CN107243891A - A kind of crawl robot with self-cleaning function - Google Patents
A kind of crawl robot with self-cleaning function Download PDFInfo
- Publication number
- CN107243891A CN107243891A CN201710643352.2A CN201710643352A CN107243891A CN 107243891 A CN107243891 A CN 107243891A CN 201710643352 A CN201710643352 A CN 201710643352A CN 107243891 A CN107243891 A CN 107243891A
- Authority
- CN
- China
- Prior art keywords
- clamping device
- type clamping
- fuselage
- cleaning function
- self
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of crawl robot with self-cleaning function, it is related to the technical field of plant equipment；The telescopic top is connected through second joint axle with connecting seat, and top is connected to cylinder；The V-type clamping device is connected by connecting rod with telescopic, spring is provided with the middle part of the V-type clamping device, tip inside is provided with pad；The fuselage is connected with outside PLC；The V-type clamping device side is provided with wiper mechanism；The wiper mechanism is connected by plastic tube, water pump with outer tank, and the wiper mechanism head can 360 ° of rotations；The surface of the fuselage and V-type clamping device is coated with light emitting layer, and the light emitting layer is made up of long after glow luminous material；Fan is provided with the middle part of the V-type clamping device；Robot manipulation of the present invention is simple, small to workpiece damage during crawl, and operating efficiency and positioning precision are high, and service life is long, with easily cleaning function.
Description
Technical field
The present invention relates to the technical field of plant equipment, specifically a kind of crawl robot with self-cleaning function.
Background technology
Manipulator is to imitate some holding functions of human arm, to be captured by fixed routine, carry object or operation instrument
Automatic pilot.Manipulator is the industrial robot occurred earliest, is also the modern machines people occurred earliest, and it can be replaced
The heavy labor of people can be operated with realizing the mechanization and automation of production under hostile environment, thus be widely used in
The departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Wherein crawl robot is produced by electric or pneumatic mode
Lively power, to replace frequently manual grasping movement, alleviates the working strength of personnel to a certain extent.
However, with the development of science and technology crawl robot while updating there is also it is certain the drawbacks of, such as it is existing
Also there is following defect in some crawl robots：
1st, the impulsive force that clamping device is produced in grabbing workpiece is easy to defective work piece；
2nd, staff is needed to be operated in real time, operating efficiency is low, the amount of labour remains unchanged very greatly, while positioning precision is low, grabs
Easily occurs the deviation on position when taking；
3rd, after multiple crawl work, its clamping device surface can be stained with dust impurities, as handled not in time, can accumulate
For one layer of dirt, so that the crawl work of robot subsequently has been had a strong impact on, while also reducing the robot overall use longevity
Life.
The content of the invention
Goal of the invention：In order to overcome the above not enough, it is an object of the invention to provide a kind of crawl with self-cleaning function
Robot, the robot manipulation is simple, small to workpiece damage during crawl, and operating efficiency and positioning precision are high, service life
It is long, with easily cleaning function.
Technical scheme：In order to realize the above object a kind of crawl robot with self-cleaning function of the present invention,
Including：Fuselage, connecting seat, telescopic, V-type clamping device and PLC；First joint shaft two ends respectively with the fuselage,
Second joint axle is connected, and first joint shaft, second joint axle and V-type clamping device are provided with by fuselage interior
Servomotor driving, the second joint axle top is connected to connecting seat；The telescopic top passes through second joint axle and company
Joint chair is connected, and top is connected to cylinder；The V-type clamping device is connected by connecting rod with telescopic, the V-type clamping machine
Spring is provided with the middle part of structure, tip inside is provided with pad；The fuselage is connected with outside PLC；The V-type clamping device one
Side is provided with wiper mechanism；The wiper mechanism is connected by plastic tube, water pump with outer tank, and the wiper mechanism head can
360 ° of rotations；The surface of the fuselage and V-type clamping device is coated with light emitting layer, and the light emitting layer is by long-persistence luminous
Material is made；Fan is provided with the middle part of the V-type clamping device.The present invention carries out intelligence by PLC to whole robot
Control, each joint shaft is accurately positioned, operated in real time without staff automatically according to PLC control program, therefore work
Make efficiency high, personnel's amount of labour is small, positioning precision is high；And it is padded by being set on the inside of clamping device, so as to serve
Good shock absorbing effect, it is to avoid damage of the clamping device in gripping to workpiece；On the other hand, it passes through rotatable
Wiper mechanism is rinsed to clamping device surface in time, effectively prevent the generation of its surface smut, so as to greatly ensure that
Being normally carried out for work is captured, while whole service life is also greatly improved, and it reduces clamping device week by fan
The temperature enclosed, eliminates the dust impurities on clamping device surface, further prevents the generation of its surface smut；Its is spontaneous in addition
Photosphere night illumination effect is good, greatly facilitates the operation and monitoring of staff, while electric energy is saved, economic and environment-friendly, peace
It is complete reliable.
It is provided with testing agency at the top of heretofore described PLC, the testing agency includes temperature sensor, wet
Spend sensor and Smoke Sensor.Environment around when it is worked by the real-time monitoring robot of testing agency.
Heretofore described testing agency end is connected to audible-visual annunciator.Its acousto-optic report when occurring the fortuitous events such as fire
Alert device is made an immediate response, so as to remind staff to be adjusted in time, security is greatly improved, and greatly ensure that crawl work is long
Time is efficiently and stably run.
Heretofore described wiper mechanism is provided with regulating valve, so as to the flow of accurate control cleaning fluid, protects well
Demonstrate,prove the effect of cleaning.
The surface of heretofore described fuselage, the first joint shaft and second joint axle is covered with one layer of fireproof coating.Its
Fireproof coating fire-proof and thermal-insulation effect is good, and service life is greatly improved.
Protective cover is provided with outside heretofore described V-type clamping device, the protective cover is clamped by mosaic mode and V-type
Mechanism is fixedly connected.It greatly prevents clamping device to be corroded by impurity such as external dusts when idle by protective cover,
Sealing is greatly improved, and the quality and efficiency of crawl is ensure that well, while also improving service life.
Beneficial effect：Compared with prior art, the present invention has advantages below：
1st, heretofore described a kind of crawl robot with self-cleaning function, it is by PLC to whole machine
People carries out intelligent control, and each joint shaft is accurately positioned, grasped in real time without staff automatically according to PLC control program
Make, therefore operating efficiency is high, personnel's amount of labour is small, and positioning precision is high；And it is padded by being set on the inside of clamping device, from
And serve good shock absorbing effect, it is to avoid damage of the clamping device in gripping to workpiece.
2nd, heretofore described a kind of crawl robot with self-cleaning function, it passes through rotatable wiper mechanism
Clamping device surface is rinsed in time, the generation of its surface smut is effectively prevent, so as to greatly ensure that crawl work
Be normally carried out, while whole service life is also greatly improved, and it reduces the temperature around clamping device by fan,
The dust impurities on clamping device surface are eliminated, the generation of its surface smut is further prevented.
3rd, a kind of heretofore described crawl robot with self-cleaning function, its light emitting layer night illumination effect
It is good, the operation and monitoring of staff is greatly facilitated, while electric energy is saved, and it is economic and environment-friendly, it is safe and reliable.
4th, heretofore described a kind of crawl robot with self-cleaning function, it is monitored in real time by testing agency
Environment around machine man-hour, when occurring the fortuitous events such as fire, its audible-visual annunciator makes an immediate response, so as to remind work
Make personnel to be adjusted in time, security is greatly improved, greatly ensure that crawl work long hours are efficiently and stably run.
5th, heretofore described a kind of crawl robot with self-cleaning function, it is greatly prevented by protective cover
Clamping device is corroded by impurity such as external dusts when idle, and sealing is greatly improved, and the matter of crawl is ensure that well
Amount and efficiency, while also improving service life；Its other fireproof coating fire-proof and thermal-insulation effect is good, and service life is greatly improved.
Brief description of the drawings
Fig. 1 is the overall structure diagram of robot in the present invention.
In figure：Fuselage 1, the first joint shaft 2, second joint axle 3, connecting seat 4, cylinder 5, telescopic 6, connecting rod 7, spring 8,
V-type clamping device 9, pad 10, PLC 11, wiper mechanism 12, fan 13, testing agency 14, audible-visual annunciator 15.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail, but illustrates protection scope of the present invention simultaneously simultaneously
The specific scope of the present embodiment is not limited to, based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
As shown in figure 1, a kind of crawl robot with self-cleaning function of the present embodiment, includes the pass of fuselage 1, first
Nodal axisn 2, second joint axle 3, connecting seat 4, cylinder 5, telescopic 6, connecting rod 7, spring 8, V-type clamping device 9, pad 10, PLC controls
Device 11 processed, wiper mechanism 12, fan 13, testing agency 14 and audible-visual annunciator 15.
The annexation of above-mentioned each part is as follows：Match somebody with somebody respectively with the fuselage 1, second joint axle 3 at the two ends of first joint shaft 2
Close connection, the servo electricity that first joint shaft 2, second joint axle 3 and V-type clamping device 9 are provided with by the inside of fuselage 1
Machine drives, and the top of second joint axle 3 is connected to connecting seat 4；The top of telescopic 6 passes through second joint axle 3 and connecting seat 4
It is connected, and top is connected to cylinder 5；The V-type clamping device 9 is connected by connecting rod 7 with telescopic 6, the V-type clamping machine
The middle part of structure 9 is provided with spring 8, and tip inside is provided with pad 10；The fuselage 1 is connected with outside PLC 11；The V-type folder
The side of mechanism 9 is held provided with wiper mechanism 12；The wiper mechanism 12 is connected by plastic tube, water pump with outer tank, described clear
The head of washing machine structure 12 can 360 ° of rotations；The surface of the fuselage 1 and V-type clamping device 9 is coated with light emitting layer, described spontaneous
Photosphere is made up of long after glow luminous material；The middle part of V-type clamping device 9 is provided with fan 13.
Testing agency 14 is provided with the top of PLC 11 described in the present embodiment, the testing agency 14 includes temperature
Sensor, humidity sensor and Smoke Sensor；The end of testing agency 14 is connected to audible-visual annunciator 15.
Wiper mechanism 12 described in the present embodiment is provided with regulating valve；The fuselage 1, the first joint shaft 2 and second joint
The surface of axle 3 is covered with one layer of fireproof coating.
The outside of V-type clamping device described in the present embodiment 9 is provided with protective cover, and the protective cover passes through mosaic mode and V-type
Clamping device 9 is fixedly connected.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as the present invention's
Protection domain.
Claims (6)
1. a kind of crawl robot with self-cleaning function, it is characterised in that：Including：Fuselage（1）, connecting seat（4）, telescopic
（6）, V-type clamping device（9）And PLC（11）；
First joint shaft（2）Two ends respectively with the fuselage（1）, second joint axle（3）It is connected, first joint shaft
（2）, second joint axle（3）And V-type clamping device（9）Pass through fuselage（1）The driving of servomotor that inside is provided with, described the
Two joint shafts（3）Top is connected to connecting seat（4）；The telescopic（6）Top passes through second joint axle（3）With connecting seat（4）Match somebody with somebody
Connection is closed, and top is connected to cylinder（5）；The V-type clamping device（9）Pass through connecting rod（7）With telescopic（6）Connect, the V-type
Clamping device（9）Middle part is provided with spring（8）, tip inside is provided with pad（10）；The fuselage（1）With outside PLC
（11）It is connected；
The V-type clamping device（9）Side is provided with wiper mechanism（12）；The wiper mechanism（12）By plastic tube, water pump with
Outer tank is connected, the wiper mechanism（12）Head can 360 ° of rotations；The fuselage（1）With V-type clamping device（9）Surface
Light emitting layer is coated with, the light emitting layer is made up of long after glow luminous material；The V-type clamping device（9）Middle part is provided with
Fan（13）.
2. a kind of crawl robot with self-cleaning function according to claim 1, it is characterised in that：The PLC controls
Device processed（11）Top is provided with testing agency（14）, the testing agency（14）Include temperature sensor, humidity sensor and
Smoke Sensor.
3. a kind of crawl robot with self-cleaning function according to claim 2, it is characterised in that：The detection machine
Structure（14）End is connected to audible-visual annunciator（15）.
4. a kind of crawl robot with self-cleaning function according to claim 1, it is characterised in that：The cleaning machine
Structure（12）Provided with regulating valve.
5. a kind of crawl robot with self-cleaning function according to claim 1, it is characterised in that：The fuselage
（1）, the first joint shaft（2）And second joint axle（3）Surface be covered with one layer of fireproof coating.
6. a kind of crawl robot with self-cleaning function according to claim 1, it is characterised in that：The V-type folder
Hold mechanism（9）Outside is provided with protective cover, and the protective cover passes through mosaic mode and V-type clamping device（9）It is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643352.2A CN107243891A (en) | 2017-07-31 | 2017-07-31 | A kind of crawl robot with self-cleaning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643352.2A CN107243891A (en) | 2017-07-31 | 2017-07-31 | A kind of crawl robot with self-cleaning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107243891A true CN107243891A (en) | 2017-10-13 |
Family
ID=60012140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710643352.2A Withdrawn CN107243891A (en) | 2017-07-31 | 2017-07-31 | A kind of crawl robot with self-cleaning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107243891A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992089A (en) * | 2018-01-19 | 2018-05-04 | 美钻能源科技(上海)有限公司 | A kind of intelligent automation ocean culture system (OCS) and its method |
| CN109760105A (en) * | 2017-11-10 | 2019-05-17 | 发那科株式会社 | Robot |
| CN110328659A (en) * | 2019-08-07 | 2019-10-15 | 浩科机器人（苏州）有限公司 | A kind of compact belt transmission four axis robot of sealed type small-sized |
| CN110722555A (en) * | 2019-10-15 | 2020-01-24 | 深圳市佳士机器人科技有限公司 | Industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN205704283U (en) * | 2016-03-31 | 2016-11-23 | 江苏泉工机器人科技有限公司 | There is the robotic arm apparatus of warning system |
| CN205817862U (en) * | 2016-06-30 | 2016-12-21 | 苏州塞默机械有限公司 | A kind of intelligent clamping mechanical hand |
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2017
- 2017-07-31 CN CN201710643352.2A patent/CN107243891A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN205704283U (en) * | 2016-03-31 | 2016-11-23 | 江苏泉工机器人科技有限公司 | There is the robotic arm apparatus of warning system |
| CN205817862U (en) * | 2016-06-30 | 2016-12-21 | 苏州塞默机械有限公司 | A kind of intelligent clamping mechanical hand |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760105A (en) * | 2017-11-10 | 2019-05-17 | 发那科株式会社 | Robot |
| US10850344B2 (en) | 2017-11-10 | 2020-12-01 | Fanuc Corporation | Robot |
| CN107992089A (en) * | 2018-01-19 | 2018-05-04 | 美钻能源科技(上海)有限公司 | A kind of intelligent automation ocean culture system (OCS) and its method |
| CN110328659A (en) * | 2019-08-07 | 2019-10-15 | 浩科机器人（苏州）有限公司 | A kind of compact belt transmission four axis robot of sealed type small-sized |
| CN110722555A (en) * | 2019-10-15 | 2020-01-24 | 深圳市佳士机器人科技有限公司 | Industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171013 |
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| WW01 | Invention patent application withdrawn after publication |