-cylindrical structures. The two second outer sliding sleeves are combined to form a cylindrical structure and are fitted onto the second inner sliding sleeve. The outer cylinder walls of the two second outer sliding sleeves are symmetrically provided with second protective clothing connecting grooves. One end of the second protective clothing is fastened to the second protective clothing connecting groove on the second outer sliding sleeve by steel wire. The two second outer sliding sleeves are concentrically fitted onto the outer cylinder walls of the two second inner sliding sleeves through a stepped structure.

[0015] Preferably, the second sliding sleeve further includes two support sleeves, the two support sleeves are symmetrical semi-circular ring structures, the inner ring of the support sleeve is positioned in the support groove, and the outer ring of the two support sleeves is provided with a first protective clothing connecting groove in the circumference, and one end of the first protective clothing is fastened to the first protective clothing connecting groove of the support sleeve.

[0016] Preferably, the two support sleeves are connected by a connecting plate, with both ends of the connecting plate connected to the two support sleeves respectively, and multiple connecting plates may be provided.

[0017] Preferably, each of the two second inner sleeve joints is provided with a symmetrical inner sleeve connecting boss, and the inner sleeve connecting boss has a bolt hole and a positioning pin hole through it;

[0018] The two second outer sliding sleeves are provided with symmetrical outer sliding sleeve connecting bosses at the splicing points, and bolt holes and positioning pin holes are provided through the outer sliding sleeve connecting bosses.

[0019] Preferably, both the first sliding sleeve and the second sliding sleeve are made of polyetheretherketone (PEEK) material.

[0020] The advantages of this utility model are:

[0021] 1. This utility model transforms the existing protective suit, which is integrally fitted onto a robotic arm, into a split structure. The first and second outer sliding sleeves connecting the protective suit do not rotate with the robotic arm, and the installation position of the protective suit is fixed. This prevents the protective suit from twisting and knotting as the robotic arm rotates, and from being squeezed at the rotation joint of the robotic arm's rotation axis, thus avoiding the robotic arm's over-torque alarm and improving the robotic arm's maneuverability.

[0022] 2. The modular protective structure for the robotic arm designed in this utility model, wherein the first inner sliding sleeve and the second inner sliding sleeve can eliminate the relative torsion of the protective clothing caused by the circumferential rotation of the robotic arm's rotating shaft, avoid the two parts of the protective clothing from pulling each other, extend the service life of the protective clothing compared to the overall protective structure, avoid cracking caused by frequent torsion and pulling of the overall protective clothing, and at the same time prevent damage to the rotating joints of the robotic arm by particulate media in the working environment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram showing the installation position of a protective structure for a robotic arm rotary joint according to this utility model;

[0024] Figure 2 This is a schematic diagram of the second sliding sleeve of a protective structure for a robotic arm rotary joint according to the present invention;

[0025] Figure 3 This is a front view of the second sliding sleeve assembly of the protective structure for the rotary joint of a robotic arm according to this utility model.

[0026] In the picture:

[0027] 1. First protective suit; 2. First rotating shaft; 3. First inner sliding sleeve; 4. First outer sliding sleeve; 5. Connecting plate; 6. First protective suit end connecting groove; 7. Connecting plate; 8. Support sleeve; 9. Second inner sliding sleeve; 10. Second outer sliding sleeve; 11. Second rotating shaft; 12. Second protective suit; 13. Robotic arm; 14. Circumferential fixing groove; 15. Support groove; 16. First protective suit connecting groove; 17. Second protective suit connecting groove; 18. Inner sliding sleeve connecting boss; 19. Outer sliding sleeve connecting boss; 20. First rotating joint; 21. Second rotating joint. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] In this utility model, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of the structural relationship between the various components or elements of this utility model and do not specifically refer to any component or element in this utility model. They should not be construed as limiting this utility model.

[0032] In this utility model, terms such as "fixed connection," "connected," and "joined" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this utility model can be determined according to the specific circumstances, and should not be construed as a limitation of this utility model.

[0033] As described in the background section, robotic arms typically have multiple rotating axes, with a rotary joint between two axes. The two rotating axes connected to the rotary joint can move relative to each other. Obviously, there is a gap in the rotary joint. In shot peening environments, robotic arms need protection to prevent foreign objects or working media from entering the rotary joint and hindering the operation of the robotic arm, or causing damage to the surface of the robotic arm. Existing protective measures involve covering the entire robotic arm with a protective suit as a single unit. However, because the robotic arm performs complex extension, retraction, and torsion movements within a limited space, the protective suit is easily pulled by the robotic arm, being twisted, squeezed, and pulled during its movement. On the one hand, the protective suit twisting into the rotary joint can interfere with the normal operation of the robotic arm; on the other hand, the protective suit can also be torn or damaged by the pulling of the robotic arm. Based on the above problems, this invention designs a split protective suit structure and includes a corresponding connecting and fixing structure.

[0034] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described with reference to the accompanying drawings.

[0035] like Figure 1 The illustrated protective structure for the rotary joint of a shot peening robotic arm includes a first sliding sleeve, a second sliding sleeve, a first protective garment 1, and a second protective garment 12. The first sliding sleeve is an overall annular design, composed of a first outer sliding sleeve 4 and a first inner sliding sleeve 3. The first inner sliding sleeve 3 is a hollow annular structure with stepped structures on both its inner and outer rings. The first outer sliding sleeve 4 is also a hollow annular structure, concentrically aligned with the first inner sliding sleeve 3. The diameters of its inner and outer rings are the same as those of the inner and outer rings of the first inner sliding sleeve 3. The outer ring of the first outer sliding sleeve 4 has a stepped structure on its outer ring. Threaded holes are evenly distributed along the center of the annular body of the first inner sliding sleeve 3. Threaded holes are also provided on the annular body of the first outer sliding sleeve 4 corresponding to the threaded holes of the first inner sliding sleeve 3. The two are fixedly connected as one unit by screws inserted into the threaded holes.

[0036] The inner rings of the first inner sliding sleeve 3 and the first outer sliding sleeve 4 together constitute the inner ring of the first sliding sleeve. The stepped structure of the inner ring of the first inner sliding sleeve 3 is embedded in the connecting plate 5 at the end of the first rotating shaft 2 of the robotic arm 13 and is in clearance fit with the connecting plate 5. The inner ring of the first outer sliding sleeve 4 limits the connecting plate 5, so that the first sliding sleeve is embedded in the first rotating shaft 2 as a whole.

[0037] The outer rings of the first inner sliding sleeve 3 and the first outer sliding sleeve 4 together form the outer ring of the first sliding sleeve, wherein the stepped structures of the outer rings of the two sleeves are matched to form the end connecting groove 6 of the first protective clothing. One end of the first protective clothing 1 can be fixed to the end connecting groove 6 of the first protective clothing by wrapping it with steel wire.

[0038] like Figure 1 andFigure 2 The diagram illustrates a protective structure for a rotary joint of a shot peening robotic arm. The second sliding sleeve includes a second inner sliding sleeve 9 and a second outer sliding sleeve 10. Unlike the first sliding sleeve assembly, the second sliding sleeve is composed of two semi-cylindrical structures. This separate design facilitates the mating and installation of the second sliding sleeves on the second rotating shaft 11. The second inner sliding sleeve 9 is a semi-cylindrical structure. Two symmetrical second inner sliding sleeves 9 are connected and fitted together to form a cylindrical structure, which is fitted onto the second rotating shaft 11. A gap is provided between the inner rings of the two second inner sliding sleeves 9 and the second rotating shaft 11. Multiple circumferential fixing grooves 14 are symmetrically arranged along the axial direction of each semi-cylindrical structure on the outer wall of each of the two second inner sliding sleeves 9. The cross-section of the circumferential fixing grooves 14 is semi-circular. The connection between the two second inner sliding sleeves 9 can be pre-tightened by winding steel wire around the circumferential fixing grooves 14. Circumferential support grooves 15 are also provided on the outer wall of the semi-cylindrical structure of the two second inner sliding sleeves 9.

[0039] The second outer sliding sleeve 10 is also a semi-cylindrical structure. Two symmetrical second outer sliding sleeves 10 are connected and fitted to form a cylindrical structure, which is fitted onto the outer cylinder wall of the second inner sliding sleeve 9. A step is provided between the inner cylinder wall of the second outer sliding sleeve 10 and the outer cylinder wall of the second inner sliding sleeve 9 for positioning, and there is a clearance fit between the inner cylinder wall of the second outer sliding sleeve 10 and the outer cylinder wall of the second inner sliding sleeve 9. The outer cylinder walls of the semi-cylindrical structures of the two second outer sliding sleeves 10 are symmetrically provided with circumferential second protective clothing connecting grooves 17. One end of the second protective clothing 12 can be fastened to the second protective clothing connecting groove 17 by steel wire, and the other end can be fastened to the robotic arm 13 by steel wire.

[0040] The second sliding sleeve also includes two symmetrical semi-circular ring structure support sleeves 8. The inner ring of the support sleeve 8 is positioned in the support groove 15 on the outer ring of the second outer sliding sleeve 10. The outer ring of the two support sleeves 8 is provided with a first protective clothing connecting groove 16 on its circumference. The other end of the first protective clothing 1 can be fixed to the first protective clothing connecting groove 16 by wrapping it with steel wire to achieve a tight fixation of the first protective clothing 1. The two support sleeves 8 are connected as one unit by a connecting plate 7. The two ends of the connecting plate 7 are respectively connected to the two support sleeves 8. Multiple connecting plates 7 can be provided.

[0041] like Figure 2 and Figure 3The illustrated rotary joint protective structure for a shot peening robotic arm features symmetrical inner sliding sleeve connecting bosses 18 at the joint of two second inner sliding sleeves 9. Each inner sliding sleeve connecting boss has a bolt hole and a locating pin hole. During assembly, the bolts are first pre-positioned by inserting them into the bolt holes, then the locating pins are precisely positioned through the locating pin holes, and finally the bolts are tightened. Similarly, the joint of two second outer sliding sleeves 10 features an outer sliding sleeve connecting boss 19, which also has a bolt hole and a locating pin hole. During installation, the two second inner sliding sleeves 9 are first assembled, followed by the two second outer sliding sleeves 10. The bolts are first roughly positioned through the bolt holes, then the locating pins are precisely positioned through the locating pin holes, and finally the bolts are tightened.

[0042] The first inner sliding sleeve 3 and the first outer sliding sleeve 4 that make up the first sliding sleeve, as well as the second inner sliding sleeve 9 and the second outer sliding sleeve 10 that make up the second sliding sleeve, are all made of lightweight, wear-resistant, corrosion-resistant and impact-resistant polyetheretherketone material. This material has good high temperature resistance and self-lubricating properties, reducing friction and wear.

[0043] Molybdenum disulfide dry film lubricating coating is sprayed on the contact mating surfaces of the first inner sliding sleeve 3 and the first outer sliding sleeve 4 to reduce the coefficient of friction between them, so as to achieve relative sliding between the sliding sleeves. This allows the torque of the first rotating shaft 2 of the robotic arm 13 to be released through the relative sliding of the first inner sliding sleeve 3, ensuring that the first protective clothing 1 will not undergo relative torsion.

[0044] Solid lubricant is coated on the contact mating surface between the second inner sliding sleeve 9 and the second outer sliding sleeve 10 to reduce friction and achieve relative sliding between the sleeves. The torque of the second rotating shaft 11 is released through the relative sliding of the second inner sliding sleeve 9, ensuring that the second protective clothing 12 does not undergo relative torsion.

[0045] The specific installation method is as follows:

[0046] First, the first inner sliding sleeve 3 is embedded on the end connecting plate 5 of the first rotating shaft 2 of the robotic arm 13, and the first outer sliding sleeve 4 is connected as a whole to form the first sliding sleeve by screws, thereby axially limiting the connecting plate 5.

[0047] Then, the two semi-cylindrical second inner sliding sleeves 9 are assembled and spliced ​​on the second rotating shaft 11 and fitted onto the second rotating shaft 11. They can be pre-fixed by binding them with steel wire to the circumferential fixing groove 14, and then connected with bolts and positioning pins. Then, the two semi-cylindrical second outer sliding sleeves 10 are fitted onto the outside of the second inner sliding sleeves 9 and positioned and locked. The two annular support sleeves 8 are embedded on the second inner sliding sleeves 9 and connected as a whole by the connecting plate 7 to form the second sliding sleeve.

[0048] Finally, one end of the first protective suit 1 is attached to the first protective suit end connecting groove 6 on the outer ring of the first sliding sleeve using a steel wire or other tools, and the other end is attached to the first protective suit connecting groove 16 on the support sleeve 8, thus completing the protection of the rotation joint of the first rotating shaft 2; one end of the second protective suit 12 is fastened to the second protective suit connecting groove 17 on the second sliding sleeve, and the other end is fastened to the robotic arm 13, thus completing the protection of the rotation joint of the second rotating shaft 11.

[0049] It should be noted that the inner circle mentioned in the above structure refers to the inner circumference of the ring structure that is radially closer to the center, while the outer circle refers to the outer circumference of the ring structure that is radially farther from the center.

[0050] The above description is merely an embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

[0051] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the scope of protection of the present utility model.

Claims

1. A protective structure for a rotary joint of a robotic arm used for shot peening, characterized in that, include: The first sliding sleeve, the inner ring of the first sliding sleeve is circumferentially nested at the end of the first rotating shaft (2) of the robotic arm (13), and the inner ring of the first sliding sleeve is clearance-fitted with the connecting disc (5) of the first rotating shaft (2). The second sliding sleeve has its inner ring circumferentially sleeved on the second rotating shaft (11) of the robotic arm (13), and the inner ring of the second sliding sleeve is in clearance fit with the second rotating shaft (11). The first protective suit (1) has its two ends connected to the first sliding sleeve and the second sliding sleeve, respectively; The second protective suit (12) has its two ends connected to the second sliding sleeve and the robotic arm (13), respectively.

2. The protective structure for the rotary joint of a shot peening robotic arm according to claim 1, characterized in that, The first sliding sleeve includes a first outer sliding sleeve (4), which is a hollow ring structure. The outer circumference of the first outer sliding sleeve (4) is provided with a stepped structure. The first sliding sleeve also includes a first inner sliding sleeve (3), which is a hollow ring structure and is concentrically opposite to the first outer sliding sleeve (4). The inner and outer circumferences of the first inner sliding sleeve (3) are both provided with stepped structures. The stepped structure of the outer circumference of the first outer sliding sleeve (4) and the stepped structure of the outer circumference of the first inner sliding sleeve (3) together form the first protective clothing end connecting groove (6).

3. The protective structure for the rotary joint of a shot peening robotic arm according to claim 2, characterized in that, The first outer sliding sleeve (4) and the first inner sliding sleeve (3) are evenly distributed with threaded holes along the center of the ring. The first outer sliding sleeve (4) and the first inner sliding sleeve (3) are concentric and axially connected by screws.

4. The protective structure for the rotary joint of a shot peening robotic arm according to claim 2, characterized in that, The connecting disk (5) at the end of the first rotating shaft (2) is embedded between the inner circumferential step structure of the first inner sliding sleeve (3) and the first outer sliding sleeve (4). The connecting disk (5) is in clearance fit with the first outer sliding sleeve (4), and the connecting disk (5) is in clearance fit with the inner circumferential step structure of the first inner sliding sleeve (3).

5. The protective structure for the rotary joint of a shot peening robotic arm according to claim 1, characterized in that, The second sliding sleeve includes two second inner sliding sleeves (9). The two second inner sliding sleeves (9) are symmetrical semi-cylindrical structures. The two second inner sliding sleeves (9) are combined relative to each other to form a cylindrical structure, which is sleeved on the second rotating shaft (11). The outer cylinder walls of the semi-cylindrical structures of the two second inner sliding sleeves (9) are symmetrically provided with multiple spaced circumferential fixing grooves (14). The outer cylinder walls of the semi-cylindrical structures of the two second inner sliding sleeves (9) are also provided with circumferential support grooves (15).

6. The protective structure for the rotary joint of a shot peening robotic arm according to claim 5, characterized in that, The second sliding sleeve also includes two second outer sliding sleeves (10). The two second outer sliding sleeves (10) are symmetrical semi-cylindrical structures. The two second outer sliding sleeves (10) are combined to form a cylindrical structure and are fitted onto the second inner sliding sleeve (9). The outer cylinder walls of the semi-cylindrical structures of the two second outer sliding sleeves (10) are symmetrically provided with second protective clothing connecting grooves (17). One end of the second protective clothing (12) is fastened to the second protective clothing connecting groove (17) on the second outer sliding sleeve (10) by steel wire. The two second outer sliding sleeves (10) are concentrically fitted onto the outer cylinder walls of the two second inner sliding sleeves (9) through a stepped structure.

7. The protective structure for the rotary joint of a shot peening robotic arm according to claim 6, characterized in that, The second sliding sleeve also includes two support sleeves (8), the two support sleeves (8) are symmetrical semi-circular ring structures, the inner ring of the support sleeve (8) is positioned in the support groove (15), and the outer ring of the two support sleeves (8) is provided with a first protective clothing connecting groove (16) in the circumferential direction, and one end of the first protective clothing (1) is fastened in the first protective clothing connecting groove (16) of the support sleeve (8).

8. The protective structure for the rotary joint of a shot peening robotic arm according to claim 7, characterized in that, The two support sleeves (8) are connected by a connecting plate (7), and the two ends of the connecting plate (7) are respectively connected to the two support sleeves (8). Multiple connecting plates (7) can be provided.

9. The protective structure for the rotary joint of a shot peening robotic arm according to claim 7, characterized in that, The two second inner sleeves (9) are provided with symmetrical inner sleeve connecting bosses (18) at the splice point. The inner sleeve connecting bosses (18) are provided with bolt holes and positioning pin holes. The two second outer sliding sleeves (10) are provided with symmetrical outer sliding sleeve connecting bosses (19) at the splice point. The outer sliding sleeve connecting bosses (19) are provided with bolt holes and positioning pin holes.

10. The protective structure for the rotary joint of a shot peening robotic arm according to claim 1, characterized in that, Both the first and second sliding sleeves are made of polyetheretherketone (PEEK) material.

Images