CN106891347B - Be applied to lateral wall depths robot puncher of sewage treatment jar - Google Patents
Be applied to lateral wall depths robot puncher of sewage treatment jar Download PDFInfo
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- CN106891347B CN106891347B CN201710246406.1A CN201710246406A CN106891347B CN 106891347 B CN106891347 B CN 106891347B CN 201710246406 A CN201710246406 A CN 201710246406A CN 106891347 B CN106891347 B CN 106891347B
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- punching
- mounting
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- treatment tank
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- 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
- B25J11/0055—Cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
- B26F1/16—Perforating by tool or tools of the drill type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W10/00—Technologies for wastewater treatment
- Y02W10/10—Biological treatment of water, waste water, or sewage
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Drilling And Boring (AREA)
- Crushing And Pulverization Processes (AREA)
Abstract
The invention discloses a robot perforating machine applied to the depth of the side wall of a sewage treatment tank, which comprises a treatment tank placing table, a robot mounting rack, six-axis robots, an automatic perforating assembly and a controller, wherein a movable mounting rack of the automatic perforating assembly comprises a left mounting rack, a right mounting rack, a mounting rack transverse plate and a movable connector; a punching mechanism, a side wall clamping mechanism and an entry guide mechanism are arranged between the lower end parts of the left and right mounting frames; the side wall clamping mechanism comprises a left clamping block mounting frame, a left fixed clamping block, a clamping cylinder mounting frame, a side wall clamping cylinder and a right movable clamping block; the punching mechanism comprises a movable mounting plate, a mounting plate driving cylinder, a punching driving motor, a punching cutter head, a punching jacking cylinder, a circular ring mounting block and a jacking circular ring; the entry guide mechanism comprises a guide plate mounting block and a hook-shaped guide plate. The invention has the advantages of novel structural design, high automation degree, high working efficiency and capability of effectively saving labor cost.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to a robot perforating machine applied to the deep side wall of a sewage treatment tank.
Background
As a sewage treatment apparatus, a sewage treatment tank is widely used in a sewage treatment process. Wherein, to sewage storage tank pipe, its inside lateral wall need punch the processing, and prior art generally adopts manual work's mode to realize the lateral wall processing of punching. Because the inside of the sewage treatment tank is relatively deep, manual operation is very inconvenient, and the problem of low working efficiency is caused.
Disclosure of Invention
The invention aims to provide a deep-side-wall robot perforating machine applied to a sewage treatment tank, aiming at overcoming the defects of the prior art.
In order to achieve the above object, the present invention is achieved by the following technical solutions.
A robot perforating machine applied to the deep side wall of a sewage treatment tank comprises a treatment tank placing table and a robot mounting frame located beside the treatment tank placing table, wherein the treatment tank placing table comprises a treatment tank placing plate which is horizontally and transversely arranged, the treatment tank placing plate is provided with a placing plate positioning hole which is completely penetrated from top to bottom, and the lower surface of the treatment tank placing plate is provided with a placing plate supporting leg; the robot mounting frame comprises a robot mounting base and a robot supporting frame arranged at the upper end part of the robot mounting base, six robots are arranged at the upper end part of the robot supporting frame, and automatic punching components are arranged at the driving ends of the six robots;
the automatic punching assembly comprises movable mounting frames, each movable mounting frame comprises a left mounting frame and a right mounting frame, the left mounting frames are vertically arranged, the right mounting frames are located on the right side of the left mounting frame and are opposite to the left mounting frame in an interval arrangement, a mounting frame transverse plate is arranged between the upper end of the left mounting frame and the upper end of the right mounting frame, the left end of the mounting frame transverse plate is in threaded connection with the upper end of the left mounting frame, the right end of the mounting frame transverse plate is in threaded connection with the upper end of the right mounting frame, a movable connector is arranged on the mounting frame transverse plate, and the movable connector is connected with the driving end of the six-axis robot;
a punching mechanism, a side wall clamping mechanism positioned on the upper end side of the punching mechanism and an entry guide mechanism positioned on the lower end side of the punching mechanism are arranged between the lower end part of the left mounting rack and the lower end part of the right mounting rack; the side wall clamping mechanism comprises a left side clamping block mounting frame arranged at the lower end part of the left side mounting frame, a left side fixed clamping block arranged at the right end part of the left side clamping block mounting frame, a clamping cylinder mounting frame arranged at the lower end part of the right side mounting frame, a side wall clamping cylinder arranged on the clamping cylinder mounting frame and moving horizontally left and right, and a right side movable clamping block arranged at the extending end part of a piston rod of the side wall clamping cylinder and arranged right and left opposite to the left side fixed clamping block;
the punching mechanism comprises a movable mounting plate which is arranged at the lower end of the left mounting frame in a left-right movable manner and is positioned at the lower end side of the left clamping block mounting frame, a mounting plate driving cylinder is arranged at the left end side of the movable mounting plate at the lower end of the left mounting frame, the extending end part of a piston rod of the mounting plate driving cylinder is connected with the movable mounting plate, a punching driving motor is screwed on the left surface of the movable mounting plate, a power output shaft of the punching driving motor penetrates through the movable mounting plate and extends to the right end side of the movable mounting plate, and a punching cutter disc which is positioned at the right end side of the movable mounting plate and is in a disc shape is arranged on the power output shaft of the punching driving motor; the lower end part of the right side mounting rack is provided with a punching jacking cylinder which horizontally moves left and right, the extending end part of a piston rod of the punching jacking cylinder is provided with a circular ring mounting block, the circular ring mounting block is screwed with a jacking circular ring which is in a circular ring shape and horizontally extends along the left and right directions in the axis direction, the jacking circular ring is arranged opposite to the punching cutter head, and the inner diameter value of the jacking circular ring is larger than the outer diameter value of the punching disc;
the entry guide mechanism comprises a guide plate mounting block which is screwed on the edge part of the lower end of the left mounting rack and is horizontally and transversely arranged, two hook-shaped guide plates which are opposite to each other and are arranged at intervals are screwed on the guide plate mounting block, and a wedge-shaped guide hook part which is bent upwards and extends is respectively arranged at the right end part of each hook-shaped guide plate;
this be applied to lateral wall depths robot puncher of sewage treatment jar is furnished with the controller, six robots, lateral wall die clamping cylinder, mounting panel drive actuating cylinder, the driving motor that punches, the top of punching and hold the cylinder respectively with controller electric connection.
The side of the movable mounting plate, which is close to the punching cutter disc, is provided with a proximity switch which protrudes and extends to the right end side of the movable mounting plate, and when the proximity switch is triggered, the controller controls the punching driving motor to stop acting.
The movable mounting plate and the left mounting frame are provided with a horizontal guide mechanism therebetween, the horizontal guide mechanism comprises a horizontal guide sleeve arranged at the lower end of the left mounting frame and a horizontal guide pillar arranged on the movable mounting plate and horizontally extending along the left and right directions, and the horizontal guide pillar is matched with the horizontal guide sleeve.
The lower end of the left side mounting rack is provided with an ejection mechanism on the left end side of the punching cutter, the ejection mechanism comprises an ejection driving cylinder and an ejection movable block, the ejection driving cylinder is screwed on the movable mounting plate, the ejection movable block is positioned on the right end side of the movable mounting plate, the extension end part of a piston rod of the ejection driving cylinder is provided with an ejection driving block, a movable connecting rod is connected between the ejection driving block and the ejection movable block, the ejection movable block is provided with a movable ejector rod, the movable ejector rod horizontally extends along the left-right direction, the right end part of the ejection movable ejector rod penetrates through the movable mounting plate and extends to the right end side of the movable mounting plate, and the punching cutter is provided with a cutter through hole which completely penetrates left and right corresponding to the movable ejector rod; the right end side of the movable mounting plate is provided with a sensor mounting block at the left end side of the punching cutter head, and the sensor mounting block is provided with a photoelectric sensor; the ejection driving cylinder and the photoelectric sensor are respectively electrically connected with the controller.
The invention has the beneficial effects that: the invention relates to a robot perforating machine applied to the deep side wall of a sewage treatment tank, which comprises a treatment tank placing table, a robot mounting frame, six-axis robots, an automatic perforating assembly and a controller, wherein a movable mounting frame of the automatic perforating assembly comprises a left mounting frame, a right mounting frame, a mounting frame transverse plate and a movable connector; a punching mechanism, a side wall clamping mechanism and an entry guide mechanism are arranged between the lower end parts of the left and right mounting frames; the side wall clamping mechanism comprises a left clamping block mounting frame, a left fixed clamping block, a clamping cylinder mounting frame, a side wall clamping cylinder and a right movable clamping block; the punching mechanism comprises a movable mounting plate, a mounting plate driving cylinder, a punching driving motor, a punching cutter head, a punching propping cylinder, a circular ring mounting block and a propping circular ring; the entering guide mechanism comprises a guide plate mounting block and a hook-shaped guide plate, and the right end part of the hook-shaped guide plate is provided with a guide hook part. Through the structural design, the automatic feeding device has the advantages of novel structural design, high automation degree, high working efficiency and capability of effectively saving labor cost.
Drawings
The invention will be further described with reference to the following figures, to which, however, the embodiments do not constitute any limitation.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the automatic punching assembly of the present invention.
FIG. 3 is a schematic view of another aspect of the automatic hole-drilling assembly of the present invention.
FIG. 4 is a schematic view of another embodiment of the automatic hole-punching assembly of the present invention.
Fig. 5 is a partial structural view of the automatic punching assembly of the present invention.
FIG. 6 is a schematic view of the present invention when processing a wastewater treatment tank.
Fig. 1 to 6 include:
1-treatment tank holding platform 11-treatment tank holding plate
111-placing plate positioning hole 12-placing plate supporting leg
2-robot mounting frame 21-robot mounting base
22-robot support frame 3-six-axis robot
4-automatic punching component 5-movable mounting rack
51-left side mounting bracket 52-right side mounting bracket
53-mounting rack cross plate 54-movable connector
6-punching mechanism 61-movable mounting plate
62-mounting plate driving cylinder 63-punching driving motor
64-punching cutter 641-cutter through hole
65-punching and jacking cylinder 66-circular ring mounting block
67-holding ring 68-approach switch
691 horizontal guide sleeve 692 horizontal guide post
7-side wall clamping mechanism 71-left side clamping mounting frame
72 left fixed clamping block 73 clamping cylinder mount
74-side wall clamping cylinder 75-right movable clamping block
8-entry guide mechanism 81-guide plate mounting Block
82 hook-shaped guide plate 821 guide hook
9-ejecting mechanism 91-ejecting driving cylinder
92-ejecting movable block 93-ejecting driving block
94-movable connecting rod 95-movable top rod
96-sensor mounting block.
Detailed Description
The present invention will be described below with reference to specific embodiments.
As shown in fig. 1 to 6, a robot perforating machine applied to the deep side wall of a sewage treatment tank comprises a treatment tank placing table 1 and a robot mounting frame 2 located beside the treatment tank placing table 1, wherein the treatment tank placing table 1 comprises a treatment tank placing plate 11 horizontally and transversely arranged, the treatment tank placing plate 11 is provided with a placing plate positioning hole 111 which completely penetrates through the treatment tank placing plate from top to bottom, and the lower surface of the treatment tank placing plate 11 is provided with a placing plate supporting leg 12; the robot mounting frame 2 comprises a robot mounting base 21 and a robot supporting frame 22 arranged at the upper end of the robot mounting base 21, six-axis robots 3 are arranged at the upper end of the robot supporting frame 22, and automatic punching assemblies 4 are arranged at the driving ends of the six-axis robots 3.
Wherein, automatic subassembly 4 that punches is including flexible mounting bracket 5, flexible mounting bracket 5 is including being vertical arrangement's left side mounting bracket 51 respectively, be located left side mounting bracket 51 right-hand member side and just to the right side mounting bracket 52 of interval arrangement with left side mounting bracket 51, mounting bracket diaphragm 53 has been installed between the upper end of left side mounting bracket 51 and the upper end of right side mounting bracket 52, the left end of mounting bracket diaphragm 53 and the upper end spiro union of left side mounting bracket 51, the right-hand member of mounting bracket diaphragm 53 and the upper end spiro union of right side mounting bracket 52, swing joint 54 has been installed to mounting bracket diaphragm 53, swing joint 54 is connected with six axis robot 3's drive end.
Further, a punching mechanism 6, a side wall clamping mechanism 7 positioned on the upper end side of the punching mechanism 6, and an entry guide mechanism 8 positioned on the lower end side of the punching mechanism 6 are arranged between the lower end part of the left mounting frame 51 and the lower end part of the right mounting frame 52; the side wall clamping mechanism 7 comprises a left side clamping block mounting frame arranged at the lower end part of the left side mounting frame 51, a left side fixed clamping block 72 arranged at the right end part of the left side clamping block mounting frame, a clamping cylinder mounting frame 73 arranged at the lower end part of the right side mounting frame 52, a side wall clamping cylinder 74 arranged at the clamping cylinder mounting frame 73 and moving horizontally left and right, and a right side movable clamping block 75 arranged at the extending end part of a piston rod of the side wall clamping cylinder 74 and right and left opposite to the left side fixed clamping block 72.
Furthermore, the punching mechanism 6 comprises a movable mounting plate 61 which is movably mounted on the lower end portion of the left mounting frame 51 in a left-right direction and is positioned on the lower end side of the left clamping block mounting frame, a mounting plate driving cylinder 62 is mounted on the lower end portion of the left mounting frame 51 on the left end side of the movable mounting plate 61, the extending end portion of the piston rod of the mounting plate driving cylinder 62 is connected with the movable mounting plate 61, a punching driving motor 63 is screwed on the left surface of the movable mounting plate 61, the power output shaft of the punching driving motor 63 penetrates through the movable mounting plate 61 and extends to the right end side of the movable mounting plate 61, and a punching cutter disc 64 which is positioned on the right end side of the movable mounting plate 61 and is in a disc shape is mounted on the power output shaft of the punching driving motor 63; the lower tip of right side mounting bracket 52 is installed and is controlled horizontal motion's top of punching and hold cylinder 65, and the piston rod of the top of punching and holding cylinder 65 end of extending has installed ring installation piece 66, and ring installation piece 66 spiral shell is equipped with and is the circular shape and the axis direction along the top of left and right directions horizontal extension hold ring 67, and the top holds ring 67 and the blade disc 64 that punches just to arranging and the internal diameter value that holds ring 67 is bigger than the external diameter value of the disc that punches.
The entry guide mechanism 8 includes a guide plate attachment block 81 screwed to the lower end edge of the left side attachment bracket 51 and horizontally arranged, two hook-shaped guide plates 82 facing each other and arranged at an interval are screwed to the guide plate attachment block 81, and a wedge-shaped guide hook portion 821 curved and extending upward is provided at each right end portion of each hook-shaped guide plate 82.
It should be further noted that the robot perforating machine applied to the deep side wall of the sewage treatment tank is equipped with a controller, and the six-axis robot 3, the side wall clamping cylinder 74, the mounting plate driving cylinder 62, the perforating driving motor 63 and the perforating jacking cylinder 65 are respectively electrically connected with the controller.
In the process of punching the sewage treatment tank 100 according to the present invention, the sewage treatment tank 100 to be processed is placed on the upper surface of the treatment tank placement plate 11 of the treatment tank placement table 1, wherein the placement plate positioning hole 111 of the treatment tank placement plate 11 is fitted with the positioning projection of the lower surface of the sewage treatment tank 100, so that the sewage treatment tank 100 is accurately placed and positioned.
In the punching process, the controller controls the six-axis robot 3 to start and the six-axis robot 3 drives the automatic punching assembly 4 to extend into the sewage treatment tank 100, and in the process that the automatic punching assembly 4 extends into the sewage treatment tank 100 from top to bottom, the automatic punching assembly 4 is guided by the guide mechanism 8, and the side wall to be punched extends into the space between the punching cutter disc 64 and the jacking circular ring 67; for the entry guide mechanism 8, each hook-shaped guide plate 82 guides the movable mount 5 to move by the corresponding guide hook 821. After the automatic punching assembly 4 moves to the side wall punching position of the sewage treatment tank 100, the side wall clamping mechanism 7 acts and clamps and fixes the side wall to be punched, wherein the side wall clamping cylinder 74 starts and drives the right movable clamping block 75 to move towards the left fixed clamping block 72, and the left fixed clamping block 72 and the right movable clamping block 75 are close to each other and clamp and fix the side wall to be processed. After the side wall of the sewage treatment tank 100 is fixed, the controller controls the mounting plate driving cylinder 62 and the punching propping cylinder 65 to start, the mounting plate driving cylinder 62 drives the movable mounting plate 61 to move towards the right side, the movable mounting plate 61 drives the punching driving motor 63 and the punching cutter disk 64 to move towards the right side synchronously, in the process, the punching propping cylinder 65 drives the circular ring mounting block 66 and the propping circular ring 67 to move towards the left side, the punching cutter disk 64 and the propping circular ring 67 are respectively contacted with the side wall of the sewage treatment tank 100, at the moment, the side wall of the sewage treatment tank 100 is positioned between the punching cutter disk 64 and the propping circular ring 67, the controller controls the punching driving motor 63 to start, the punching driving motor 63 drives the punching cutter disk 64 to rotate and punches the side wall through the punching cutter disk 64, and in the process, the propping circular ring 67 props the side wall of the sewage treatment tank 100 and ensures the strength of the punching position.
To explain further, after the side wall of the sewage treatment tank 100 is perforated, the controller controls the perforation driving motor 63 to stop, and the controller controls the side wall clamping cylinder 74 and the movable plate driving cylinder to reset.
Wherein, in order to ensure that the movable mounting plate 61 moves left and right stably and reliably, the invention adopts the following guide structure design: install horizontal guiding mechanism between movable mounting panel 61 and the left side mounting bracket 51, horizontal guiding mechanism is including installing in the horizontal guide pin bushing 691 of left side mounting bracket 51 lower tip, installing in movable mounting panel 61 and along the horizontal guide pillar 692 that extends of left and right sides direction, and horizontal guide pillar 692 cooperatees with horizontal guide pin bushing 691.
From the above situation, the side wall of the sewage treatment tank 100 can be automatically and efficiently punched through the structural design, that is, the side wall punching machine has the advantages of novel structural design, high automation degree, high working efficiency and capability of effectively saving labor cost.
As shown in fig. 2 to 4, in a preferred embodiment, the movable mounting plate 61 is provided with a proximity switch 68 protruding to the right end side of the movable mounting plate 61, at the side of the punching cutter 64. When the side wall of the sewage treatment tank 100 touches the proximity switch 68 during the process of punching the side wall of the sewage treatment tank 100 by driving the punching cutter 64 by the punching drive motor 63, the controller controls the punching drive motor 63 to stop, which indicates that the punching operation is finished.
As a preferred embodiment, as shown in fig. 2 to 5, an ejection mechanism 9 is mounted on the lower end of the left side mounting bracket 51 on the left end side of the punching cutter 64, the ejection mechanism 9 includes an ejection driving cylinder 91 screwed to the movable mounting plate 61, and an ejection movable block 92 located on the right end side of the movable mounting plate 61, an ejection driving block 93 is mounted on the outer end of the piston rod of the ejection driving cylinder 91, a movable connecting rod 94 is connected between the ejection driving block 93 and the ejection movable block 92, the ejection movable block 92 is provided with a movable ejector rod 95 horizontally extending in the left-right direction and having a right end penetrating through the movable mounting plate 61 and extending to the right end side of the movable mounting plate 61, and the punching cutter 64 is provided with a cutter through hole 641 completely penetrating in the left-right direction corresponding to the movable ejector rod 95; a sensor mounting block 96 is arranged at the right end side of the movable mounting plate 61 and at the left end side of the punching cutter disc 64, and a photoelectric sensor is arranged on the sensor mounting block 96; the ejection driving cylinder 91 and the photoelectric sensor are electrically connected with the controller respectively.
In the process of ejecting the cutting material processed by punching the side wall from the punching cutter disc 64 by using the ejection mechanism 9, the punching driving motor 63 drives the punching cutter disc 64 to rotate, in the process, the photoelectric sensor detects the position of the cutter disc through hole 641 of the punching cutter disc 64, when the punching cutter disc 64 rotates to a specified position, the punching driving motor 63 stops acting and the controller controls the action of the ejection driving cylinder 91, the ejection driving cylinder 91 pushes the ejection driving block 93 towards the right side, the ejection driving block 93 pulls the ejection movable block 92 to synchronously move towards the right side through the movable connecting rod 94, the ejection movable block 92 moving towards the right side drives the movable ejector rod 95 to synchronously move towards the right side, and the movable ejector rod 95 finally passes through the cutter disc through hole 641 and extends into the punching cutter disc 64 and ejects the cutting material.
The above description is only a preferred embodiment of the present invention, and it should not be understood that the present invention is limited to the details of the embodiment and the range of applications, which can be changed by those skilled in the art according to the spirit of the present invention.
Claims (4)
1. The utility model provides a be applied to puncher of lateral wall depths robot of sewage treatment jar which characterized in that: the device comprises a treatment tank placing platform (1) and a robot mounting rack (2) positioned beside the treatment tank placing platform (1), wherein the treatment tank placing platform (1) comprises a treatment tank placing plate (11) which is horizontally and transversely arranged, a placing plate positioning hole (111) which is completely penetrated from top to bottom is formed in the treatment tank placing plate (11), and a placing plate supporting leg (12) is arranged on the lower surface of the treatment tank placing plate (11); the robot mounting frame (2) comprises a robot mounting base (21) and a robot supporting frame (22) arranged at the upper end part of the robot mounting base (21), six robots (3) are arranged at the upper end part of the robot supporting frame (22), and automatic punching components (4) are arranged at the driving ends of the six robots (3);
the automatic punching assembly (4) comprises a movable mounting rack (5), the movable mounting rack (5) comprises a left mounting rack (51) which is vertically arranged, a right mounting rack (52) which is located on the right end side of the left mounting rack (51) and is opposite to the left mounting rack (51) in interval arrangement, a mounting rack transverse plate (53) is arranged between the upper end of the left mounting rack (51) and the upper end of the right mounting rack (52), the left end of the mounting rack transverse plate (53) is in threaded connection with the upper end of the left mounting rack (51), the right end of the mounting rack transverse plate (53) is in threaded connection with the upper end of the right mounting rack (52), a movable connector (54) is arranged on the mounting rack transverse plate (53), and the movable connector (54) is connected with the driving end of the six-axis robot (3);
a punching mechanism (6), a side wall clamping mechanism (7) positioned on the upper end side of the punching mechanism (6) and an entry guide mechanism (8) positioned on the lower end side of the punching mechanism (6) are arranged between the lower end part of the left mounting frame (51) and the lower end part of the right mounting frame (52); the side wall clamping mechanism (7) comprises a left side clamping block mounting frame arranged at the lower end part of the left side mounting frame (51), a left side fixed clamping block (72) arranged at the right end part of the left side clamping block mounting frame, a clamping cylinder mounting frame (73) arranged at the lower end part of the right side mounting frame (52), a side wall clamping cylinder (74) arranged on the clamping cylinder mounting frame (73) and horizontally moving left and right, and a right side movable clamping block (75) arranged at the extending end part of a piston rod of the side wall clamping cylinder (74) and oppositely arranged with the left side fixed clamping block (72) left and right;
the punching mechanism (6) comprises a movable mounting plate (61) which is arranged at the lower end of the left mounting frame (51) in a left-right movable mode and is positioned at the lower end side of the left clamping block mounting frame, a mounting plate driving cylinder (62) is arranged at the lower end of the left mounting frame (51) at the left end side of the movable mounting plate (61), the extending end part of a piston rod of the mounting plate driving cylinder (62) is connected with the movable mounting plate (61), a punching driving motor (63) is screwed on the left surface of the movable mounting plate (61), a power output shaft of the punching driving motor (63) penetrates through the movable mounting plate (61) and extends to the right end side of the movable mounting plate (61), and a punching cutter disc (64) which is positioned at the right end side of the movable mounting plate (61) and is in a disc shape is arranged on the power output shaft of the punching driving motor (63); the lower end part of the right side mounting frame (52) is provided with a punching and jacking cylinder (65) which horizontally moves left and right, the extending end part of a piston rod of the punching and jacking cylinder (65) is provided with a circular ring mounting block (66), the circular ring mounting block (66) is screwed with a jacking circular ring (67) which is in a circular ring shape and horizontally extends along the left and right directions in the axis direction, the jacking circular ring (67) and the punching cutter head (64) are arranged in a right-facing way, and the inner diameter value of the jacking circular ring (67) is larger than the outer diameter value of the punching disc;
the entering guide mechanism (8) comprises a guide plate mounting block (81) which is screwed on the lower end edge part of the left mounting frame (51) and is horizontally and transversely arranged, two hook-shaped guide plates (82) which are just opposite to each other and are arranged at intervals are screwed on the guide plate mounting block (81), and a wedge-shaped guide hook part (821) which is bent upwards and extends is respectively arranged at the right end part of each hook-shaped guide plate (82);
the robot perforating machine applied to the deep side wall of the sewage treatment tank is provided with a controller, and a six-axis robot (3), a side wall clamping cylinder (74), a mounting plate driving cylinder (62), a perforating driving motor (63) and a perforating jacking cylinder (65) are respectively and electrically connected with the controller;
this be applied to lateral wall depths robot puncher of sewage treatment jar adopts the following step to punch the operation, and is specific:
a, placing a sewage treatment tank (100) to be processed on the upper surface of a treatment tank placing plate (11) of a treatment tank placing table (1), wherein a placing plate positioning hole (111) of the treatment tank placing plate (11) is matched with a positioning bulge on the lower surface of the sewage treatment tank (100) so as to accurately place and position the sewage treatment tank (100);
step b, the controller controls the six-axis robot (3) to be started, the six-axis robot (3) drives the automatic punching assembly (4) to stretch into the sewage treatment tank (100), and in the process that the automatic punching assembly (4) stretches into the sewage treatment tank (100) from top to bottom, the automatic punching assembly (4) is guided by the guide mechanism (8) and the side wall to be punched extends into a position between the punching cutter disc (64) and the supporting circular ring (67);
step c, after the automatic punching assembly (4) moves to a side wall punching position of the sewage treatment tank (100), the side wall clamping mechanism (7) acts and clamps and fixes the side wall to be punched, wherein the side wall clamping cylinder (74) is started and drives the right movable clamping block (75) to move towards the left fixed clamping block (72), and the left fixed clamping block (72) and the right movable clamping block (75) are closed and clamp and fix the side wall to be processed;
d, after the side wall of the sewage treatment tank (100) is fixed, the controller controls the mounting plate driving cylinder (62), the punching jacking cylinder (65) is started, the mounting plate driving cylinder (62) drives the movable mounting plate (61) to move towards the right side, the movable mounting plate (61) drives the punching driving motor (63), the punching cutter disc (64) synchronously moves towards the right side, in the process, the punching jacking cylinder (65) drives the circular ring mounting block (66), the jacking circular ring (67) moves towards the left side, the punching cutter disc (64) and the jacking circular ring (67) are respectively in contact with the side wall of the sewage treatment tank (100), at the moment, the side wall of the sewage treatment tank (100) is located between the punching cutter disc (64) and the jacking circular ring (67), the controller controls the punching driving motor (63) to start, and the punching driving motor (63) drives the punching cutter disc (64) to rotate and performs punching processing on the side wall through the punching cutter disc (64).
2. The deep-side robotic punch for wastewater treatment tanks, according to claim 1, wherein: the side of the movable mounting plate (61) on the punching cutter disc (64) is provided with a proximity switch (68) which protrudes and extends to the right end side of the movable mounting plate (61), and when the proximity switch (68) is triggered, the controller controls the punching driving motor (63) to stop acting.
3. The deep-side robotic punch for wastewater treatment tanks, according to claim 2, wherein: a horizontal guide mechanism is arranged between the movable mounting plate (61) and the left mounting frame (51), the horizontal guide mechanism comprises a horizontal guide sleeve (691) arranged at the lower end part of the left mounting frame (51) and a horizontal guide pillar (692) arranged on the movable mounting plate (61) and horizontally extending along the left-right direction, and the horizontal guide pillar (692) is matched with the horizontal guide sleeve (691).
4. The deep-side robotic punch for wastewater treatment tanks according to claim 3, wherein: the lower end of the left side mounting frame (51) is provided with an ejection mechanism (9) at the left end side of the punching cutter head (64), the ejection mechanism (9) comprises an ejection driving cylinder (91) which is screwed on the movable mounting plate (61) and an ejection movable block (92) which is positioned at the right end side of the movable mounting plate (61), the extending end part of a piston rod of the ejection driving cylinder (91) is provided with an ejection driving block (93), a movable connecting rod (94) is connected between the ejection driving block (93) and the ejection movable block (92), the ejection movable block (92) is provided with a movable ejector rod (95) which horizontally extends along the left-right direction, the right end of the ejection movable ejector rod penetrates through the movable mounting plate (61) and extends to the right end side of the movable mounting plate (61), and the punching cutter head (64) is provided with a cutter head through hole (641) which completely penetrates left and right corresponding to the movable ejector rod (95); a sensor mounting block (96) is arranged at the right end side of the movable mounting plate (61) and at the left end side of the punching cutter disc (64), and a photoelectric sensor is arranged on the sensor mounting block (96); the ejection driving cylinder (91) and the photoelectric sensor are respectively electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710246406.1A CN106891347B (en) | 2017-04-15 | 2017-04-15 | Be applied to lateral wall depths robot puncher of sewage treatment jar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710246406.1A CN106891347B (en) | 2017-04-15 | 2017-04-15 | Be applied to lateral wall depths robot puncher of sewage treatment jar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106891347A CN106891347A (en) | 2017-06-27 |
| CN106891347B true CN106891347B (en) | 2023-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710246406.1A Active CN106891347B (en) | 2017-04-15 | 2017-04-15 | Be applied to lateral wall depths robot puncher of sewage treatment jar |
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| Country | Link |
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| CN (1) | CN106891347B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2697516B2 (en) * | 1992-09-25 | 1998-01-14 | 三菱自動車工業株式会社 | Door handling robot |
| DE4244407A1 (en) * | 1992-12-29 | 1994-07-07 | Deutsche Aerospace Airbus | Automatic drilling machine |
| JPH07112224A (en) * | 1993-10-15 | 1995-05-02 | Amada Co Ltd | Piercing device |
| CN201720702U (en) * | 2010-08-11 | 2011-01-26 | 杨贵庭 | Clamping mechanism of lock drilling machine |
| KR20130074854A (en) * | 2011-12-27 | 2013-07-05 | (재)대구기계부품연구원 | Handling robot for cast and control method thereof |
| CN106041955B (en) * | 2016-07-07 | 2018-05-04 | 大连理工大学 | A kind of robot automatic punching device and processing method |
| CN205996529U (en) * | 2016-09-09 | 2017-03-08 | 东莞市新力光机器人科技有限公司 | A kind of robotic drill locks screw all-in-one |
| CN206614557U (en) * | 2017-04-15 | 2017-11-07 | 东莞市新力光机器人科技有限公司 | A kind of Ce Bi depths robot puncher applied to sewage treatment pot |
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| CN106891347A (en) | 2017-06-27 |
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Address after: 523000, Floor 2, Building 1, Xinliguang Industrial Park, Shima Village, Tangxia Town, Dongguan City, Guangdong Province Patentee after: Guangdong Xinliguang Industrial Equipment Co.,Ltd. Address before: 523000, Floor 2, Building 1, Xinliguang Industrial Park, Shima Village, Tangxia Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN XINLIGUANG ROBOT TECHNOLOGY Co.,Ltd. |