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CN-121179549-B - Industrial manipulator, operation method and application of industrial manipulator in composite insulator

CN121179549BCN 121179549 BCN121179549 BCN 121179549BCN-121179549-B

Abstract

The invention discloses an industrial manipulator, an operation method and application thereof in a composite insulator, wherein the industrial manipulator comprises a bottom plate, a hollow shaft carrying seat is fixed at the right side of the top end of the bottom plate, a screw rod linear lifting module is arranged at the top end of the hollow shaft carrying seat, a support arm is arranged at the moving end of the screw rod linear lifting module, a rotary following clamping assembly is arranged at the bottom end of the support arm, and a servo motor is arranged at the top end of a shell of the screw rod linear lifting module. The invention uses a highly integrated single motor driving design, thereby fundamentally simplifying the control logic and architecture of the system, greatly improving the reliability and stability of the manipulator, automatically completing the actions of lifting and turning the blank and the radial multi-zone annular spraying glazing assembly under the driving of a single power source, avoiding additional sensors or control instructions, ensuring the complete glazing function and effectively reducing the structural complexity, mechanical cost and maintenance cost of the equipment.

Inventors

  • LIN JINHUI
  • HE WEIMIN

Assignees

  • 江西神黄电力电气有限公司

Dates

Publication Date
20260512
Application Date
20250918

Claims (10)

  1. 1. An industrial robot, comprising: The device comprises a bottom plate (1), wherein a hollow shaft carrying seat (3) is fixed at the right side of the top end of the bottom plate (1), a screw rod linear lifting module (4) is arranged at the top end of the hollow shaft carrying seat (3), a supporting arm (6) is arranged at the moving end of the screw rod linear lifting module (4), a rotary following clamping assembly (7) is arranged at the bottom end of the supporting arm (6), and a servo motor (5) is arranged at the top end of a shell of the screw rod linear lifting module (4); The device comprises a frame (2), wherein the frame (2) is fixed on the hollow shaft carrying seat (3) and the left outer wall of the bottom plate (1), a U-shaped frame (9) is fixed in the frame (2), a connecting rod reciprocating intermittent transmission assembly (11) is arranged in the U-shaped frame (9), a chain wheel transmission assembly (10) which is in power connection with the lower end of a screw rod of the screw rod linear lifting module (4) is arranged in the hollow shaft carrying seat (3), and the connecting rod reciprocating intermittent transmission assembly (11) receives rotary power from the screw rod through the chain wheel transmission assembly (10); Radial multizone is sprayed with a liquid and is glazed assembly (8), the top at frame (2) is installed in radial multizone is sprayed with a liquid and is glazed assembly (8), sprocket drive assembly (10), the reciprocal intermittent drive assembly of connecting rod (11) are to the input shaft transmission reciprocal intermittent rotation power of radial multizone is sprayed with a liquid and is glazed assembly (8), PLC control panel (12) is installed to one side on frame (2) surface, the input of PLC control panel (12) and the output electric connection of servo motor (5).
  2. 2. The industrial manipulator according to claim 1, wherein the rotary following type clamping assembly (7) comprises a short shaft (701) rotatably mounted on one side of the bottom end of the supporting arm (6), a chuck (702) with the lower end of the short shaft (701) fixed, a driving bevel gear shaft (704) rotatably mounted on the other side of the bottom end of the supporting arm (6), and a driven bevel gear shaft (705) rotatably mounted on the inner wall of the supporting arm (6) above the driving bevel gear shaft (704), one end of the driven bevel gear shaft (705) is meshed with the upper end of the driving bevel gear shaft (704), and a belt transmission structure I (703) is mounted between the driving bevel gear shaft (704) and the short shaft (701).
  3. 3. The industrial robot according to claim 2, wherein the rotary following type clamping assembly (7) further comprises a linear rack (707) fixed on the left outer wall of the shell of the screw rod linear lifting module (4) and a final gear (706) fixed on the other end of the driven bevel gear shaft (705), and the final gear (706) and the linear rack (707) are meshed with each other.
  4. 4. An industrial manipulator according to claim 3, wherein the radial multi-zone annular spraying glazing assembly (8) comprises a hollow liquid storage ring (801) rotatably mounted at the left side position of the top end of the frame (2), a plurality of elbows (805) mounted on the inner wall of the hollow liquid storage ring (801) at equal intervals, and a spray head (806) mounted at one end of the elbows (805), an on-off valve (807) is mounted at the edge position of one side of the top end of the hollow liquid storage ring (801), two multi-wedge wheels (803) are rotatably mounted at the top end of the frame (2) on the right side of the hollow liquid storage ring (801), a friction belt (804) is sleeved between the two multi-wedge wheels (803), the friction belt (804) and the outer wall of the hollow liquid storage ring (801) are in contact with each other, the lower ends of the two multi-wedge wheels (803) extend into the inside of the frame (2) and are provided with a belt transmission structure II (808), and the lower ends of one multi-wedge wheel (803) receive a linear lifting screw rod power module (4) through a connecting rod reciprocating intermittent transmission assembly (11) and a sprocket transmission assembly (10).
  5. 5. The industrial manipulator according to claim 4, wherein the top end of the frame (2) at the edge of the hollow liquid storage ring (801) is rotatably provided with a plurality of spool (802), and the spool (802) and the outer wall of the hollow liquid storage ring (801) are in contact with each other.
  6. 6. The industrial manipulator according to claim 4, wherein the sprocket transmission assembly (10) comprises a transmission shaft (1001) rotatably mounted at the central axis position inside the hollow shaft carrier (3), a driven gear (1003) fixed at the top end of the transmission shaft (1001) and a driving gear (1002) fixed at the lower end of a screw rod of the screw rod linear lifting module (4), the driving gear (1002) and the driven gear (1003) are meshed with each other, and a sprocket transmission structure (1004) for driving the connecting rod reciprocating intermittent transmission assembly (11) to work is mounted at the lower end of the transmission shaft (1001).
  7. 7. The industrial manipulator according to claim 6, wherein the connecting rod reciprocating intermittent drive assembly (11) comprises a conversion shaft (1105) rotatably mounted on the right outer wall of the U-shaped frame (9) through a bearing seat and two sections (1103) fixed on the left outer wall of the U-shaped frame (9), a sliding table (1104) is slidably mounted between the two sections (1103), a rotating handle (1106) is fixed at the lower end of the conversion shaft (1105), a fish eye connecting rod (1107) is hinged to one side of the bottom end of the rotating handle (1106), one end of the fish eye connecting rod (1107) is hinged to the bottom end of the sliding table (1104), the top end of the conversion shaft (1105) is in power connection with the lower end of the transmission shaft (1001) through a sprocket transmission structure (1004), a C-shaped seat (1101) is fixed on the top wall of the rack (2) below one multi-wedge wheel (803), and a gear transmission conversion structure (1102) is mounted inside the C-shaped seat (1101).
  8. 8. The industrial robot according to claim 7, wherein the rack and pinion transmission conversion structure (1102) comprises a bevel gear slidably mounted in the C-shaped seat (1101) and a bevel gear fixed at the lower end of one of the multi-wedge wheels (803), the bevel gear and the bevel gear are meshed with each other, and one end of the bevel gear penetrates through the outside of the C-shaped seat (1101) and is fixedly connected with the outer wall of one side of the sliding table (1104).
  9. 9. A method of operating an industrial robot comprising an industrial robot according to any one of claims 1-8, characterized by the steps of: S101, vertically lifting a ceramic composite insulator blank subjected to drying and surface polishing treatment to a station of equipment, and firmly clamping and fixing the upper end of a rod body of the blank by adopting a rotary following clamping assembly (7); S102, an operator selects a glazing production program on a PLC control panel (12) and confirms starting, a servo motor (5) operates according to the direction, speed, angle and response time set by the PLC control panel (12), so that a screw rod linear lifting module (4) is driven, a supporting arm (6) and a rotary following clamping assembly (7) at the tail end of the supporting arm move downwards together with a blank at a uniform speed, and meanwhile, the workpiece continuously rotates at a uniform speed, so that the circumferential surface of the blank can be uniformly covered by glaze; s103, when the blank gradually passes through the radial multi-zone annular spraying glazing assembly (8), the radial multi-zone annular spraying glazing assembly (8) continuously sprays glaze on the blank from multiple directions, meanwhile, screw rod rotation power of the screw rod linear lifting module (4) is transmitted to a sprocket transmission assembly (10), the sprocket transmission assembly (10) and a connecting rod reciprocating intermittent transmission assembly (11) convert rotation into regular and periodic reciprocating swing of the radial multi-zone annular spraying glazing assembly (8), so that the radial multi-zone annular spraying glazing assembly (8) rotates back and forth according to certain angles and intermittence, and the glaze covers deep grooves, inner sides and all shadow areas of a complex umbrella skirt structure of a workpiece; And S104, after the blank completely passes through the radial multi-zone annular spraying glazing assembly (8), finishing the glazing work, then releasing the clamping by an operator, carefully transferring the glazed blank to an airing area, preparing a subsequent sintering process, and starting the clamping cycle of the next workpiece.
  10. 10. The method for operating the industrial manipulator in the composite insulator is characterized in that the operation method is driven by a single servo motor (5), a support arm (6), a rotary following clamping assembly (7) and a clamped insulator blank are driven by a screw rod linear lifting module (4) to descend at a constant speed, and meanwhile, the rotary motion of the screw rod is decomposed into continuous constant-speed rotation of the blank and regular reciprocating swing of a radial multi-region annular spraying glazing assembly (8) through a sprocket transmission assembly (10) and a connecting rod reciprocating intermittent transmission assembly (11).

Description

Industrial manipulator, operation method and application of industrial manipulator in composite insulator Technical Field The invention relates to the technical field of composite insulator processing, in particular to an industrial manipulator, an operation method and application thereof in a composite insulator. Background In the processing flow of the ceramic composite insulator, the surface of the dried green body is usually rough, so that the surface is required to be polished by sand paper or trimmed by a cutter to ensure the accuracy of the size and the smoothness of the surface, the step lays a good foundation for the subsequent glazing process, the glazing is to uniformly coat special glaze slurry on the surface of the green body, after high-temperature firing, the glaze material is melted to form a vitreous protective layer, the layer of glaze not only seals the green body and improves the surface smoothness, but also enhances the mechanical strength, and meanwhile, the ceramic composite insulator has the functions of anti-pollution flashover and moisture resistance, at present, a common glazing method is to perform accurate operation according to a preset track and spraying parameters by a glaze spraying robot, and the thickness uniformity and consistency of the glaze layer are ensured; The industrial manipulator completes glazing work of the ceramic composite insulator through a highly-automatic and precisely-controlled work flow, firstly, the ceramic composite insulator is subjected to off-line programming based on an insulator three-dimensional model, the optimal movement track and the spraying parameters of the spray gun are planned, all complex surfaces are ensured to be covered, in actual operation, the manipulator carries the spray gun to cooperatively move with a position changing machine, a workpiece rotates on the position changing machine at a constant speed, and the manipulator moves according to a preset path, so that the spray gun always keeps a stable distance and angle with the surface of a blank body, and uniform spraying without dead angles is realized. The glaze supplying system continuously conveys glaze slurry and atomizes the glaze slurry at the spray gun to form a fine and continuous glaze fog covering layer. The control system dynamically adjusts the action of a mechanical arm and the output of glaze slurry by a sensor in real time to ensure that the thickness of the glaze slurry is consistent and free of defects, however, in the prior art, when an industrial mechanical arm is matched with a position changing machine and a spray gun to finish the glazing operation of a ceramic composite insulator blank body in a coordinated manner, a plurality of motors in a command device are required to work, namely the position changing machine is used as auxiliary equipment, the blank body is exposed to the spray gun at different angles and positions through the movement of multiple degrees of freedom such as rotation, inclination and the like, the mechanical arm also needs a plurality of motors to control the movement of each joint, the motors need accurate synchronous control in the process, the abnormal operation or control delay of any motor can cause the deviation of a spraying track, the uniformity and the quality of the glaze layer are influenced, otherwise, the control system also needs a high real-time response capability and a stable communication mechanism, otherwise, the coordination error is easy to occur, and the mechanical cost and the maintenance cost of the technical scheme are high, and each high-performance servo motor and the driver are small in investment. Disclosure of Invention The invention aims to provide an industrial manipulator, an operation method and application thereof in a composite insulator, wherein a rotary following type clamping assembly is used for fixing the upper end of a rod body of a composite insulator blank, when a servo motor and a screw rod linear lifting module drive a supporting arm and the rotary following type clamping assembly move downwards and the composite insulator blank gradually passes through a radial multi-zone annular spraying glazing assembly, the composite insulator rotates under the drive of the rotary following type clamping assembly, and the lower end of the screw rod in the screw rod linear lifting module is used for converting power through a sprocket transmission assembly and a connecting rod reciprocating intermittent transmission assembly, so that the radial multi-zone annular spraying glazing is subjected to reciprocating intermittent rotation to eliminate glazing dead zones until the blank completely passes through the radial multi-zone annular spraying glazing assembly and finishes glazing, thereby solving the problems in the background technology. In order to achieve the above purpose, the invention provides a technical scheme that the industrial manipulator comprises: the device comprises a bottom plate, wherein