CN107053123A - A kind of labyrinth Large Tube tank part welding grinding and polishing robot - Google Patents
A kind of labyrinth Large Tube tank part welding grinding and polishing robot Download PDFInfo
- Publication number
- CN107053123A CN107053123A CN201710115421.2A CN201710115421A CN107053123A CN 107053123 A CN107053123 A CN 107053123A CN 201710115421 A CN201710115421 A CN 201710115421A CN 107053123 A CN107053123 A CN 107053123A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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
-
- 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
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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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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of labyrinth Large Tube tank part welding grinding and polishing robot, belong to mechanical manufacturing field.Including vehicle chassis component, sprocket assembly, manipulator, tool system and sucker controller, wherein manipulator is fixedly connected on vehicle chassis component, and tool system is connected with manipulator, and sprocket assembly is connected with vehicle chassis component, and sucker controller is connected with sprocket assembly.Job requirement of the analysis robot of the present invention under the conditions of multitask, studies corresponding Coordinated Control Scheme, finally realizes light walking, strength attachment and intelligent and high-efficiency processing.The present invention will provide technical support and equipment guarantee for the high efficiency processing, production assurance, low cost operation of the essential industry such as oil, chemical industry, pharmacy or even space flight field pipe tank part.
Description
Technical field
The invention belongs to mechanical manufacturing field, specially a kind of adaptive labyrinth Large Tube tank part welding grinding and polishing machine
People.
Background technology
Pressure vessel product has been widely used for the important industrial circle such as oil, chemical industry, pharmacy or even space flight, carries
High its welding quality and Automation of Welding level have very important meaning.Welding robot is with its production efficiency height, product
The low advantage of steady quality, cost turns into the welding automatization technology developing direction unanimously approved both at home and abroad.
The content of the invention
The present invention provides a kind of labyrinth Large Tube tank part welding grinding and polishing robot, for realizing labyrinth Large Tube
The adaptive attachment and walking of Guan Jian finished surfaces robot, the automatic identification of weld seam weld the functions such as grinding and polishing with segmentation.
The technical solution adopted by the present invention is：Including vehicle chassis component, sprocket assembly, manipulator, tool system and sucker control
Device processed, wherein manipulator are fixedly connected on vehicle chassis component, and tool system is connected with manipulator, and sprocket assembly connects with vehicle chassis component
Connect, sucker controller is connected with sprocket assembly.
Vehicle chassis component of the present invention is by bottom plate, motor III, steering motor II, connecting rod I, connecting rod II, axle I, connecting rod
IIIth, axle II, axial lock nut I, axle III, shaft coupling, axle IV, damper, knuckle, steering arm, big sprocket wheel, minor sprocket, big
Gear, little gear, connecting rod VII are constituted, and wherein motor III is fixed on bottom plate with steering motor II, in the defeated of steering motor
Shaft is connected with connecting rod I by key, and connecting rod I is connected with connecting rod II by axle, and connecting rod II is connected with connecting rod III by axle, connecting rod III
On axle II, axle II is fixed on bottom plate, and axle II is connected with connecting rod VII by axle, and connecting rod VII is connected with steering arm, is turned to
Section is connected with steering arm, and little gear is fixed on the output shaft of motor III, and little gear is engaged with gear wheel, and gear wheel is fixed on
On axle I, minor sprocket is fixed on axle I, and minor sprocket is connected with big sprocket wheel by chain, and big sprocket wheel is fixed on axle IV by key, axle
IV is connected with axle III by shaft coupling, chain mid-wheel drive wheel is fixed on axle III using axial lock nut I, damper is arranged on
On bottom plate.
Sprocket assembly of the present invention is by wheel II, shift fork, axle V, stepper motor VI, crossbeam, hydraulic cylinder, truckle, chain
Section, sucker part, tensioning wheel, chain mid-wheel drive wheel, chain mid-wheel drive wheel outer ring composition, its middle cross beam is fixed on bottom plate, on crossbeam
6 hydraulic cylinders of distribution on the downside of two passive elastic tension pulleys, crossbeam are fixed, cylinder lower is hinged truckle, the chain link of crawler belt
On be fixed with sucker part, wheel II is connected on shift fork by axle, and shift fork is linked together with axle V by key, axle V and stepping
By pin connection together, stepper motor VI is fixed on crossbeam the output shaft of motor VI, and chain mid-wheel drive wheel outer ring is fixed on sprocket wheel
On driving wheel.
Manipulator of the present invention is by base, connecting rod IV, connecting rod V, connecting rod VI, motor V, motor VI, motor VII, cone tooth
Wheel I, motor VIII, straight spur gear I, bevel gear II, axle VI, straight spur gear II, straight spur gear III, base electrical machinery
I composition, wherein base electrical machinery I is fixed on bottom plate, and base is fixed on base electrical machinery I, and motor V is bolted base
On, motor V is connected by gear train with connecting rod IV, and motor VI is fixed on connecting rod IV, and motor VI is connected with connecting rod V by spline
Connect, motor VII is fixed on connecting rod V, a straight spur gear be installed on the output shaft of motor VII, this straight spur gear with it is another
One straight spur gear II is meshed, and bevel gear I is arranged on same axis VI with straight spur gear II, bevel gear I and cone
Gear II is engaged, and bevel gear II is arranged on connecting rod VI, and motor VIII is fixed on connecting rod VI, and output shaft and the straight-tooth of motor VIII are justified
Stud wheel III is connected, and straight spur gear III is meshed with straight spur gear I.
Tool system of the present invention is made up of welding gun, motor Ⅸ, emery wheel, axle VII, and wherein straight spur gear I passes through key
It is connected on axle VII, axle VII is fixedly connected with welding gun, emery wheel is fixed on the output shaft of motor Ⅸ, motor Ⅸ is fixed on welding gun
One end.
Sucker controller of the present invention is by vacuum pump interface I, inactive order, electric source line interface, Moving plate, power-supply controller of electric pressure
Piece, vacuum control block, electrical power contacts block, vacuum pump interface II, electric wire, flexible pipe I, power of electromagnetic valve line interface, sucker controller
Motor, two-bit triplet solenoid directional control valve are constituted, and wherein sucker controller motor is fixed on crossbeam, sucker controller motor it is defeated
Shaft is connected with Moving plate by key, and inactive order is fixed on crossbeam, and vacuum pump interface I is connected with vacuum control block, and power line connects
Mouth links together with electrical power contacts block, is insulated between electrical power contacts block and inactive order using rubber sheet gasket, power supply
Device tabletting is installed on Moving plate with vacuum pump interface II, and power-supply controller of electric tabletting is connected to one with power of electromagnetic valve line interface
Rise, power of electromagnetic valve line interface is connected by electric wire with two-bit triplet solenoid directional control valve power interface, and vacuum pump interface II passes through
Flexible pipe I is connected for II mouthful with two-bit triplet solenoid directional control valve, and I mouthful of two-bit triplet solenoid directional control valve is directly communicated with air, two three
III mouthful of electric change valve is communicated by flexible pipe III with the total interface of air flue plate, and two-bit triplet solenoid directional control valve is fixed on chain link.
Sucker part of the present invention is by micro-step motor, I-shaped groove, sliding block, small sucker, elastic hose II, air flue
Plate, the total interface of air flue plate, I-shaped block plate, I-shaped plate boss, motor fixing plate, flexible pipe III are constituted, and wherein micro-step motor is consolidated
It is scheduled on motor fixing plate, it is tapped on the output shaft of micro-step motor, on the output shaft and sliding block of micro-step motor
The internal thread hole on surface is connected, and I-shaped plate boss is slided in the I-shaped groove in sliding block, the lower surface of sliding block have a screwed hole and
One unthreaded hole of side is communicated, and small sucker is threadedly secured in the screwed hole of lower surface, and small sucker is hollow structure, side
One unthreaded hole is communicated by elastic hose II with air flue plate, and the total interface of air flue plate passes through flexible pipe III and two-bit triplet solenoid directional control valve III
Mouth is connected.
Job requirement of the analysis robot of the present invention under the conditions of multitask, studies corresponding Coordinated Control Scheme, final real
Existing light walking, strength attachment and intelligent and high-efficiency processing.The present invention will be the essential industrys such as oil, chemical industry, pharmacy or even space flight
The high efficiency processing of field pipe tank part, production assurance, low cost operation provide technical support and equipment guarantee.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of vehicle chassis component of the present invention；
Fig. 3 is the structural representation of sprocket assembly of the present invention；、
Fig. 4 is the local structural representation of sprocket assembly of the present invention；
Fig. 5 is the structural representation of manipulator part of the present invention；
Fig. 6 is manipulator motor V of the present invention, the structural representation of the part of motor VI；
Fig. 7 is the structural representation of robot section part of the present invention；
Fig. 8 is the structural representation of inventive article system；
Fig. 9 is the structural representation of sucker controller of the present invention；
Figure 10 is sucker controller explosive view of the present invention；
Figure 11 is the structural representation of sucker controller of the present invention；
Figure 12 is the structural representation of sucker controller of the present invention, and this figure embodies flexible pipe III；
Figure 13 is the structural representation of sucker of the present invention；
Figure 14 is the explosive view of sucker of the present invention；
Figure 15 is the structural representation of a unit in sucker structure of the present invention.
Embodiment
Including vehicle chassis component 1, sprocket assembly 2, manipulator 3, tool system 4 and sucker controller 5, wherein manipulator 3 is consolidated
Surely it is connected on vehicle chassis component 1, tool system 4 is connected with manipulator 3, sprocket assembly 2 is connected with vehicle chassis component 1, sucker control
Device 5 is connected with sprocket assembly 2.
Vehicle chassis component 1 of the present invention is by bottom plate 100, motor III 101, steering motor II 102, connecting rod I 103, company
Bar II 104, axle I 105, connecting rod III 106, axle II 107, axial lock nut I 108, axle III 109, shaft coupling 110, axle IV 111,
Damper 112, knuckle 113, steering arm 114, big sprocket wheel 115, minor sprocket 116, gear wheel 117, little gear 118, connecting rod VII
119 compositions, wherein motor III 101 are fixed on bottom plate 100 with steering motor II 102, in the output shaft of steering motor 102
It is connected with connecting rod I 103 by key, connecting rod I 103 is connected with connecting rod II 104 by axle, connecting rod II 104 passes through axle with connecting rod III 106
It is connected, connecting rod III 106 is arranged on axle II 107, and axle II 107 is fixed on bottom plate 100, axle II 107 passes through axle with connecting rod VII 119
It is connected, connecting rod VII 119 is connected with steering arm 114, and knuckle 113 is connected with steering arm 114, little gear 118 is fixed on driving electricity
On the output shaft of machine III 101, little gear 118 is engaged with gear wheel 117, and gear wheel 117 is fixed on axle I 105, and minor sprocket 116 is consolidated
It is scheduled on axle I 105, minor sprocket 116 is connected with big sprocket wheel 115 by chain, big sprocket wheel 115 is fixed on axle IV 111 by key, axle
IV 111 are connected with axle III 109 by shaft coupling 110, and chain mid-wheel drive wheel 210 is fixed on into axle III using axial lock nut I 108
On 109, damper 112 is arranged on bottom plate 100.
Sprocket assembly 2 of the present invention is by wheel II 200, shift fork 201, axle V 202, stepper motor VI 203, crossbeam 204, liquid
Cylinder pressure 205, truckle 206, chain link 207, sucker part 208, tensioning wheel 209, chain mid-wheel drive wheel 210, chain mid-wheel drive wheel outer ring
211 compositions, its middle cross beam 204 is fixed on bottom plate 100, and two passive elastic tension pulleys 209, crossbeam 204 are fixed on crossbeam 204
Downside, which is distributed on 6 hydraulic cylinders 205, the lower hinge truckle 206 of hydraulic cylinder 205, the chain link 207 of crawler belt, is fixed with sucker part
208, wheel II 200 is connected on shift fork 201 by axle, and shift fork 201 is linked together with axle V 202 by key, axle V 202 and step
By pin connection together, stepper motor VI 203 is fixed on crossbeam 204 output shaft of stepper motor VI 203, chain mid-wheel drive wheel outer ring
211 are fixed in chain mid-wheel drive wheel 210.
Manipulator 3 of the present invention is by base 300, connecting rod IV 301, connecting rod V 302, connecting rod VI 303, motor V 304, electricity
Machine VI 305, motor VII 306, bevel gear I 307, motor VIII 308, straight spur gear I 309, bevel gear II 310, axle VI 311,
Straight spur gear II 312, straight spur gear III 313, base electrical machinery I 314 are constituted, and wherein base electrical machinery I 314 is fixed on bottom
On plate 100, base 300 is fixed on base electrical machinery I 314, and motor V 304 is bolted on base 300, motor V 304
It is connected by gear train with connecting rod IV 301, motor VI 305 is fixed on connecting rod IV 301, motor VI 305 passes through with connecting rod V 302
Spline is connected, and motor VII 306 is fixed on connecting rod V 302, and a straight spur gear is installed on the output shaft of motor VII 306, this
Straight spur gear is meshed with another straight spur gear II 312, and bevel gear I 307 is arranged on straight spur gear II 312
On same axis VI 311, bevel gear I 307 is engaged with bevel gear II 310, and bevel gear II 310 is arranged on connecting rod VI 303, motor
VIII 308 are fixed on connecting rod VI 303, and the output shaft of motor VIII 308 is connected with straight spur gear III 313, straight tooth column tooth
III 313 are taken turns to be meshed with straight spur gear I 309.
Tool system 4 of the present invention is made up of welding gun 400, motor Ⅸ 401, emery wheel 402, axle VII 403, and wherein straight-tooth is justified
Stud wheel I 309 is connected on axle VII 403 by key, and axle VII 403 is fixedly connected with welding gun 400, and emery wheel 402 is fixed on motor Ⅸ
On 401 output shaft, motor Ⅸ 401 is fixed on one end of welding gun 400.
Sucker controller 5 of the present invention is by vacuum pump interface I 500, inactive order 501, electric source line interface 502, Moving plate
503rd, power-supply controller of electric tabletting 504, vacuum control block 505, electrical power contacts block 506, vacuum pump interface II 507, electric wire 508, soft
Pipe I 509, power of electromagnetic valve line interface 510, sucker controller motor 511, two-bit triplet solenoid directional control valve 512 are constituted, wherein inhaling
Disk controller motor 511 is fixed on crossbeam 204, and the output shaft of sucker controller motor 511 is connected with Moving plate 503 by key,
Inactive order 501 is fixed on crossbeam 204, and vacuum pump interface I 500 is connected with vacuum control block 505, electric source line interface 502 and electricity
Source contact block 506 links together, and is insulated between electrical power contacts block 506 and inactive order 501 using rubber sheet gasket, power supply control
Device tabletting 504 processed is installed on Moving plate 503 with vacuum pump interface II 507, power-supply controller of electric tabletting 504 and power of electromagnetic valve line
Interface 510 links together, and power of electromagnetic valve line interface 510 passes through electric wire 508 and two-bit triplet solenoid directional control valve power interface
5124 are connected, and vacuum pump interface II 507 is connected for II mouthful 5122 by flexible pipe I 509 and two-bit triplet solenoid directional control valve, two-bit triplet
Solenoid directional control valve is directly communicated for I mouthful 5121 with air, and two-bit triplet solenoid directional control valve passes through flexible pipe III 20810 and gas for III mouthful 5123
The total interface 20806 of guidance tape is communicated, and two-bit triplet solenoid directional control valve 512 is fixed on chain link 207.
Sucker part 208 of the present invention is by micro-step motor 20800, I-shaped groove 20801, sliding block 20802, small sucker
20803rd, the total interface 20806 of elastic hose II 20804, air flue plate 20805, air flue plate, I-shaped block plate 20807, I-shaped plate boss
20808th, motor fixing plate 20809, flexible pipe III 20810 are constituted, and wherein micro-step motor 20800 is fixed on motor fixing plate
It is tapped on the output shaft of micro-step motor 20800 on 20809, the output shaft and sliding block of micro-step motor 20800
The internal thread hole of 20802 upper surfaces is connected, and is slided in I-shaped groove 20801 of the I-shaped plate boss 20808 in sliding block, under sliding block
Surface has a screwed hole to be communicated with a unthreaded hole of side, and small sucker 20803 is threadedly secured in the screwed hole of lower surface, small
Sucker 20803 is hollow structure, and a unthreaded hole of side is communicated by elastic hose II 20804 with air flue plate 20805, and air flue plate is total
Interface 20806 is connected for III mouthful 5123 by flexible pipe III 20810 and two-bit triplet solenoid directional control valve.
Illustrate its course of work below in conjunction with the accompanying drawings.
Weld grinding and polishing function：Robot welded seam is welded by the way of segmentation welding, and manipulator is continuous
TRAJECTORY CONTROL controls (CP) type, and each joint of robot makees controlled motion simultaneously, make robot terminal it is anticipated that track and speed
Degree motion, each joint of manipulator is driven using AC servo motor.
Adsorption function：Sprocket wheel has for one week 37 vacuum pump interfaces II 507 and electricity on 37 chain links, sucker controller 5
Magnet valve electric source line interface 510 is corresponded, and has a two-bit triplet solenoid directional control valve 512 on each chain link 207, every when per
Quarter can all have 8 vacuum pump interfaces II 507 to think corresponding with the groove on vacuum controller 505, while this 8 solenoid directional control valve
512 power-off, make sucker part 208 be connected with vacuum pump interface II 507, it is ensured that negative pressure in sucker part 208.When sucker part
208 move to when will depart from road surface, two-bit triplet solenoid directional control valve 210 it is electric, sucker part 208 passes through two-bit triplet electricity
Magnetic reversal valve is directly connected for I mouthful 5121 with air, and condition of negative pressure is by broken ring, and sucker part 208 departs from absorption, when sucker part
When 208 rotations extremely will be with ground absorption, solenoid directional control valve power-off, sucker part 208 is communicated with vacuum pump interface II 507, by
In negative pressure, sucker suction road surface is circulated with this.
Driving function：The little gear 118 that the energization of motor III 101 makes to be fixed on motor shaft rotates, and gear 118 rotates
Rotate gear wheel 117, because gear wheel 117 is fixed on axle I 105, the rotation of gear wheel 117 rotates axle I 105, axle I 105
Rotation rotates the minor sprocket 116 being fixed on axle I 105, and minor sprocket 116 rotates big sprocket wheel 115 by Chain conveyer, due to big
Sprocket wheel 115 is fixed on axle IV 111 by key, and the rotation of big sprocket wheel 115 rotates axle IV 111, due to axle IV 111 and axle III 109
It is connected by shaft coupling 110 and axle III 109 is fixed together with chain mid-wheel drive wheel 210, it is achieved that power is transmitted, and then is realized
Motion.
Turning function：The rotation of steering motor II 102 rotates connecting rod I 103, and the rotation of connecting rod I 103 moves connecting rod II 104,
Connecting rod III 106 rotates around axle II 107, by parallel-crank mechanism, rotates steering arm 114, and then realize chain mid-wheel drive wheel
210 turn to.
Claims (7)
1. a kind of labyrinth Large Tube tank part welding grinding and polishing robot, it is characterised in that：Including vehicle chassis component, sprocket assembly,
Manipulator, tool system and sucker controller, wherein manipulator are fixedly connected on vehicle chassis component, and tool system connects with manipulator
Connect, sprocket assembly is connected with vehicle chassis component, sucker controller is connected with sprocket assembly.
2. a kind of labyrinth Large Tube tank part welding grinding and polishing robot according to claim 1, it is characterised in that：It is described
Vehicle chassis component is by bottom plate, motor III, steering motor II, connecting rod I, connecting rod II, axle I, connecting rod III, axle II, axial locking spiral shell
Mother I, axle III, shaft coupling, axle IV, damper, knuckle, steering arm, big sprocket wheel, minor sprocket, gear wheel, little gear, connecting rod VII
Composition, wherein motor III are fixed on bottom plate with steering motor II, and key phase is passed through in output shaft and the connecting rod I of steering motor
Even, connecting rod I is connected with connecting rod II by axle, and connecting rod II is connected with connecting rod III by axle, and connecting rod III is arranged on axle II, and axle II is consolidated
It is scheduled on bottom plate, axle II is connected with connecting rod VII by axle, connecting rod VII is connected with steering arm, and knuckle is connected with steering arm, small tooth
Wheel is fixed on the output shaft of motor III, and little gear is engaged with gear wheel, and gear wheel is fixed on axle I, and minor sprocket is fixed on
On axle I, minor sprocket is connected with big sprocket wheel by chain, and big sprocket wheel is fixed on axle IV by key, and axle IV passes through shaft coupling with axle III
It is connected, chain mid-wheel drive wheel is fixed on axle III using axial lock nut I, damper is arranged on bottom plate.
3. a kind of labyrinth Large Tube tank part welding grinding and polishing robot according to claim 1, it is characterised in that：It is described
Sprocket assembly by wheel II, shift fork, axle V, stepper motor VI, crossbeam, hydraulic cylinder, truckle, chain link, sucker part, tensioning wheel,
Chain mid-wheel drive wheel, chain mid-wheel drive wheel outer ring composition, its middle cross beam are fixed on bottom plate, and two passive elastic tensions are fixed on crossbeam
6 hydraulic cylinders of distribution on the downside of wheel, crossbeam, cylinder lower, which is hinged on truckle, the chain link of crawler belt, is fixed with sucker part, wheel II
It is connected to by axle on shift fork, shift fork is linked together with axle V by key, axle V is connected with the output shaft of stepper motor VI by pin
It is connected together, stepper motor VI is fixed on crossbeam, chain mid-wheel drive wheel outer ring is fixed in chain mid-wheel drive wheel.
4. a kind of labyrinth Large Tube tank part welding grinding and polishing robot according to claim 1, it is characterised in that：It is described
Manipulator is justified by base, connecting rod IV, connecting rod V, connecting rod VI, motor V, motor VI, motor VII, bevel gear I, motor VIII, straight-tooth
Stud wheel I, bevel gear II, axle VI, straight spur gear II, straight spur gear III, base electrical machinery I are constituted, wherein base electricity
Machine I is fixed on bottom plate, and base is fixed on base electrical machinery I, and motor V is bolted on base, and motor V passes through gear
Group is connected with connecting rod IV, and motor VI is fixed on connecting rod IV, and motor VI is connected with connecting rod V by spline, the company of being fixed on of motor VII
On bar V, a straight spur gear, this straight spur gear and another straight spur gear II are installed on the output shaft of motor VII
It is meshed, bevel gear I is arranged on same axis VI with straight spur gear II, and bevel gear I engages with bevel gear II, bevel gear
II is arranged on connecting rod VI, and motor VIII is fixed on connecting rod VI, and the output shaft of motor VIII is connected with straight spur gear III, directly
Tooth roller gear III is meshed with straight spur gear I.
5. a kind of labyrinth Large Tube tank part welding grinding and polishing robot according to claim 1, it is characterised in that：It is described
Tool system is made up of welding gun, motor Ⅸ, emery wheel, axle VII, and wherein straight spur gear I is connected on axle VII by key, axle VII
It is fixedly connected with welding gun, emery wheel is fixed on the output shaft of motor Ⅸ, motor Ⅸ is fixed on one end of welding gun.
6. a kind of labyrinth Large Tube tank part welding grinding and polishing robot according to claim 1, it is characterised in that：It is described
Sucker controller is by vacuum pump interface I, inactive order, electric source line interface, Moving plate, power-supply controller of electric tabletting, vacuum control block, power supply
Contact block, vacuum pump interface II, electric wire, flexible pipe I, power of electromagnetic valve line interface, sucker controller motor, two-bit triplet electromagnetism are changed
Constituted to valve, wherein sucker controller motor is fixed on crossbeam, output shaft and the Moving plate of sucker controller motor pass through key phase
Even, inactive order is fixed on crossbeam, and vacuum pump interface I is connected with vacuum control block, and electric source line interface is connected with electrical power contacts block
Together, insulated between electrical power contacts block and inactive order using rubber sheet gasket, power-supply controller of electric tabletting and vacuum pump interface
II is installed on Moving plate, and power-supply controller of electric tabletting links together with power of electromagnetic valve line interface, power of electromagnetic valve line interface
It is connected by electric wire with two-bit triplet solenoid directional control valve power interface, vacuum pump interface II passes through flexible pipe I and two-bit triplet electromagnetism
II mouthful of reversal valve is connected, and I mouthful of two-bit triplet solenoid directional control valve is directly communicated with air, and III mouthful of two-bit triplet solenoid directional control valve passes through
Flexible pipe III is communicated with the total interface of air flue plate, and two-bit triplet solenoid directional control valve is fixed on chain link.
7. a kind of labyrinth Large Tube tank part welding grinding and polishing robot according to claim 3, it is characterised in that：It is described
Sucker part is by micro-step motor, I-shaped groove, sliding block, small sucker, elastic hose II, air flue plate, the total interface of air flue plate, I-shaped
Block plate, I-shaped plate boss, motor fixing plate, flexible pipe III are constituted, and wherein micro-step motor is fixed on motor fixing plate, miniature
Tapped on the output shaft of stepper motor, the output shaft of micro-step motor is connected with the internal thread hole of sliding block upper surface, work
Letter stencil boss is slided in the I-shaped groove in sliding block, and the lower surface of sliding block has a screwed hole to be communicated with a unthreaded hole of side, small to inhale
Disk is threadedly secured in the screwed hole of lower surface, and small sucker is hollow structure, and a unthreaded hole of side passes through elastic hose II
Communicated with air flue plate, the total interface of air flue plate is connected for III mouthful by flexible pipe III and two-bit triplet solenoid directional control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710115421.2A CN107053123B (en) | 2017-02-28 | 2017-02-28 | Welding, grinding and polishing robot for large-scale pipe tank parts with complex structures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710115421.2A CN107053123B (en) | 2017-02-28 | 2017-02-28 | Welding, grinding and polishing robot for large-scale pipe tank parts with complex structures |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107053123A true CN107053123A (en) | 2017-08-18 |
| CN107053123B CN107053123B (en) | 2023-04-07 |
Family
ID=59622983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710115421.2A Active CN107053123B (en) | 2017-02-28 | 2017-02-28 | Welding, grinding and polishing robot for large-scale pipe tank parts with complex structures |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053123B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803616A (en) * | 2017-11-03 | 2018-03-16 | 青岛星跃铁塔有限公司 | A kind of angle-steel tower fillet welding welding robot |
| CN107933715A (en) * | 2017-11-16 | 2018-04-20 | 哈尔滨工业大学 | Vehicle-mounted mechanical hand creeper truck |
| CN109040388A (en) * | 2018-08-20 | 2018-12-18 | 深圳市蓝禾技术有限公司 | Electrokinetic adsorption bracket |
| WO2020037854A1 (en) * | 2018-08-20 | 2020-02-27 | 深圳市蓝禾技术有限公司 | Electric adsorption holder |
| CN110900631A (en) * | 2019-12-15 | 2020-03-24 | 吉林大学 | Large-scale structural steel welding, milling and grinding integrated robot and machining control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005111595A (en) * | 2003-10-07 | 2005-04-28 | Rikogaku Shinkokai | Crawler type traveling robot |
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| CN107803616A (en) * | 2017-11-03 | 2018-03-16 | 青岛星跃铁塔有限公司 | A kind of angle-steel tower fillet welding welding robot |
| CN107933715A (en) * | 2017-11-16 | 2018-04-20 | 哈尔滨工业大学 | Vehicle-mounted mechanical hand creeper truck |
| CN109040388A (en) * | 2018-08-20 | 2018-12-18 | 深圳市蓝禾技术有限公司 | Electrokinetic adsorption bracket |
| WO2020037854A1 (en) * | 2018-08-20 | 2020-02-27 | 深圳市蓝禾技术有限公司 | Electric adsorption holder |
| CN110900631A (en) * | 2019-12-15 | 2020-03-24 | 吉林大学 | Large-scale structural steel welding, milling and grinding integrated robot and machining control method thereof |
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| CN107053123B (en) | 2023-04-07 |
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