Kiln inner wall ceramic welding mechanical arm

Abstract

The utility model discloses a kind of kiln inner wall ceramic welding repair mechanical arm, it is related to the technical field of kiln welding repair, it includes mechanical arm body and the welding torch being set on the mechanical arm body, further includes telescopic mechanism and rotating mechanism;The rotating mechanism is set at the side end of the mechanical arm body, the telescopic mechanism is set on the rotating mechanism, the welding torch is set on the telescopic mechanism;By increasing an independent rotation degree of freedom and an independent linear telescopic degree of freedom at the end of mechanical arm body, the operation flexibility of welding torch in kiln extreme limited space is realized collaborative control of both, makes that welding torch can be independently of mechanical arm body 360 ° angle adjustment, accurate direction any direction, independently of mechanical arm body small-range linear movement is carried out, realize fine fit and track following, in the case where the positioning of mechanical arm body is limited, accurate work is completed by end micro-operation.

Description

Technical Field

[0001] This utility model relates to the technical field of kiln welding and repair, and more specifically, to a robotic arm for ceramic welding and repair of the inner wall of a kiln. Background Technology

[0002] In industries such as metallurgy and building materials, kilns, as core high-temperature equipment, are subject to long-term thermal stress and chemical corrosion on their inner walls, making them prone to cracking, peeling, and other damage. Traditional repairs require manual entry, which is inefficient and costly. In recent years, ceramic welding repair technology using robotic arms equipped with welding torches has been gradually applied, enabling rapid repairs while the kiln is hot. However, existing robotic arms still have limitations in welding repair work on the inner walls of kilns:

[0003] The kiln has narrow passages and a complex structure. Traditional multi-joint robotic arms are difficult to penetrate into narrow areas due to their large size and limited range of motion. Forcibly adjusting the posture can easily lead to collision risks, and the end welding torch has insufficient range of motion.

[0004] Based on this, the present invention provides a robotic arm for welding and repairing ceramics on the inner wall of a kiln. Utility Model Content

[0005] To address the problems mentioned in the background art, this utility model provides a robotic arm for ceramic welding and repair of the inner wall of a kiln.

[0006] The present invention provides a mechanical arm for welding and repairing ceramics on the inner wall of a kiln, which adopts the following technical solution:

[0007] A robotic arm for welding and repairing ceramics on the inner wall of a kiln includes a robotic arm body and a welding torch mounted on the robotic arm body, as well as a telescopic mechanism and a rotating mechanism. The rotating mechanism is located at the side end of the robotic arm body, the telescopic mechanism is mounted on the rotating mechanism, and the welding torch is mounted on the telescopic mechanism. The rotating mechanism includes a frame, a drive component, and a rotating shaft. The frame is mounted on the robotic arm body, the rotating shaft is rotatably mounted within the frame, and a driven gear is located at the center of the rotating shaft. The drive component is located on the side of the frame, and a driving gear is located on the output shaft of the drive component. The driving gear meshes with the driven gear. The side end of the rotating shaft is located outside the frame, and the telescopic mechanism is connected to the side end of the rotating shaft.

[0008] Preferably, the diameter of the driving gear is smaller than the diameter of the driven gear.

[0009] Preferably, the driving component is a servo motor.

[0010] Preferably, the telescopic mechanism includes an electric actuator fixedly disposed on the side end of the rotating shaft, and the welding torch is fixedly connected to the telescopic shaft of the electric actuator.

[0011] Preferably, the telescopic mechanism further includes a spiral tube disposed on the telescopic shaft of the electric actuator, both ends of the spiral tube being connected to sleeves, one side of the sleeve being connected to a water inlet pipe, and the other side of the sleeve being connected to a drain pipe.

[0012] Preferably, the outer side of the spiral tube is covered with a shield.

[0013] In summary, this utility model has the following beneficial technical effects:

[0014] By adding an independent rotational degree of freedom (rotation mechanism) and an independent linear telescopic degree of freedom (telescopic mechanism) to the end effector of the robotic arm, and achieving coordinated control of both, the operational flexibility of the welding torch in the extremely confined space of the kiln is improved. This allows the welding torch to be adjusted 360° independently of the robotic arm, precisely pointing in any direction, and to move linearly within a small range independently of the robotic arm, achieving precise contact and trajectory following. Even when the positioning of the robotic arm itself is limited, precise operations can be completed through end-effector micro-manipulation, reducing the requirements for the absolute positioning accuracy and working space of the robotic arm itself.

[0015] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a mechanical arm for ceramic welding and repair of the inner wall of a kiln, according to an embodiment of this utility model.

[0017] Figure 2 This is a schematic diagram of the structure of the other side of a mechanical arm for ceramic welding repair of the inner wall of a kiln, according to an embodiment of this utility model.

[0018] Figure 3 This is a schematic diagram of the rotating mechanism in an embodiment of this utility model;

[0019] Figure 4 This is a schematic diagram of the internal structure of the rotating mechanism in an embodiment of this utility model;

[0020] Figure 5 This is a schematic diagram of the spiral tube in an embodiment of this utility model.

[0021] Explanation of reference numerals in the attached drawings: 1. Robotic arm body; 2. Welding torch; 3. Telescopic mechanism; 300. Electric actuator; 301. Spiral tube; 302. Sleeve; 303. Shielding cover; 4. Rotating mechanism; 400. Frame; 401. Driving component; 402. Driven gear; 403. Driving gear; 404. Rotating shaft. Detailed Implementation

[0022] The following is in conjunction with the appendix Figures 1 to 5 The present invention will be described in further detail below.

[0023] It should be noted that the accompanying drawings are schematic and not to scale. For clarity and convenience, the relative dimensions and proportions of the parts shown are exaggerated or reduced in size; all dimensions are merely illustrative and not limiting. Furthermore, the same reference numerals are used for the same structures, elements, or fittings appearing in more than two drawings to indicate similar features.

[0024] This utility model discloses a robotic arm for welding and repairing ceramics on the inner wall of a kiln. (Refer to...) Figures 1 to 5 A robotic arm for welding and repairing ceramics on the inner wall of a kiln includes a robotic arm body 1 and a welding torch 2 mounted on the robotic arm body 1. It also includes a telescopic mechanism 3 and a rotating mechanism 4. The rotating mechanism 4 is mounted on the side of the robotic arm body 1, the telescopic mechanism 3 is mounted on the rotating mechanism 4, and the welding torch 2 is mounted on the telescopic mechanism 3.

[0025] The rotating mechanism 4 includes a frame 400, a drive member 401, and a rotating shaft 404. The frame 400 is mounted on the robotic arm body 1. The rotating shaft 404 is rotatably mounted inside the frame 400, and a driven gear 402 is provided in the middle of the rotating shaft 404. The drive member 401 is located on the side of the frame 400, and a drive gear 403 is provided on the output shaft of the drive member 401. The drive gear 403 meshes with the driven gear 402. The side end of the rotating shaft 404 is located outside the frame 400, and the telescopic mechanism 3 is connected to the side end of the rotating shaft 404.

[0026] Specifically, after the robotic arm body 1 brings the welding torch 2 into the kiln, the welding torch 2 can be rotated by the rotating mechanism 4, so that the torch head of the welding torch 2 can be adjusted in angle inside the kiln. The drive component 401 drives the drive gear 403 to rotate, thereby rotating the driven gear 402. The rotation of the driven gear 402 causes the rotating shaft 404 to rotate, thereby driving the welding torch 2 to adjust its angle inside the kiln. In conjunction with the telescopic mechanism 3, the welding torch 2 can be moved within a small range after the angle adjustment, which is suitable for ceramic welding and repair operations in the narrow space of the kiln.

[0027] This design enhances the operational flexibility of the welding torch 2 within the extremely confined space of a kiln by adding an independent rotational degree of freedom (rotation mechanism 4) and an independent linear telescopic degree of freedom (telescopic mechanism 3) to the end of the robotic arm body 1 and achieving coordinated control of both. This allows the welding torch 2 to independently adjust its 360° angle, precisely pointing in any direction, and independently perform small-range linear movements, achieving precise fit and trajectory following. Even when the positioning of the robotic arm body 1 is limited, precise operations can be completed through end-effector micro-manipulation, reducing the requirements for the absolute positioning accuracy and operating space of the robotic arm body 1.

[0028] Specifically, the diameter of the driving gear 403 is smaller than the diameter of the driven gear 402.

[0029] Specifically, the drive component 401 is a servo motor.

[0030] like Figure 1 As shown, the telescopic mechanism 3 includes an electric push rod 300 fixedly installed on the side of the rotating shaft 404, and the welding torch 2 is fixedly connected to the telescopic shaft of the electric push rod 300.

[0031] Specifically, the welding torch 2 is moved by the electric actuator 300, thereby completing the linear motion of the welding torch 2.

[0032] like Figure 5 As shown, the telescopic mechanism 3 also includes a spiral tube 301 mounted on the telescopic shaft of the electric push rod 300. Both ends of the spiral tube 301 are connected to sleeves 302. One sleeve 302 is connected to a water inlet pipe on one side and a drain pipe on the other side.

[0033] like Figure 5 As shown, the outer side of the spiral tube 301 is covered with a shield 303.

[0034] Specifically, a water pump is connected to the water inlet pipe to deliver external cooling liquid into the spiral tube 301 to cool the moving end of the electric actuator 300. The cooling liquid is discharged and recycled through the drain pipe to achieve the effect of circulating cooling and reduce the impact of the external temperature of the kiln on the electric actuator 300.

[0035] All standard parts used in this utility model can be purchased from the market. Irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0036] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0041] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm for welding and repairing ceramics on the inner wall of a kiln, comprising a robotic arm body (1) and a welding torch (2) mounted on the robotic arm body (1), characterized in that, Also includes: Telescopic mechanism (3) and rotating mechanism (4); The rotating mechanism (4) is located on the side end of the robotic arm body (1), the telescopic mechanism (3) is located on the rotating mechanism (4), and the welding torch (2) is located on the telescopic mechanism (3). The rotating mechanism (4) includes: The frame (400), the drive unit (401), and the rotating shaft (404); The frame (400) is disposed on the robotic arm body (1), the rotating shaft (404) is rotatably disposed inside the frame (400), and a driven gear (402) is disposed in the middle of the rotating shaft (404). The driving member (401) is disposed on the side of the frame (400), and a driving gear (403) is disposed on the output shaft of the driving member (401). The driving gear (403) meshes with the driven gear (402). The side end of the rotating shaft (404) is arranged outside the frame (400), and the telescopic mechanism (3) is connected to the side end of the rotating shaft (404).

2. The robotic arm for ceramic welding repair of the inner wall of a kiln according to claim 1, characterized in that: The diameter of the driving gear (403) is smaller than the diameter of the driven gear (402).

3. The robotic arm for ceramic welding repair of the inner wall of a kiln according to claim 1, characterized in that: The driving component (401) is a servo motor.

4. The robotic arm for ceramic welding and repair of the inner wall of a kiln according to claim 1, characterized in that: The telescopic mechanism (3) includes an electric push rod (300) fixedly installed on the side end of the rotating shaft (404), and the welding gun (2) is fixedly connected to the telescopic shaft of the electric push rod (300).

5. The robotic arm for ceramic welding repair of the inner wall of a kiln according to claim 4, characterized in that: The telescopic mechanism (3) further includes a spiral tube (301) disposed on the telescopic shaft of the electric push rod (300). Both ends of the spiral tube (301) are connected to sleeves (302). One side end of the sleeve (302) is connected to a water inlet pipe, and the other side end of the sleeve (302) is connected to a drain pipe.

6. The robotic arm for ceramic welding and repair of the inner wall of a kiln according to claim 5, characterized in that: The outer side of the spiral tube (301) is covered with a shield (303).

Images