CN106335007A - Robot for inner bore blasting - Google Patents

Robot for inner bore blasting Download PDF

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Publication number
CN106335007A
CN106335007A CN201610998347.9A CN201610998347A CN106335007A CN 106335007 A CN106335007 A CN 106335007A CN 201610998347 A CN201610998347 A CN 201610998347A CN 106335007 A CN106335007 A CN 106335007A
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CN
China
Prior art keywords
endoporus
jet pipe
robot
fixed
vehicle frame
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.)
Granted
Application number
CN201610998347.9A
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Chinese (zh)
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CN106335007B (en
Inventor
刘召
宋立滨
郑捷
陈恳
刘莉
陈洪安
赖庆文
张智祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua Tongchuang Robot Co ltd
Original Assignee
Qing Yu Advantech Intelligent Robot (tianjin) Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Qing Yu Advantech Intelligent Robot (tianjin) Co Ltd filed Critical Qing Yu Advantech Intelligent Robot (tianjin) Co Ltd
Priority to CN201610998347.9A priority Critical patent/CN106335007B/en
Publication of CN106335007A publication Critical patent/CN106335007A/en
Application granted granted Critical
Publication of CN106335007B publication Critical patent/CN106335007B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24CABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00Abrasive blasting machines or devices; Plants
    • B24C3/32Abrasive blasting machines or devices; Plants designed for abrasive blasting of particular work, e.g. the internal surfaces of cylinder blocks
    • B24C3/325Abrasive blasting machines or devices; Plants designed for abrasive blasting of particular work, e.g. the internal surfaces of cylinder blocks for internal surfaces, e.g. of tubes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24CABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C9/00Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Abstract

The invention provides a robot for inner bore blasting. The robot comprises a rack platform and a lifting platform moving trolley arranged on the rack platform; the rack platform comprises guide rails arranged on the two sides, the guide rails are fixed to a supporting beam, and a rack is fixed between the two guide rails on the supporting beam; the lifting platform moving trolley comprises a frame, wheels matched with the guide rails are installed at the lower end of the frame, a first speed reducer connected with a first servo motor is fixedly connected to the portion, corresponding to the rack, of the frame, and the first speed reducer is provided with a gear meshed with the rack; a screw lifter is fixedly connected to the frame and connected with a second speed reducer, the second speed reducer is connected with a second servo motor, and a lifting platform is arranged at the upper end of the screw lifter; the lifting platform is provided with a rotatable sand blasting device which comprises an inner bore blasting pipe, and an inner bore blasting head is connected to the free end of the inner bore blasting pipe. According to the robot, blasting operation can be automatically completed, complete covering is achieved at a time, the blasting precision is high, and meanwhile personal safety is guaranteed.

Description

Robot for endoporus sandblasting
Technical field
The invention belongs to automatic blasting technical field, especially relates to a kind of robot for endoporus sandblasting.
Background technology
Blasting craft is, using compressed air, sand material is formed high velocity jet sand flow, acts on surface of the work, by sand flow Impact and ablation, make surface of the work obtain the different roughness of certain cleannes.Blasting craft is generally used for workpiece Surface derusting, descale etc., be spray painting, machining before handling process.
Prior art usually adopts artificial blasting method.Because sandblasting procedures can produce substantial amounts of dust and noise, and People often operates in airtight space, thus he very big to health threat.Especially inner bore of part surface, is manually difficult to enter deeply into the pores Portion carries out sandblasting operation, and sandblasting angle of inclination is excessive, leads to sandblasting quality unstable, surface quality and differ, and not reaching will Seek the defects such as standard.
Content of the invention
In view of this, the invention is directed to a kind of robot for endoporus sandblasting, to solve artificial endoporus spray Chiltern amount is unstable, defect rate is high, and dust and noise damage the technical problem of health.
For reaching above-mentioned purpose, the technical scheme of the invention is achieved in that
A kind of robot for endoporus sandblasting, including pallet and the lifting platform locomotive being placed on pallet;
Described pallet is frame structure, and pallet includes the guide rail of both sides, and guide rail is fixed in some support beams, leads for two It is fixed with tooth top towards the tooth bar of one of guide rail, described tooth bar is fixed in support beam between rail;
Described lifting platform locomotive includes vehicle frame, and the lower end both sides of vehicle frame are symmetrically installed with the wheel with guide rail cooperation, with The first reductor being connected with the first servomotor, the end of the output shaft of the first reductor are connected with the corresponding vehicle frame of tooth bar It is connected with through after vehicle frame and described tooth bar meshed gears;
Screw-threaded shaft elevator is connected with described vehicle frame, screw-threaded shaft elevator is connected with the second reductor, the second reductor and Two servomotors connect, and the upper end of screw-threaded shaft elevator is provided with hoistable platform;
Rotatable sand blasting unit is provided with described hoistable platform, described sand blasting unit includes endoporus jet pipe, endoporus The free end of jet pipe is connected with endoporus shower nozzle.
Further, described sand blasting unit also includes be arranged on hoistable platform the be connected the 3rd with the 3rd servomotor Reductor, the output shaft of the 3rd reductor is connected with the first synchronous pulley, and the first synchronous pulley passes through Timing Belt and the second synchronization Belt wheel connects, fixing being sleeved in hollow shaft of the second synchronous pulley, and one end of described hollow shaft is affixed with endoporus jet pipe, hollow The other end of axle is affixed with the turning end of swivel coupling.
Further, described vehicle frame is provided with the first electric machine support, the 3rd reductor is fixed on the first electric machine support, Slotted hole is provided with the first electric machine support, slotted hole extends along the direction vertical with endoporus jet pipe, the freedom of fixing bolt End is coordinated with vehicle frame screw thread through after slotted hole, sets on the vehicle frame of the first electric machine support one end near the second synchronous pulley It is equipped with motor adjustment block, motor adjustment block is provided with the horizontally disposed adjustment bolt vertical with the first electric machine support, Adjustment bolt is propped up with the first motor after passing through motor adjustment block with motor adjustment block screw thread cooperation, the free end of adjustment bolt The side wall of frame abuts.
Further, the relative two ends of described hoistable platform are each passed through first axis of guide, and hoistable platform is along first The axis of guide moves up and down, and the lower end of first axis of guide is separately fixed on vehicle frame, and the upper end of first axis of guide is provided with a liter downshift Plate.
Further, described endoporus jet pipe is arranged on lifting bracket device, described lifting bracket device and hoistable platform Lift simultaneously.
Further, described lifting bracket device includes the fixed plate being vertically arranged, and is provided with above the side of fixed plate Second electric machine support, described second electric machine support is connected with the 4th reductor being connected with the 4th servomotor, the 4th deceleration The output shaft of machine is connected with one end of leading screw by shaft coupling, and leading screw is provided with screw, and described screw is fixed on and is horizontally disposed with The jet pipe bracket for supporting endoporus jet pipe, the two ends of jet pipe bracket are each passed through second axis of guide being vertically arranged, The two ends of two axis of guides are fixed in fixed plate by upper bracket and lower carriage respectively, and one end of leading screw is fixed on by bearing On support, the other end of leading screw is fixed on lower carriage by bearing after passing through jet pipe bracket, on described jet pipe bracket with interior Two adjacent encapsulated bearings are provided with the corresponding position of hole jet pipe, two encapsulated bearings are along the length direction of jet pipe bracket Distribution, forms a groove between two encapsulated bearings, endoporus jet pipe is embedded in groove.
Further, the side of described pallet is arranged side by side the drag chain pallet parallel with pallet, and drag chain pallet is arranged There is its internal drag chain for placing wire, one end of drag chain is fixed on drag chain pallet, and the free end of drag chain and vehicle frame pass through Connecting plate is fixedly connected.
Further, the vehicle frame of described hoistable platform side is provided with heave sensor support, heave sensor support On be connected with two for detecting the position sensors of lifting platform position, described position sensor is connected with plc controller, Plc controller is connected with the second servomotor.
Further, the both sides of described guide rail are separately provided for the buffering stand of buffer lift platform locomotive, described The inwall of buffering stand is provided with buffer stopper, and the inwall of described buffer stopper is disposed with buffer bush and buffering spacer.
Further, the side wall of described endoporus shower nozzle is provided with two radially distributed sand jet outlets, described sand jet outlet It is oppositely arranged, two sand jet outlets are concentric.
With respect to prior art, a kind of robot for endoporus sandblasting described in the invention has the advantage that
(1) robot for endoporus sandblasting of the present invention, can carry out trajectory planning according to the size of inner hole of workpiece And parameter setting, realize automation, the intellectuality of workpiece blasting craft, to substitute artificial sandblasting, can improve production efficiency and matter Amount, and safeguard health;
(2) robot for endoporus sandblasting of the present invention increased lifting bracket device, prevent endoporus jet pipe by Bending in the reason deadweight, improves sandblasting quality, sandblasting high precision.
Brief description
The accompanying drawing constituting the part of the invention is used for providing the invention is further understood, and the present invention creates The schematic description and description made is used for explaining the invention, does not constitute the improper restriction to the invention.? In accompanying drawing:
Fig. 1 is the stereogram of the invention embodiment;
Fig. 2 is the front view of the invention embodiment;
Fig. 3 is the top view of the invention embodiment;
Fig. 4 is the left view of the invention embodiment;
Fig. 5 is the sectional view at the a-a in Fig. 2.
Description of reference numerals:
1- pallet;101- guide rail;102- support beam;1021- Height Adjustment seat;1022- ground fixed seat;103- tooth Bar;2- endoporus jet pipe;3- second synchronous pulley;4- hollow shaft;5- first axis of guide;501- adjustable end stop;6- swivel coupling;7- Heave sensor support;701- position sensor;8- the 3rd servomotor;9- second servomotor;10- vehicle frame;11- leading screw liter Fall machine;12- wheel;13- connecting plate;14- hoistable platform;15- adjustment bolt;16- first electric machine support;161- slotted hole;17- Motor adjusts block;18- drag chain;19- drag chain pallet;20- second axis of guide;21- upper bracket;22- fixed plate;23- internal control is sprayed Head;231- sand jet outlet;24- the 4th servomotor;25- the 4th reductor;26- second electric machine support;27- leading screw;28- screw; 29- jet pipe bracket;30- lower carriage;31- buffering stand;32- first servomotor;33- first reductor;34- first Timing Belt Wheel;The encapsulated bearing of 35-;36- gear.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the invention and the feature in embodiment can To be mutually combined.
In the description of the invention it is to be understood that term " " center ", " longitudinal ", " horizontal ", " on ", D score, The orientation of instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " or position relationship are Based on orientation shown in the drawings or position relationship, it is for only for ease of description the invention and simplifies description, rather than instruction Or the hint device of indication or element must have specific orientation, with specific azimuth configuration and operation, be not therefore understood that It is the restriction to the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating Or hint relative importance or the implicit quantity indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined Feature can express or implicitly include one or more this feature.In the description of the invention, unless separately It is described, " multiple " are meant that two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace Dress ", " being connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly Connect;Can be to be mechanically connected or electrically connect;Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition State concrete meaning in the invention for the term.
To describe the invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As shown in Figures 1 to 5, a kind of robot for endoporus sandblasting, including pallet 1 and the liter being placed on pallet 1 Fall platform locomotive.Pallet 1 is the frame structure of welding, and pallet 1 includes the angle guide 101 of both sides, and guide rail 101 is fixed on five In the equidistant support beam 102 being distributed side by side along guide rail 101 length direction, between two guide rails 101, it is fixed with tooth top towards it In a guide rail 101 tooth bar 103, tooth bar 103 is fixed in support beam 102.
As shown in figure 4, lifting platform locomotive includes vehicle frame 10, four angles of the lower end of vehicle frame 10 are symmetrically installed with and guide rail The wheel 12 of 101 cooperations, wheel 12 is V-shaped sheave.It is connected with and the first servomotor 32 on vehicle frame 10 corresponding with tooth bar 103 The first reductor 33 connecting, the end of the output shaft of the first reductor 33 is connected with after passing through vehicle frame 10 and is engaged with tooth bar 103 Gear 36.First servomotor 32 drives the first reductor 33 to rotate, and the first reductor 33 band moving gear 36 rotates, thus carrying Dynamic lifting platform locomotive moves reciprocatingly along guide rail 101.
As shown in figure 1, being connected with screw-threaded shaft elevator 11 on vehicle frame 10, screw-threaded shaft elevator 11 is connected with the second reductor, the Two reductors are fixed on vehicle frame 10 by electric machine support.Second reductor is connected with the second servomotor 9, screw-threaded shaft elevator 11 Upper end be provided with hoistable platform 14.The relative two ends of hoistable platform 14 are each passed through first axis of guide 5, hoistable platform 14 He First axis of guide 5 is connected by right angle bearing, and hoistable platform 14 can be along the first guiding under the drive of screw-threaded shaft elevator 11 Axle 5 pumps.The lower end of first axis of guide 5 is fixed on vehicle frame 10 by guide shaft support respectively, the first guiding The upper end of axle 5 is provided with the adjustable end stop 501 for preventing hoistable platform 14 from slipping.
As shown in figures 1 and 3, hoistable platform 14 is provided with rotatable sand blasting unit, sand blasting unit includes endoporus Jet pipe 2, the free end of endoporus jet pipe 2 is connected with endoporus shower nozzle 23.It is provided with two on the side wall of endoporus shower nozzle 23 radially to divide The sand jet outlet 231 of cloth, two sand jet outlets 231 are oppositely arranged, and two sand jet outlets 231 are concentric.Sand blasting unit also includes being arranged on The 3rd reductor being connected with the 3rd servomotor 8 on hoistable platform 14, the output shaft of the 3rd reductor is connected with and exports The first vertical synchronous pulley 34 of axle, the first synchronous pulley 34 is connected with the second synchronous pulley 3 by Timing Belt, the second Timing Belt The diameter with diameter greater than the first synchronous pulley 34 of wheel 3.Fixing being sleeved in hollow shaft 4 of second synchronous pulley 3, hollow shaft 4 One end affixed with one end of endoporus jet pipe 2, the other end of hollow shaft 4 is affixed with the turning end of swivel coupling 6.Swivel coupling 6 fixing end is connected with sand supplying device by flange.Swivel coupling 6 is fixed on by swivel coupling support and swivel coupling gland On hoistable platform 14, swivel coupling support and swivel coupling gland are fixed with bolt after compressing swivel coupling 6.Set on vehicle frame 10 It is equipped with the first electric machine support 16, the 3rd reductor is fixed on the first electric machine support 16, the first electric machine support 16 is provided with four Individual symmetrical slotted hole 161, slotted hole 161 extends along the direction vertical with endoporus jet pipe 2.The free end of fixing bolt Coordinate with vehicle frame 10 screw thread through after slotted hole 161, near the car of the first electric machine support 16 one end near the second synchronous pulley 3 Motor adjustment block 17 is provided with frame 10, motor adjustment block 17 is provided with horizontally disposed two and the first electric machine support 16 vertical adjustment bolts 15, adjustment bolt 15 and motor adjustment block 17 screw thread cooperation, the free end of adjustment bolt 15 passes through Abut with the side wall of the first electric machine support 16 after motor adjustment block 17.Adjusting adjustment bolt 15 can make synchronous belt tension.Adjust During section, unscrew fixing bolt, then rotation adjustment bolt 15, so that synchronous belt tension, after synchronous belt tension, tightens fixing spiral shell Bolt, the first electric machine support 16 is fixed.
As shown in figure 5, endoporus jet pipe 2 is arranged on lifting bracket device, lifting bracket device and hoistable platform 14 are simultaneously Lifting, such lifting bracket device prevents the longer endoporus jet pipe of length 2 from producing bending because of the reason gravity, thus affecting to spray Sand effect.Lifting bracket device includes the fixed plate 22 being vertically arranged, and is provided with the second motor and props up above the side of fixed plate 22 Frame 26.The 4th reductor 25 being connected with the 4th servomotor 24 is connected with the second electric machine support 26, the 4th reductor 25 Output shaft is connected with the one end of the leading screw 27 being vertically arranged by shaft coupling, and leading screw 27 is provided with screw 28.Screw 28 is fixing In the horizontally disposed jet pipe bracket 29 for supporting endoporus jet pipe 2.The two ends of jet pipe bracket 29 are each passed through and are vertically arranged Second axis of guide 20, second axis of guide 20 is connected with jet pipe bracket 29 by linear bearing.Jet pipe bracket 29 can be second Upper and lower reciprocating action is done on the axis of guide 20.The two ends of second axis of guide 20 pass through upper bracket 21 respectively and lower carriage 30 is fixed on In fixed plate 22, the upper end of leading screw 27 is fixed on upper bracket 21 by angular contact ball bearing, and the other end of leading screw 27 passes through It is fixed on lower carriage 30 by deep groove ball bearing after jet pipe bracket 29.The position corresponding with endoporus jet pipe 2 on jet pipe bracket 29 Put and be provided with two adjacent encapsulated bearings 35, two encapsulated bearings 35 along the length direction distribution of jet pipe bracket 29, two Form a groove between encapsulated bearing 35, jet pipe bracket 29 is also equipped with groove corresponding with endoporus jet pipe 2, endoporus jet pipe 2 are embedded in groove.Encapsulated bearing 35, while supporting endoporus jet pipe 2, reduces the abrasion when moving back and forth for the endoporus jet pipe 2 Amount.
As shown in figures 1 and 3, the side of pallet 1 is arranged side by side the drag chain pallet 19 parallel with pallet 1, drag chain pallet It is provided with its internal drag chain 18 for placing wire, one end of drag chain 18 is fixed on drag chain pallet 19, drag chain 18 on 19 Free end is fixedly connected by connecting plate 13 with vehicle frame 10.Drag chain 18 moves with the motion of lifting platform locomotive.
As depicted in figs. 1 and 2, the vehicle frame 10 of hoistable platform 14 side is provided with heave sensor support 7, lifting sensing Two position sensors 701 for detecting hoistable platform 14 position are connected with device support 7, two position sensors 701 Position is corresponding with the top of hoistable platform 14 and the position of bottom.Position sensor 701 is connected with plc controller, plc Controller is connected with the second servomotor 9.When hoistable platform 14 move to go up most or under extreme position when, position sensing Device 701 detects the position of hoistable platform 14, and by signal transmission to plc controller, plc controller controls position sensor 701 Second servomotor 9 stop motion.Plc controller also respectively with the first servomotor 32, the 3rd servomotor 8 and the 4th servo Motor 24 connects, and controls rotating and reverse of they.
As shown in figure 5, the both sides of guide rail 101 are separately provided for the buffering stand 31 of buffer lift platform locomotive, delay The inwall rushing support 31 is provided with buffer stopper, and the inwall of buffer stopper is disposed with buffer bush and buffering spacer.Support horizontal It is separately provided on the downside of the two ends of beam 102 adjusting the Height Adjustment seat 1021 of pallet 1 height, the two ends of support beam 102 It is provided with the ground fixed seat 1022 for fixing support beam 102 of l type, ground fixed seat 1022 is provided with installing hole.
The operation principle of the invention:
Vehicle frame 10 carries moving gear 36 to be meshed with tooth bar 103 by the first servomotor 32, in wheel 12 and guide rail 101 Under support guide, whole lifting platform locomotive is made to drive endoporus jet pipe 2 and endoporus shower nozzle 23 to move forward and backward.
3rd servomotor 8 by the first synchronous pulley 34, power is sent on the second synchronous pulley 3, the second Timing Belt The movable end of wheel 3 drive swivel coupling 6 rotates, thus driving endoporus jet pipe 2 and endoporus shower nozzle 23 to rotate.Endoporus shower nozzle 23 front end Two sand jet outlets 231, sandblasting quality, the sandblasting of two sand jet outlets 231 simultaneously can be improved with vertical direction to internal surface of hole sandblasting In opposite direction, sandblasting recoil strength cancels each other.When endoporus nozzle outlet rotary, lifting platform locomotive is displaced outwardly, and hole in piece part inwall is Can by sand 360 ° be all sprayed onto, no sandblasting dead angle.
Hoistable platform 14 can adjust height by screw-threaded shaft elevator 11, in the opposite side spout bracket of endoporus jet pipe 2 Height can be adjusted by the rotation of leading screw 27, two mechanism's synchronization liftings can eliminate longer endoporus jet pipe 2 due to deadweight generation Natural torsion, the deeper endoporus of part can be goed deep into and carry out sandblasting.
Before sandblasting, vehicle frame 10 is moved to the rearmost part of guide rail 101, adjusts the height of spout bracket and hoistable platform 14, Endoporus shower nozzle 23 is made to be directed at the center of sprayed inner bore of part mouth.Vehicle frame 10 is made to move forward according to bore depth, to close to endoporus Terminal position stops.Then allow endoporus shower nozzle 23 rotate, start sandblasting, vehicle frame 10 is displaced outwardly simultaneously, make sandblasting track be in spiral shell Rotation shape advances to outside hole, when endoporus shower nozzle 23 exits from inner bore of part completely, that is, completes endoporus sandblasting operation.
The foregoing is only the preferred embodiment of the invention, not in order to limit the invention, all this Within the spirit of innovation and creation and principle, any modification, equivalent substitution and improvement made etc., should be included in the invention Protection domain within.

Claims (10)

1. be used for endoporus sandblasting robot it is characterised in that: include pallet (1) and be placed on pallet (1) lifting platform shifting Motor-car;
Described pallet (1) is frame structure, and pallet (1) includes the guide rail (101) of both sides, and guide rail (101) is fixed on some supports On crossbeam (102), between two guide rails (101), it is fixed with the tooth bar (103) towards one of guide rail (101) for the tooth top, described Tooth bar (103) is fixed in support beam (102);
Described lifting platform locomotive includes vehicle frame (10), and the lower end both sides of vehicle frame (10) are symmetrically consolidated with and guide rail (101) cooperation Wheel (12), vehicle frame (10) corresponding with tooth bar (103) is connected be connected with the first servomotor (32) first deceleration Machine (33), the end of the output shaft of the first reductor (33) is connected with after passing through vehicle frame (10) is engaged with described tooth bar (103) Gear (36);
Screw-threaded shaft elevator (11) is connected with described vehicle frame (10), screw-threaded shaft elevator (11) is connected with the second reductor, and second subtracts Fast machine is connected with the second servomotor (9), and the upper end of screw-threaded shaft elevator (11) is provided with hoistable platform (14);
It is provided with rotatable sand blasting unit, described sand blasting unit includes endoporus jet pipe (2), interior on described hoistable platform (14) The free end of hole jet pipe (2) is connected with endoporus shower nozzle (23).
2. the robot for endoporus sandblasting according to claim 1 it is characterised in that: described sand blasting unit also includes setting Put the 3rd reductor being connected with the 3rd servomotor (8) on hoistable platform (14), the output shaft of the 3rd reductor is affixed There is the first synchronous pulley (34), the first synchronous pulley (34) is connected with the second synchronous pulley (3) by Timing Belt, the second Timing Belt Fixing being sleeved in hollow shaft (4) of wheel (3), one end of described hollow shaft (4) is affixed with endoporus jet pipe (2), hollow shaft (4) Other end is affixed with the turning end of swivel coupling (6).
3. the robot for endoporus sandblasting according to claim 2 it is characterised in that: be provided with described vehicle frame (10) First electric machine support (16), the 3rd reductor is fixed on the first electric machine support (16), and the first electric machine support is provided with (16) Slotted hole (161), slotted hole (161) extends along the direction vertical with endoporus jet pipe (2), and the free end of fixing bolt passes through length Circular hole (161) is coordinated with vehicle frame (10) screw thread afterwards, near the first electric machine support (16) near one end of the second synchronous pulley (3) Motor adjustment block (17) is provided with vehicle frame (10), motor adjustment block (17) is provided with horizontally disposed and the first motor The vertical adjustment bolt (15) of support (16), adjustment bolt (15) and motor adjustment block (17) screw thread cooperation, adjustment bolt (15) free end passes through motor adjustment block (17) to abut with the side wall of the first electric machine support (16) afterwards.
4. the robot for endoporus sandblasting according to claim 1 it is characterised in that: the phase of described hoistable platform (14) To two ends be each passed through first axis of guide (5), hoistable platform (14) along first axis of guide (5) move up and down, first guiding The lower end of axle (5) is separately fixed on vehicle frame (10), and the upper end of first axis of guide (5) is provided with adjustable end stop (501).
5. the robot for endoporus sandblasting according to claim 1 it is characterised in that: the setting of described endoporus jet pipe (2) On lifting bracket device, described lifting bracket device and hoistable platform (14) lift simultaneously.
6. the robot for endoporus sandblasting according to claim 5 it is characterised in that: described lifting bracket device includes The fixed plate (22) being vertically arranged, is provided with the second electric machine support (26), described second motor above the side of fixed plate (22) The 4th reductor (25) being connected with the 4th servomotor (24), the output shaft of the 4th reductor (25) are connected with support (26) It is connected with one end of leading screw (27) by shaft coupling, leading screw (27) is provided with screw (28), described screw (28) is fixed on water The jet pipe bracket (29) for supporting endoporus jet pipe (2) of flat setting, the two ends of jet pipe bracket (29) are each passed through and vertically set Second axis of guide (20) put, the two ends of second axis of guide (20) pass through upper bracket (21) respectively and lower carriage (30) is fixed on In fixed board (22), one end of leading screw (27) is fixed on upper bracket (21) by bearing, and the other end of leading screw (27) passes through spray Pipe carrier (29) is fixed on lower carriage (30) by bearing afterwards, and described jet pipe bracket (29) is upper corresponding with endoporus jet pipe (2) Position on be provided with two adjacent encapsulated bearings (35), two encapsulated bearings (35) are along the direction of vertical endoporus jet pipe (2) Distribution, forms a groove between two encapsulated bearings (35), endoporus jet pipe (2) is embedded in groove.
7. the robot for endoporus sandblasting according to claim 1 it is characterised in that: the side of described pallet (1) is simultaneously Row is provided with the drag chain pallet (19) parallel with pallet (1), drag chain pallet (19) is provided with its inside for placing wire Drag chain (18), one end of drag chain (18) is fixed on drag chain pallet (19), and the free end of drag chain (18) is passed through even with vehicle frame (10) Fishplate bar (13) is fixedly connected.
8. the robot for endoporus sandblasting according to claim 1 it is characterised in that: described hoistable platform (14) side Vehicle frame (10) on be provided with heave sensor support (7), heave sensor support (7) is connected with two for detection lift The position sensor (701) of platform (14) upper and lower limit position, described position sensor (701) is connected with plc controller, and plc is controlled Device processed is connected with the second servomotor (9).
9. the robot for endoporus sandblasting according to claim 1 it is characterised in that: the both sides of described guide rail (101) It is separately provided for the buffering stand (31) of buffer lift platform locomotive, the inwall of described buffering stand (31) is provided with buffering Block, the inwall of described buffer stopper is disposed with buffer bush and buffering spacer.
10. the robot for endoporus sandblasting according to claim 1 it is characterised in that: described endoporus shower nozzle (23) Two radially distributed sand jet outlets (231) are provided with the wall of side, described sand jet outlet (231) is oppositely arranged, two sand jet outlets (231) concentric.
CN201610998347.9A 2016-11-11 2016-11-11 Robot for endoporus sandblasting Active CN106335007B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109015399A (en) * 2018-09-11 2018-12-18 孙艺芯 A kind of automatic sand-blasting machine and its blasting method
CN110561280A (en) * 2019-09-30 2019-12-13 深圳市华维浦上智能机器人有限公司 Robot with climbing function
CN111852652A (en) * 2020-08-03 2020-10-30 全椒县全动机械有限公司 Movable internal combustion engine flywheel ring blowing cleaning device
CN112432617A (en) * 2020-11-26 2021-03-02 中机试验装备股份有限公司 Steel rail non-contact laser measuring platform
CN113319051A (en) * 2021-07-21 2021-08-31 烟台艾迪艾创机器人科技有限公司 Manual installation of deep hole high-pressure cleaning machine

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CN205380575U (en) * 2016-02-02 2016-07-13 天津君诚金利管业有限责任公司 Steel pipe hole shot -blasting machine
CN206185708U (en) * 2016-11-11 2017-05-24 清研华宇智能机器人(天津)有限责任公司 A robot for hole sandblast

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KR20110003622A (en) * 2009-07-06 2011-01-13 한국주철관공업주식회사 Inside grinding apparatus of cast iron pipe with ellipse or curved shape
CN103567879A (en) * 2013-11-06 2014-02-12 山东开泰工业科技有限公司 Multi-station rotary feeding sand blasting machine
CN204976218U (en) * 2015-08-01 2016-01-20 广西安钢永通铸管管业有限公司 Environment -friendly nodular cast -iron pipe inner wall clean -up equipment that polishes
CN205380575U (en) * 2016-02-02 2016-07-13 天津君诚金利管业有限责任公司 Steel pipe hole shot -blasting machine
CN206185708U (en) * 2016-11-11 2017-05-24 清研华宇智能机器人(天津)有限责任公司 A robot for hole sandblast

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CN109015399A (en) * 2018-09-11 2018-12-18 孙艺芯 A kind of automatic sand-blasting machine and its blasting method
CN110561280A (en) * 2019-09-30 2019-12-13 深圳市华维浦上智能机器人有限公司 Robot with climbing function
CN110561280B (en) * 2019-09-30 2024-06-07 深圳市华维浦上智能机器人有限公司 Robot with climbing function
CN111852652A (en) * 2020-08-03 2020-10-30 全椒县全动机械有限公司 Movable internal combustion engine flywheel ring blowing cleaning device
CN111852652B (en) * 2020-08-03 2021-07-30 临沂文衡信息技术有限公司 Movable internal combustion engine flywheel ring blowing cleaning device
CN112432617A (en) * 2020-11-26 2021-03-02 中机试验装备股份有限公司 Steel rail non-contact laser measuring platform
CN113319051A (en) * 2021-07-21 2021-08-31 烟台艾迪艾创机器人科技有限公司 Manual installation of deep hole high-pressure cleaning machine

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