CN106272457B - A kind of intelligence high-altitude rust removing robot - Google Patents
A kind of intelligence high-altitude rust removing robot Download PDFInfo
- Publication number
- CN106272457B CN106272457B CN201610787830.2A CN201610787830A CN106272457B CN 106272457 B CN106272457 B CN 106272457B CN 201610787830 A CN201610787830 A CN 201610787830A CN 106272457 B CN106272457 B CN 106272457B
- Authority
- CN
- China
- Prior art keywords
- fixedly mounted
- fixed frame
- frame
- base
- direct current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The present invention provides a kind of intelligent high-altitude rust removing robot, including base, first walking mechanism, camera shooting mechanism, derusting mechanism, steering mechanism, jet mechanism etc., it is characterized by: and be fixedly connected by the first connection frame and the second connection frame, first electromagnet is hingedly mounted on mechanical arm bottom end, the camera mount is fixedly mounted on the top center position of base, triangular fixing frame bottom side end is respectively fixedly installed with first direct current generator, and the iron brush is fixedly mounted on the output shaft of the first direct current generator；Machine rotation is driven by slewing equipment；The present invention can replace the high altitude operation of people, robot is driven to change moving direction by steering mechanism, it uses camera shooting mechanism that iron flask concrete condition is transferred to maintenance personal, facilitate maintenance personal to understand concrete condition, is derusted by derusting mechanism and jet mechanism to rusty part and maintenance of painting.
Description
Technical field
The present invention relates to large-scale iron flasks to repair manufacturing field, in particular to a kind of intelligent high-altitude rust removing robot.
Background technique
With the development of industrialization, need to use the large-scale iron flask of a large amount of hundreds of tonnage capacities, and large-scale iron flask manufacture at
This is high, is not easy to replace, and needs to send maintenance personal to eminence in maintenance and repair, extremely dangerous, therefore on the market
It is badly in need of a kind of arch maintenance robot to carry out derusting maintenance to it.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of intelligent high-altitude rust removing robot, first walking mechanism and the are used
Two walking mechanisms drive the climbing of machine straight line, drive robot to change moving direction by steering mechanism, use camera shooting mechanism
Iron flask concrete condition is transferred to maintenance personal, rusty part is derusted and painted by derusting mechanism and paint spraying mechanism
Maintenance.
Technical solution used in the present invention is: a kind of intelligence high-altitude rust removing robot, including base, the first vehicle with walking machine
Structure, camera shooting mechanism, derusting mechanism, steering mechanism, paint spraying mechanism, the second walking mechanism, it is characterised in that: the base includes 2
A first T-rail, 2 the second T-rails, first T-rail and the second T-rail are distributed parallelly at the top of base；
The first walking mechanism includes the first stepper motor, lead screw, lead screw bracket, feed screw nut, 2 the first sliding blocks, the first connection
Frame, the second connection frame, 2 body cradles, 2 mechanical arms, 2 the first fixed frames, 2 the second fixed frames, 4 second springs, 2
First electromagnet, 2 the first springs, first stepper motor are fixedly mounted on to the right base top center, the lead screw branch
Frame is fixedly mounted on the top right end of base upwards, and the lead screw left end is fixedly connected with the first stepper motor output shaft, right end
It is rotatably installed on lead screw bracket, 2 first sliding blocks are slidably mounted on respectively on 2 the first T-rails, and pass through first
Connection frame and the second connection frame are fixedly connected, and the feed screw nut is fixedly mounted among the first connection frame bottom, pass through first
Stepper motor drives the first sliding block to slide along the first T shape sliding rail, and the body cradle is fixedly mounted on the first slider top left end, institute
It states mechanical arm to be hingedly mounted on the first sliding block by body cradle, first electromagnet is hingedly mounted on mechanical arm bottom end, institute
It states 2 second springs and is located at articulated shaft two sides, and be fixedly mounted between the second fixed frame and the first electromagnet, described
One spring bottom end is fixedly mounted on the first slider top, and top is fixedly mounted on the robotic arm by the first fixed frame；It is described
Imaging mechanism includes camera mount, second stepper motor, video camera, and the camera mount is fixedly mounted on the top of base
Middle position, the second stepper motor are fixedly mounted on the bottom of camera mount upwards, and the video camera is fixedly mounted on
On second stepper motor output shaft；The derusting mechanism include third fixed frame, 4 electric cylinders, triangular fixing frame, 3 first it is straight
Galvanic electricity machine, 3 iron brushes, the second direct current generator, the 4th fixed frame, the derusting mechanism are fixedly mounted on machine by third fixed frame
Seat bottom right end, 4 electric cylinders are located on four angles of third fixed frame, and are fixedly mounted on third fixed frame and the 4th downwards
Between fixed frame, second direct current generator is fixedly mounted on downwards at the top of the 4th fixed frame, the triangular fixing frame central part
Position is fixedly connected with the second direct current generator output shaft, and triangular fixing frame bottom side end is respectively fixedly installed with first direct current
Motor, the iron brush are fixedly mounted on the output shaft of the first direct current generator, pass through the first direct current generator and the second direct current generator
Drive the rotation of iron brush；The steering mechanism includes slewing equipment, the 5th fixed frame, 4 third springs, casing, the second sliding block,
Two electromagnet, the slewing equipment are fixedly mounted on base bottom geometric center position, and the 5th fixed frame is fixedly mounted on
Slewing equipment bottom, described sleeve pipe are fixedly mounted on the 5th fixed frame bottom, and second upper end of slide block is slidably mounted on casing
In, second electromagnet is fixedly mounted on the second slider bottom, and it is solid that the third both ends of the spring is respectively and fixedly installed to the 5th
Determine between frame and the second electromagnet, machine rotation is driven by slewing equipment；The paint spraying mechanism includes paint deposit box, the 6th
Fixed frame, 5 spouts, the paint deposit box and the 6th fixed frame are fixedly mounted on base bottom left end, and 5 spouts are equal
It is even to be distributed in a row and be fixedly mounted on the 6th fixed frame bottom.
Working principle of the present invention: iron flask is tightly sucked by the first electromagnet and the second electromagnet in the present invention, guarantees fuselage
It is not fallen down on vertical iron flask, so that fuselage is moved linearly by first walking mechanism and the second walking mechanism, pass through steering mechanism
It drives robot to change moving direction, image information is transmitted to by operator by camera shooting mechanism, to control robot to mesh
Cursor position carries out derusting maintenance to iron flask by derusting mechanism and paint spraying mechanism.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that the present invention uses the first vehicle with walking machine
Structure and the driving machine straight line climbing of the second walking mechanism are changed instead of the high altitude operation of people by driving robot of steering mechanism
Moving direction uses camera shooting mechanism that iron flask concrete condition is transferred to maintenance personal, maintenance personal is facilitated to understand concrete condition,
Its maintenance that derusted and painted to rusty part by derusting mechanism and paint spraying mechanism.
Detailed description of the invention
Fig. 1, Fig. 2 are overall structure diagram of the invention.
Fig. 3 is mechanical arm structural schematic diagram of the invention.
Fig. 4 is camera shooting mechanism structural schematic diagram of the invention.
Fig. 5 is derusting mechanism structural schematic diagram of the invention.
Fig. 6 is steering mechanism's structural schematic diagram of the invention.
Fig. 7 is paint spraying mechanism structural schematic diagram of the invention.
Drawing reference numeral: 1- base；2- first walking mechanism；3- images mechanism；4- derusting mechanism；5- steering mechanism；6- spray
Paint mechanism；The second walking mechanism of 7-；The first T-rail of 101-；The second T-rail of 102-；The first stepper motor of 201-；202-
Thick stick；203- lead screw bracket；204- feed screw nut；The first sliding block of 205-；The first connection frame of 206-；The second connection frame of 207-；208-
Body cradle；209- mechanical arm；The first fixed frame of 210-；The second fixed frame of 211-；The first electromagnet of 212-；213- second spring；
The first spring of 214-；301- camera mount；302- second stepper motor；303- video camera；401- third fixed frame；402- electricity
Cylinder；403- triangular fixing frame；The first direct current generator of 404-；405- iron brush；The second direct current generator of 406-；The 4th fixed frame of 407-；
501- slewing equipment；The 5th fixed frame of 502-；503- third spring；504- casing；The second sliding block of 505-；The second electromagnetism of 506-
Iron；601- paints deposit box；The 6th fixed frame of 602-；603- spout.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of intelligence high-altitude rust removing robot, including base 1, the
One walking mechanism 2, camera shooting mechanism 3, derusting mechanism 4, steering mechanism 5, paint spraying mechanism 6, the second walking mechanism 7, it is characterised in that:
The base 1 includes 2 the first T-rails, 101,2 the second T-rails 102, first T-rail 101 and the 2nd T shape
Guide rail 102 is distributed parallelly on 1 top of base；The first walking mechanism 2 includes the first stepper motor 201, lead screw 202, lead screw
207,2 bracket 203,204,2 the first sliding blocks 205 of feed screw nut, the first connection frame 206, the second connection frame body cradles 208,2
The first electromagnet of second spring 213,2 of the second fixed frame 211,4 of the first fixed frame 210,2 of a mechanical arm 209,2
212,2 the first springs 214, first stepper motor 201 are fixedly mounted on to the right 1 top center of base, the lead screw branch
Frame 203 is fixedly mounted on the top right end of base 1 upwards, and 202 left end of lead screw is fixed with 201 output shaft of the first stepper motor
Connection, right end are rotatably installed on lead screw bracket 203, and 2 first sliding blocks 205 are slidably mounted on 2 the first T shapes respectively and lead
It on rail, and is fixedly connected by the first connection frame 206 with the second connection frame 207, the feed screw nut 204 is fixedly mounted on first
Among 206 bottom of connection frame, the first sliding block 205 is driven to slide along the first T shape sliding rail 101 by the first stepper motor 201, it is described
Body cradle 208 is fixedly mounted on 205 top left of the first sliding block, and the mechanical arm 209 is hingedly mounted on by body cradle (208)
On first sliding block 205, first electromagnet 212 is hingedly mounted on 209 bottom end of mechanical arm, 2 second springs 213 difference
It positioned at articulated shaft two sides, and is fixedly mounted between the second fixed frame 211 and the first electromagnet 212,214 bottom of the first spring
End is fixedly mounted on 205 top of the first sliding block, and top is fixedly mounted on mechanical arm 209 by the first fixed frame 210；It is described
Imaging mechanism 3 includes camera mount 301, second stepper motor 302, video camera 303, the fixed peace of the camera mount 301
Mounted in the top center position of base 1, the second stepper motor 302 is fixedly mounted on the bottom of camera mount 301 upwards,
The video camera 303 is fixedly mounted on 302 output shaft of second stepper motor；The derusting mechanism 4 includes third fixed frame
401,4 electric cylinders 402,403,3 the first direct current generators of triangular fixing frame, 404,3 iron brushes 405, the second direct current generator 406,
Four fixed frames 407, the derusting mechanism 4 are fixedly mounted on 1 bottom right end of base, 4 electric cylinders by third fixed frame 401
402 are located on 401 4 angles of third fixed frame, and be fixedly mounted on downwards third fixed frame 401 and the 4th fixed frame 407 it
Between, second direct current generator 406 is fixedly mounted on downwards 407 top of the 4th fixed frame, 403 central part of triangular fixing frame
Position is fixedly connected with 406 output shaft of the second direct current generator, and the 403 bottom side end of triangular fixing frame is respectively fixedly installed with one the
One direct current generator 404, the iron brush 405 are fixedly mounted on the output shaft of the first direct current generator 404, pass through the first direct current generator
404 and second direct current generator 406 drive iron brush 405 rotate；The steering mechanism 5 includes slewing equipment 501, the 5th fixed frame
502,4 third springs 503, casing 504, the second sliding block 505, the second electromagnet 506, the slewing equipment 501 are fixedly mounted
In 1 bottom geometric center position of base, the 5th fixed frame 502 is fixedly mounted on slewing equipment bottom, and described sleeve pipe 504 is solid
Dingan County is mounted in 502 bottom of the 5th fixed frame, and 505 upper end of the second sliding block is slidably mounted in casing 504, second electromagnetism
Iron 506 is fixedly mounted on 505 bottom of the second sliding block, and 503 both ends of third spring are respectively and fixedly installed to the 5th fixed frame 502
And second between electromagnet 506, passes through slewing equipment 501 and drives machine rotation；The paint spraying mechanism 6 includes paint deposit box
601,602,5 spouts 603 of the 6th fixed frame, the paint deposit box 601 and the 6th fixed frame 602 are fixedly mounted on base 1
Bottom left end, 5 spouts 603 are evenly distributed on a row and are fixedly mounted on 602 bottom of the 6th fixed frame.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Working principle of the present invention: iron flask is tightly sucked by the first electromagnet 212 and the second electromagnet 506 in the present invention, protects
Card fuselage is not fallen down on vertical iron flask, so that fuselage is moved linearly by first walking mechanism 2 and the second walking mechanism 7, is passed through
Steering mechanism 5 drives robot to change moving direction, image information is transmitted to operator by imaging mechanism 3, to control
Robot carries out derusting maintenance to iron flask to target position, by derusting mechanism 4 and paint spraying mechanism 6.
Claims (1)
1. a kind of intelligence high-altitude rust removing robot, including base (1), first walking mechanism (2), camera shooting mechanism (3), derusting mechanism
(4), steering mechanism (5), paint spraying mechanism (6), the second walking mechanism (7), it is characterised in that: the base (1) includes 2 first
T-rail (101), 2 the second T-rails (102), parallel with the second T-rail (102) point of first T-rail (101)
Cloth is at the top of base (1)；The first walking mechanism (2) includes the first stepper motor (201), lead screw (202), lead screw bracket
(203), feed screw nut (204), 2 the first sliding blocks (205), the first connection frame (206), the second connection frame (207), 2 it is hinged
Frame (208), 2 mechanical arms (209), 2 the first fixed frames (210), 2 the second fixed frames (211), 4 second springs
(213), 2 the first electromagnet (212), 2 the first springs (214), first stepper motor (201) are fixedly mounted on to the right
Base (1) top center, the lead screw bracket (203) are fixedly mounted on the top right end of base (1), the lead screw upwards
(202) left end is fixedly connected with the first stepper motor (201) output shaft, and right end is rotatably installed on lead screw bracket (203), described
2 the first sliding blocks (205) are slidably mounted on respectively on 2 the first T-rails, and are connected by the first connection frame (206) and second
It connects frame (207) to be fixedly connected, the feed screw nut (204) is fixedly mounted among the first connection frame (206) bottom, passes through first
Stepper motor (201) driving the first sliding block (205) is slided along the first T shape sliding rail (101), and the body cradle (208) is fixedly mounted
In the first sliding block (205) top left, the mechanical arm (209) is hingedly mounted on the first sliding block (205) by body cradle (208)
On, first electromagnet (212) is hingedly mounted on mechanical arm (209) bottom end, and 2 second springs (213) are located at
Articulated shaft two sides, and be fixedly mounted between the second fixed frame (211) and the first electromagnet (212), first spring (214)
Bottom end is fixedly mounted at the top of the first sliding block (205), and top is fixedly mounted on mechanical arm by the first fixed frame (210)
(209) on；The camera shooting mechanism (3) includes camera mount (301), second stepper motor (302), video camera (303), described
Camera mount (301) is fixedly mounted on the top center position of base (1), and the second stepper motor (302) is fixed upwards
It is mounted on the bottom of camera mount (301), the video camera (303) is fixedly mounted on second stepper motor (302) output shaft
On；The derusting mechanism (4) include third fixed frame (401), 4 electric cylinders (402), triangular fixing frame (403), 3 first it is straight
Galvanic electricity machine (404), 3 iron brushes (405), the second direct current generator (406), the 4th fixed frame (407), the derusting mechanism (4) are logical
It crosses third fixed frame (401) and is fixedly mounted on base (1) bottom right end, 4 electric cylinders (402) are located at third fixed frame
It on (401) four angles, and is fixedly mounted on downwards between third fixed frame (401) and the 4th fixed frame (407), described second is straight
Galvanic electricity machine (406) is fixedly mounted on downwards at the top of the 4th fixed frame (407), triangular fixing frame (403) centre and the
Two direct current generators (406) output shaft is fixedly connected, and triangular fixing frame (403) the bottom side end is respectively fixedly installed with one first
Direct current generator (404), the iron brush (405) are fixedly mounted on the output shaft of the first direct current generator (404), pass through the first direct current
Motor (404) and the second direct current generator (406) driving iron brush (405) rotation；The steering mechanism (5) includes slewing equipment
(501), the 5th fixed frame (502), 4 third springs (503), casing (504), the second sliding block (505), the second electromagnet
(506), the slewing equipment (501) is fixedly mounted on base (1) bottom geometric center position, the 5th fixed frame (502)
It is fixedly mounted on slewing equipment bottom, described sleeve pipe (504) is fixedly mounted on the 5th fixed frame (502) bottom, and described second is sliding
Block (505) upper end is slidably mounted in casing (504), and second electromagnet (506) is fixedly mounted on the second sliding block (505) bottom
Portion, third spring (503) both ends are respectively and fixedly installed between the 5th fixed frame (502) and the second electromagnet (506), are led to
Cross slewing equipment (501) driving machine rotation；The paint spraying mechanism (6) includes paint deposit box (601), the 6th fixed frame
(602), 5 spouts (603), the paint deposit box (601) and the 6th fixed frame (602) are fixedly mounted on base (1) bottom
Left end, 5 spouts (603) are evenly distributed on a row and are fixedly mounted on the 6th fixed frame (602) bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610787830.2A CN106272457B (en) | 2016-08-31 | 2016-08-31 | A kind of intelligence high-altitude rust removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610787830.2A CN106272457B (en) | 2016-08-31 | 2016-08-31 | A kind of intelligence high-altitude rust removing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272457A CN106272457A (en) | 2017-01-04 |
| CN106272457B true CN106272457B (en) | 2019-02-15 |
Family
ID=57672678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610787830.2A Expired - Fee Related CN106272457B (en) | 2016-08-31 | 2016-08-31 | A kind of intelligence high-altitude rust removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272457B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203773B (en) * | 2020-01-15 | 2021-09-14 | 广东博智林机器人有限公司 | Polishing execution device |
| CN111251107B (en) * | 2020-03-18 | 2021-10-22 | 广东博智林机器人有限公司 | Polishing equipment |
| CN114226298B (en) * | 2021-11-26 | 2023-06-02 | 普沃(天津)科技有限公司 | Automatic cleaning device for outer wall of oil tank truck |
| CN117226673B (en) * | 2023-11-15 | 2024-01-23 | 山西国重工程科技有限公司 | Rust removal device for high-rise steel structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079339A (en) * | 2010-05-24 | 2011-06-01 | 安徽理工大学 | Robot operated on surface of oil storage tank |
| CN102528623A (en) * | 2012-02-15 | 2012-07-04 | 牛占华 | High-altitude rust removing robot |
| CN104440915A (en) * | 2013-09-15 | 2015-03-25 | 南京大五教育科技有限公司 | Spray painting robot for rust removal of large pipe |
| CN204471161U (en) * | 2015-01-30 | 2015-07-15 | 界首市迅立达电梯有限公司 | High-altitude rust removing robot rust cleaning travelling mechanism |
| CN204863004U (en) * | 2015-06-24 | 2015-12-16 | 苏州艾士德机械有限公司 | High altitude cleaning robot |
-
2016
- 2016-08-31 CN CN201610787830.2A patent/CN106272457B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079339A (en) * | 2010-05-24 | 2011-06-01 | 安徽理工大学 | Robot operated on surface of oil storage tank |
| CN102528623A (en) * | 2012-02-15 | 2012-07-04 | 牛占华 | High-altitude rust removing robot |
| CN104440915A (en) * | 2013-09-15 | 2015-03-25 | 南京大五教育科技有限公司 | Spray painting robot for rust removal of large pipe |
| CN204471161U (en) * | 2015-01-30 | 2015-07-15 | 界首市迅立达电梯有限公司 | High-altitude rust removing robot rust cleaning travelling mechanism |
| CN204863004U (en) * | 2015-06-24 | 2015-12-16 | 苏州艾士德机械有限公司 | High altitude cleaning robot |
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| Publication number | Publication date |
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| CN106272457A (en) | 2017-01-04 |
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Effective date of registration: 20190107 Address after: Building 2-3, No. 1695 Fulian Road, Baoshan District, Shanghai, 201900 Applicant after: Zhonghong automation Limited by Share Ltd. (Shanghai) Address before: 054900 71 east section village, Luzhai Township, Linxi County, Xingtai, Hebei Applicant before: Zhang Yuhua |
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