Multi-axis linkage intelligent robot

Abstract

The utility model relates to industrial robot technical field, and disclose a kind of multi-axis linkage intelligent robot, including robot body, the robot body includes pedestal and with pedestal upper end midline area installation's support arm, the upper end of support arm is rotatably connected with cross arm, and the output end of cross arm is provided with welding mechanism, and one end of cross arm is provided with maintenance mechanism, and maintenance component includes two oil injection components.This kind of multi-axis linkage intelligent robot, the maintenance mechanism of setting can be cleaned by reciprocating motion of multiple silica gel brush to the junction of cross arm and welding machine, remove the metal scrap, oxide layer and carbonized lubricant mixture accumulated between them, avoid impurity accumulation to cause rotation resistance increase or jam, and the elastic deformation of silica gel brush makes it can self-adapting fit surface, so that it is cleaned more thoroughly, secondly, the oil injection component of setting can be automatically oiled to the junction of cross arm and welding machine in the process of cleaning, reduce the abrasion rate of joint position.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically a multi-axis linkage intelligent robot. Background Technology

[0002] Industrial robots are programmable, multi-functional automated mechanical devices capable of performing tasks such as welding, assembly, handling, spraying, and grinding in industrial production environments. They typically possess multi-degree-of-freedom (multi-axis) motion capabilities and can achieve high-precision, highly repeatable operations through sensors and control systems. Among them, welding robots are a typical representative of the industrial robot field. Welding robots are intelligent equipment specifically designed for welding operations. They use robotic arms equipped with welding torches or laser heads, combined with vision systems, force control sensors, etc., to achieve high-precision and high-efficiency welding processes. In common welding robot operations, the joints near the welding point are affected by both high temperatures and fumes. The lubricant at these joints evaporates rapidly, and the residue easily attracts dust and welding fumes from the air, forming a viscous, sludge-like mixture. This mixture coats the joint surface and is repeatedly squeezed and rubbed during movement, significantly shortening the joint's lifespan and threatening the robot's operational stability. Utility Model Content

[0003] To address the shortcomings of existing technologies, this invention provides a multi-axis linkage intelligent robot that has advantages such as cleaning joints and reducing joint wear, thus solving the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a multi-axis linkage intelligent robot, comprising a robot body, the robot body comprising a base and a support arm installed in the upper centerline region of the base, the upper end of the support arm being rotatably connected to a cross arm, and the output end of the cross arm being provided with a welding mechanism;

[0005] A maintenance mechanism is provided at one end of the cross arm. The maintenance mechanism also includes a rotating ring rotatably connected to the outer circumference of the cross arm. Multiple arc-shaped plates are fixedly connected to the circumference of the rotating ring, and a silicone brush is fixedly connected to the inner wall of each arc-shaped plate.

[0006] The silicone brush in the above scheme can enter the gap between the cross arm and the welding mechanism after the arc plate is subjected to force. By driving the welding mechanism to rotate through the cross arm, the arc plate can scrape off the mixture between the cross arm and the welding mechanism, preventing the mixture from aggravating the wear of the rotating parts.

[0007] Furthermore, each of the arc-shaped plates has multiple elastic metal sheets fixedly connected to its inner wall, and each elastic metal sheet is fixedly connected to the outer circumferential surface of the cross arm.

[0008] The above scheme allows the elastic metal sheet to support the arc plate through its deformation force, enabling the arc plate to separate the connection between the silicone brush and the cross arm and the welding mechanism when no force is applied, thus preventing the silicone brush from affecting the rotation of the welding mechanism.

[0009] Furthermore, a collar is provided on one side of each of the multiple arc-shaped plates that are opposite to each other, and a drive ring is rotatably connected to the outer circumferential surface of the cross arm. Two cylinders are fixedly installed on the circumferential surface of the drive ring, and the output ends of the two cylinders are fixedly connected to the collar.

[0010] With the above scheme, the set collar can be put onto multiple arc plates under the push of the cylinder, so that multiple arc plates can deform and drive the silicone brush into the connection between the cross arm and the welding mechanism. The cross arm drives the welding mechanism to rotate, so that the silicone brush can clean the mixture at the connection.

[0011] Furthermore, the maintenance mechanism includes two oiling components, each including a telescopic tube that is fixedly connected to two adjacent silicone brushes. The outer circumferential surface of the telescopic tube has multiple circumferentially distributed oiling holes.

[0012] The above solution allows the telescopic tube to extend and retract synchronously with the silicone brush, maintaining the supply of lubricant and ensuring that the lubricant can be stably sprayed through the oil injection hole to the connection between the cross arm and the welding mechanism, thus achieving lubrication of the connection between the cross arm and the welding mechanism.

[0013] Furthermore, the oil filling assembly also includes an oil box fixedly connected to the outer circumference of the drive ring. One-way valves are installed on the sides of the oil box. A slide cylinder is fixedly connected to the side of the oil box near the collar. A slide rod is slidably connected inside the slide cylinder. One end of the slide rod is fixedly connected to the collar, and the other end of the slide rod is fixedly connected to a spring. The other end of the spring is fixedly connected to a sliding block. The sliding block is slidably connected to the inner wall of the slide cylinder. Magnet blocks are fixedly installed on both the sliding block and the inner wall of the slide cylinder. A nylon rope is fixedly connected between the sliding block and the slide rod. Two auxiliary one-way valves are fixedly connected along the axial direction of the outer circumference of the slide cylinder. The output end of one of the auxiliary one-way valves is fixedly connected to a telescopic tube via a flexible hose. The input end of the other auxiliary one-way valve is fixedly connected to an L-shaped extraction tube, the other end of which is located at the bottom of the oil box.

[0014] The above scheme enables the oil injection component to compress the lubricant inside the slide cylinder during the movement of the collar, allowing the lubricant to enter the telescopic frame through the soft jack and be discharged from multiple oil injection holes.

[0015] Furthermore, the welding mechanism includes a welding machine, which is rotatably connected to the output end of the cross arm. Extraction frames are fixedly installed on both sides of the welding machine, and a three-way flexible hose is fixedly connected between the two extraction frames. The other end of the three-way flexible hose is fixedly connected to the input end of the external pump body.

[0016] The above solution, which combines the extraction frame with the three-way flexible hose, can extract the fumes generated during welding, reducing the impact of fumes on the working environment.

[0017] Furthermore, a rotating rod is rotatably connected to the outer circumferential surface of the cross arm via a bearing seat. A gear is fixedly connected to one end of the rotating rod, and the other end of the rotating rod is fixedly connected to the output end of an external motor. An arc-shaped toothed ring is fixedly connected to the outer circumferential surface of the drive ring, and the gear meshes with the arc-shaped toothed ring.

[0018] Through the above scheme, the combination of the arc-shaped toothed ring and the gear can make the drive ring reciprocate under the drive of the external motor. Due to the friction between the collar and the arc plate, the drive ring can drive the rotating ring to rotate during the rotation, so that multiple silicone brushes can repeatedly clean the connection between the cross arm and the welding machine.

[0019] Compared with the prior art, the technical solution of this utility model has the following beneficial effects:

[0020] This multi-axis linkage intelligent robot features a maintenance mechanism that uses the reciprocating motion of multiple silicone brushes to clean the connection between the horizontal arm and the welding machine. This removes accumulated metal debris, oxide layers, and carbonized lubricant mixtures, preventing impurities from accumulating and increasing rotational resistance or causing jamming. The elastic deformation of the silicone brushes allows them to adaptively conform to the mating surfaces, resulting in a more thorough cleaning. Furthermore, the included lubrication component automatically injects lubricant into the connection between the horizontal arm and the welding machine during the cleaning process, reducing the wear rate of the joints. Its advantage lies in the linkage design of the cleaning and lubrication functions, which allows for simultaneous impurity removal and lubrication renewal within a single maintenance cycle, avoiding downtime associated with traditional manual maintenance. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this application;

[0022] Figure 2 For this application Figure 1 Enlarged schematic diagram of the structure at point A;

[0023] Figure 3 This is a schematic diagram of the separate structure of the collar and rotating ring in this application;

[0024] Figure 4 This is a cross-sectional view of the drive ring structure of this application;

[0025] Figure 5 For this application Figure 4 Enlarged schematic diagram of the structure at point B;

[0026] Figure 6This is a schematic diagram of the telescopic tube structure of this application;

[0027] Figure 7 This is a schematic diagram of the drive ring structure of this application;

[0028] Figure 8 This is a schematic diagram of the welding mechanism structure of this application.

[0029] In the picture:

[0030] 1. Robot body;

[0031] 101. Base; 102. Support arm; 103. Cross arm;

[0032] 2. Welding mechanism;

[0033] 201. Welding machine; 202. Extraction frame; 203. T-shaped flexible hose;

[0034] 3. Maintenance facilities;

[0035] 301. Oil injection assembly; 302. Rotating ring; 303. Arc-shaped plate; 304. Silicone brush;

[0036] 3011 Telescopic tube; 3012 Oil filling hole; 3013 Oil box; 3014 Oil filling check valve; 3015 Slide cylinder; 3016 Slide rod; 3017 Spring; 3018 Sliding block; 3019 Magnet block; 3020 Nylon rope; 3021 Auxiliary check valve; 3022 Extraction tube;

[0037] 4. Elastic metal sheet; 5. Collar; 6. Drive ring; 7. Cylinder; 8. Rotating rod; 9. Gear; 10. Arc-shaped gear ring. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] Please see Figures 1-8 The multi-axis linkage intelligent robot in this embodiment includes a robot body 1. The robot body 1 includes a base 101 and a support arm 102 installed in the upper center area of ​​the base 101. The upper end of the support arm 102 is rotatably connected to a horizontal arm 103. The output end of the horizontal arm 103 is provided with a welding mechanism 2. The welding mechanism 2 is used to weld external parts and can also extract the fumes generated during the welding process.

[0040] A maintenance mechanism 3 is provided at one end of the cross arm 103. The maintenance mechanism 3 is used to remove the sludge-like debris accumulated at the connection between the cross arm 103 and the welding mechanism 2, and to update the lubricant at the same time to maintain the fitting accuracy of the rotating parts.

[0041] The maintenance mechanism 3 includes two lubrication components 301 for injecting new lubricant between the cross arm 103 and the welding mechanism 2.

[0042] The maintenance mechanism 3 includes a rotating ring 302 rotatably connected to the outer circumference of the cross arm 103. Multiple arc-shaped plates 303 are fixedly connected to the circumference of the rotating ring 302. A silicone brush 304 is fixedly connected to the inner wall of each arc-shaped plate 303. The silicone brush 304 can enter the gap between the cross arm 103 and the welding mechanism 2 after the arc-shaped plate 303 is subjected to force. The cross arm 103 drives the welding mechanism 2 to rotate, and the arc-shaped plate 303 can scrape off the mixture between the cross arm 103 and the welding mechanism 2, preventing the mixture from aggravating the wear of the rotating parts. Multiple elastic metal sheets 4 are fixedly connected to the inner wall of each arc-shaped plate 303. Each elastic metal sheet 4 is fixedly connected to the outer circumference of the cross arm 103. The elastic metal sheets 4 can support the arc-shaped plate 303 through the deformation force of the elastic metal sheets 4, so that the arc-shaped plate 303 can separate the silicone brush 304 from the connection between the cross arm 103 and the welding mechanism 2 when the arc-shaped plate 303 is not subjected to force, preventing the silicone brush 304 from affecting the rotation of the welding mechanism 2.

[0043] A collar 5 is provided on one side of multiple arc-shaped plates 303 that are opposite to each other. A drive ring 6 is rotatably connected to the outer circumference of the cross arm 103. Two cylinders 7 are fixedly installed on the circumference of the drive ring 6. The output ends of the two cylinders 7 are fixedly connected to the collar 5. The collar 5 can be sleeved on the multiple arc-shaped plates 303 under the push of the cylinders 7, so that the multiple arc-shaped plates 303 can deform and drive the silicone brush 304 to enter the connection between the cross arm 103 and the welding mechanism 2. The cross arm 103 drives the welding mechanism 2 to rotate, so that the silicone brush 304 can clean the mixture at the connection.

[0044] The oil injection assembly 301 includes a telescopic tube 3011, which is fixedly connected to two adjacent silicone brushes 304. The outer circumferential surface of the telescopic tube 3011 is provided with a plurality of circumferentially distributed oil injection holes 3012. The telescopic tube 3011 is designed to extend and retract synchronously with the silicone brushes 304 to maintain the supply of lubricant and enable the lubricant to be stably sprayed through the oil injection holes 3012 to the connection between the cross arm 103 and the welding mechanism 2, thereby achieving lubrication of the connection between the cross arm 103 and the welding mechanism 2.

[0045] The oil filling assembly 301 also includes an oil box 3013 fixedly connected to the outer circumference of the drive ring 6. Each side of the oil box 3013 is equipped with an oil filling check valve 3014. The check valve 3014 opens when the oil box 3013 is under negative pressure, allowing outside air to enter and maintaining communication between the oil box 3013 and the outside environment during oil filling. This prevents negative pressure from affecting the oil filling process. A slide cylinder 3015 is fixedly connected to the side of the oil box 3013 near the collar 5. A slide rod 3016 is slidably connected inside the slide cylinder 3015. One end of the slide rod 3016... Fixedly connected to the collar 5, the other end of the slide rod 3016 is fixedly connected to a spring 3017, and the other end of the spring 3017 is fixedly connected to a sliding block 3018. The sliding block 3018 is slidably connected to the inner wall of the slide cylinder 3015. Magnet blocks 3019 are fixedly installed on both the sliding block 3018 and the inner wall of the slide cylinder 3015. The two magnet blocks 3019 are attracted to each other due to their opposite polarity. The magnet blocks 3019 are designed so that after the slide rod 3016 pushes the sliding block 3018 into place, the two magnet blocks 3019 can attract each other together. When the slide rod 3016 is pulled by the collar 5 and slides inside the slide cylinder 3015, the two magnet blocks 3019 attract each other. When the slide bar 3016 and the sliding block 3018 are together, the spring 3017 will be stretched, and a negative pressure will be generated between them, which facilitates the subsequent extraction of lubricant. A nylon rope 3020 is fixedly connected between the sliding block 3018 and the slide bar 3016. Two auxiliary one-way valves 3021 are fixedly connected along the axial direction of the outer circumference of the slide cylinder 3015. The output end of one of the auxiliary one-way valves 3021 is fixedly connected to the telescopic tube 3011 through a hose, and the input end of the other auxiliary one-way valve 3021 is fixedly connected to an L-shaped extraction tube 3022. The other end of the extraction tube 3022 is located at the bottom of the oil box 3013. The auxiliary one-way valves 3021 have opposite discharge directions. By setting two auxiliary one-way valves 3021 with opposite discharge directions, a negative pressure can be generated between the slide rod 3016 and the sliding block 3018. The auxiliary one-way valve 3021 with the output port located in the slide cylinder 3015 can draw the lubricant inside the oil box 3013 into the slide rod 3016 and the sliding block 3018 inside the slide cylinder 3015 through the extraction pipe 3022. The oil injection component 301 can compress the lubricant inside the slide cylinder 3015 during the movement of the collar 5, so that the lubricant can enter the telescopic pipe 3011 through the hose and be discharged from multiple oil injection holes 3012.

[0046] The welding mechanism 2 includes a welding machine 201, which is rotatably connected to the output end of the cross arm 103. Extraction frames 202 are fixedly installed on both sides of the welding machine 201, and a three-way hose 203 is fixedly connected between the two extraction frames 202. The other end of the three-way hose 203 is fixedly connected to the input end of the external pump body. The extraction frames 202 and the three-way hose 203 work together to extract the fumes generated during the welding process during the operation of the welding machine 201, thereby reducing the impact of fumes on the working environment.

[0047] A rotating rod 8 is rotatably connected to the outer circumference of the cross arm 103 via a bearing seat. A gear 9 is fixedly connected to one end of the rotating rod 8, and the other end of the rotating rod 8 is fixedly connected to the output end of an external motor. An arc-shaped toothed ring 10 is fixedly connected to the outer circumference of the drive ring 6. The gear 9 meshes with the arc-shaped toothed ring 10. The use of the arc-shaped toothed ring 10 and the gear 9 enables the drive ring 6 to reciprocate under the drive of the external motor. Due to the friction between the collar 5 and the arc plate 303, the drive ring 6 can drive the rotating ring 302 to rotate during rotation, so that multiple silicone brushes 304 can repeatedly clean the connection between the cross arm 103 and the welding machine 201.

[0048] The working principle of the above embodiment is as follows: During the welding work of the robot body 1, the external pump creates a negative pressure in the extraction frame 202 through the extraction pipe 3022, and extracts the smoke generated during the welding process to a designated location to prevent the smoke from spreading to the surrounding working environment, thereby improving the air quality of the working environment and ensuring the occupational health and safety of the operators.

[0049] When cleaning the connection between the horizontal arm 103 and the welding machine 201, the two cylinders 7 push the collar 5 onto multiple arc plates 303. After the multiple arc plates 303 are subjected to force, they drive the silicone brush 304 to contact the connection between the horizontal arm 103 and the welding machine 201. Then, the horizontal arm 103 drives the welding machine 201 to rotate, which can clean the connection between the welding machine 201 and the horizontal arm 103. At the same time, the external motor drives the rotating rod 8 to rotate, which can drive the gear 9 to mesh with the arc-shaped toothed plate, thereby driving the drive ring 6 to reciprocate on the outer circumference of the horizontal arm 103. Due to the friction between the collar 5 and the arc plate 303, the drive ring 6 can drive the rotating ring 302 to rotate during the rotation, which in turn drives the multiple silicone brushes 304 to clean the connection between the horizontal arm 103 and the welding machine 201 more evenly.

[0050] During the movement of the collar 5, the collar 5 can pull the slide rod 3016 to slide inside the slide cylinder 3015. Since the two magnetic blocks 3019 are attracted together, the sliding block 3018 will be attracted to the slide cylinder 3015. The spring 3017 between the slide rod 3016 and the sliding block 3018 is stretched under the sliding of the slide rod 3016, so that a negative pressure is formed between the slide rod 3016 and the sliding block 3018. This allows the auxiliary one-way valve 3021, whose output port is located inside the slide cylinder 3015, to draw lubricant from the oil box 3013 through the extraction pipe 3022 under the action of negative pressure and inject it between the slide rod 3016 and the arc-shaped block. When the slide rod 3016 has moved into position, the slide rod 3016 can pull the arc-shaped block through the nylon rope 3020, so that the sliding block 3018 is inside the slide cylinder 3015. When the slide is complete, the two magnet blocks 3019 will separate. At this time, the deformation force of the spring 3017 can slowly pull the sliding block 3018 to slide inside the slide cylinder 3015 and approach the slide rod 3016. During this process, the sliding block 3018 will push the lubricant inside the slide cylinder 3015 to be discharged through the adjacent auxiliary one-way valve 3021. The discharged lubricant can be delivered to the telescopic tube 3011 through the hose and discharged from multiple oil injection holes 3012 to the connection between the cross arm 103 and the welding machine 201, thereby achieving a lubrication effect. Since the oil injection step includes extracting the lubricant from the oil box 3013, it takes some time. The oil injection work can be connected after the connection between the cross arm 103 and the welding machine 201 is cleaned to prevent the lubricant from being sprayed onto the mixture at the connection between the cross arm 103 and the welding machine 201.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0052] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-axis articulated intelligent robot comprising a robot body (1), characterized in that: The robot body (1) includes a base (101) and a support arm (102) installed in the center region of the upper end of the base (101). The upper end of the support arm (102) is rotatably connected to a cross arm (103), and the output end of the cross arm (103) is provided with a welding mechanism (2). A maintenance mechanism (3) is provided at one end of the cross arm (103). The maintenance mechanism (3) includes a rotating ring (302) rotatably connected to the outer circumferential surface of the cross arm (103). Multiple arc-shaped plates (303) are fixedly connected to the circumferential surface of the rotating ring (302). A silicone brush (304) is fixedly connected to the inner wall of each arc-shaped plate (303).

2. The multi-axis linkage intelligent robot according to claim 1, characterized in that: Each of the arc-shaped plates (303) has multiple elastic metal sheets (4) fixedly connected to its inner wall, and each elastic metal sheet (4) is fixedly connected to the outer circumferential surface of the cross arm (103).

3. The multi-axis articulated intelligent robot of claim 2, wherein: A collar (5) is provided on one side of each of the multiple arc plates (303) facing away from each other. A drive ring (6) is rotatably connected to the outer circumference of the cross arm (103). Two cylinders (7) are fixedly installed on the circumference of the drive ring (6). The output ends of the two cylinders (7) are fixedly connected to the collar (5).

4. The multi-axis linkage intelligent robot according to any one of claims 1-3, characterized in that: The maintenance mechanism (3) includes two oiling components (301).

5. The multi-axis articulated intelligent robot of claim 4, wherein: The oil injection assembly (301) includes a telescopic tube (3011), which is fixedly connected to two adjacent silicone brushes (304). The outer circumferential surface of the telescopic tube (3011) is provided with a plurality of circumferentially distributed oil injection holes (3012).

6. The multi-axis articulated intelligent robot of claim 5, wherein: The oil injection assembly (301) also includes an oil box (3013) fixedly connected to the outer circumference of the drive ring (6). One-way oil injection valves (3014) are installed on the sides of the oil box (3013). A slide cylinder (3015) is fixedly connected to the side of the oil box (3013) near the collar (5). A slide rod (3016) is slidably connected inside the slide cylinder (3015). One end of the slide rod (3016) is fixedly connected to the collar (5), and the other end of the slide rod (3016) is fixedly connected to a spring (3017). The other end of the spring (3017) is fixedly connected to a sliding block (3018). The sliding block (3018) and the slide cylinder (3015) are connected to each other. The sliding connection is made of walls. Magnet blocks (3019) are fixedly installed on the inner walls of the sliding block (3018) and the slide cylinder (3015). A nylon rope (3020) is fixedly connected between the sliding block (3018) and the slide rod (3016). Two auxiliary one-way valves (3021) are fixedly connected along the axial direction of the outer circumference of the slide cylinder (3015). The output end of one of the auxiliary one-way valves (3021) is fixedly connected to the telescopic tube (3011) through a hose. The input end of the other auxiliary one-way valve (3021) is fixedly connected to an L-shaped extraction tube (3022). The other end of the extraction tube (3022) is located at the bottom of the oil box (3013).

7. The multi-axis articulated intelligent robot of claim 1, wherein: The welding mechanism (2) includes a welding machine (201), which is rotatably connected to the output end of the cross arm (103). Extraction frames (202) are fixedly installed on both sides of the welding machine (201), and a three-way hose (203) is fixedly connected between the two extraction frames (202). The other end of the three-way hose (203) is fixedly connected to the input end of the external pump body.

8. The multi-axis articulated intelligent robot of claim 1, wherein: The outer circumferential surface of the cross arm (103) is rotatably connected to a rotating rod (8) via a bearing seat. One end of the rotating rod (8) is fixedly connected to a gear (9), and the other end of the rotating rod (8) is fixedly connected to the output end of an external motor. The outer circumferential surface of the drive ring (6) is fixedly connected to an arc-shaped toothed ring (10), and the gear (9) meshes with the arc-shaped toothed ring (10).

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