CN108481361A - A kind of rail mounted mechanical arm with repair function - Google Patents
A kind of rail mounted mechanical arm with repair function Download PDFInfo
- Publication number
- CN108481361A CN108481361A CN201810210912.XA CN201810210912A CN108481361A CN 108481361 A CN108481361 A CN 108481361A CN 201810210912 A CN201810210912 A CN 201810210912A CN 108481361 A CN108481361 A CN 108481361A
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- China
- Prior art keywords
- motor
- mechanical arm
- forearm
- rotation
- rail
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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
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rail mounted mechanical arm with repair function, the rail mounted mechanical arm with repair function include rail bed, weight bearing foundation, rotation cavity, bearing, Support large arm, hydraulic pump, hydraulically extensible cylinder, hydraulic support cylinder, forearm pedestal, accumulator, forearm, hinge head, motor, detecting head and obturator；When work, mechanical arm adjust automatically posture carries out welding detection, for the unqualified place of welding quality, start the accumulator, the accumulator powers to the obturator, arm posture is adjusted, and the laser projected by the obturator repairs the unqualified place of welding quality.This mechanical arm substantially increases detection remediation efficiency, and security risk is not present.
Description
Technical field
The present invention relates to a kind of mechanical arm, specially a kind of rail mounted mechanical arm with repair function.
Background technology
As large-scale and application of the super large structural section in process industry is more and more extensive, large-scale and super large structural section weldering
Connection technology also achieves huge advance.Especially in shipbuilding industry and bridge industry, the welding requirements of large shape is higher and higher.
At the same time, the detection at welded steel position and reparation problem never have method and effectively improve.Because of weld part bit length,
Bonding area is big, and artificial detection remediation efficiency is low, and is easy error, and hidden in the presence of safety in some position manual operations
Suffer from.
Invention content
The purpose of the present invention is to provide a kind of rail mounted mechanical arm with repair function, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides the following technical solutions：A kind of rail mounted mechanical arm with repair function,
The rail mounted mechanical arm with repair function includes rail bed, weight bearing foundation, rotation cavity, bearing, Support large arm, liquid
Press pump, hydraulically extensible cylinder, hydraulic support cylinder, forearm pedestal, accumulator, forearm, hinge head, motor, detecting head and obturator；Institute
It states weight bearing foundation to be mounted on four mobile sliding blocks by screw and fixation steel plate, the mobile slide block set is in the rail bed
Cunning thick stick on, and can be moved freely on the sliding thick stick；Mobile motor is mounted on above the fixation steel plate, and passes through gear
It is connect with the track gear in the rail bed；Stepper motor is connect with turntable bearing by gear；The turntable bearing is logical
Steel nail is crossed to be fixed on the weight bearing foundation；The stepper motor is fixedly mounted on rotation inside cavity；Rotation stud is mounted on
On the fixation steel plate；The rotation stud supports the rotation cavity, and the rotation cavity can be on the rotation stud
It rotates freely；The Support large arm is connected to by the bearing on the rotation cavity；Described in the hydraulically extensible cylinder support
Support large arm；The hydraulic support cylinder is connected through the hinge with forearm pedestal steelframe；Steering motor is mounted on the forearm pedestal
Inside, and connect by gear with steering bearing；The steering bearing is fixedly mounted on the forearm pedestal steelframe；The storage
Battery is mounted on the forearm pedestal；The hinge head is connected with the forearm pedestal by the forearm；The detection
Head and the obturator are mounted on the rotor of the motor；The motor is fixedly mounted on inside the hinge head U-shaped；It is described
Rail bed be horizontally mounted it is either vertically-mounted or be installed on need detect repair cavity top, complete different parts,
The detection of angle；A weight bearing foundations of N (N >=1) can be installed simultaneously, you can to install N number of manipulator additional in the rail bed
Arm operation simultaneously；The hydraulic pump, motor, mobile motor, stepper motor, steering motor, accumulator, detecting head by microcontroller or
Computer controls；The detecting head provides repair data and coordinate setting.
Preferably, the hydraulic pump is connected by hydraulic tube with the hydraulically extensible cylinder, hydraulic support cylinder, and is the liquid
Telescoping cylinder, hydraulic support cylinder is pressed to provide power.
Preferably, hydraulically extensible cylinder bottom portion is fixedly installed in the rotation housing surface by hinge；The hydraulic pressure
Shoring bottom is fixedly installed in the Support large arm surface by hinge.
Preferably, mechanical arm is driven to be moved in the rail bed when mobile motor rotation；The stepping electricity
Support large arm and rotation cavity rotation are driven when machine rotates；Driven when the steering motor rotation forearm pedestal, accumulator,
Forearm rotation.
Preferably, the motor accurately controls the rotation angle of the detecting head, obturator.
Preferably, the weight bearing foundation can be removed from the fixation steel plate；The Support large arm is on the bearing
It is front and back to rotate freely；Rotation cavity 360 degree rotation on the weight bearing foundation.
Preferably, the hydraulically extensible cylinder controls the angle of the Support large arm by stretching and shrinking；The hydraulic pressure branch
Support cylinder is stretched forward by stretching and shrink the control forearm or is moved backward.
Compared with prior art, the beneficial effects of the invention are as follows：When work, the good rail bed of first frame, foundation needs to detect
The area of reparation determines the length and direction initialization of rail bed, microcontroller or computer according to hydraulic pressure described in detection coordinate control
The state of pump, motor, mobile motor, stepper motor, steering motor, accumulator, detecting head, to control the band repair function
Rail mounted mechanical arm working condition；Mobile motor controls the rail mounted mechanical arm with repair function in the rail
It is moved on road pedestal, the rotation side of the rail mounted mechanical arm with repair function described in the steering motor, step motor control
To the motor controls the posture of the detecting head, obturator, and the information according to detecting head detection is automatically performed to phase
Close the repair at position；The present invention is controlled using microcontroller or computer, and automatic degree is high, using hydraulicdriven mode control
The stretching, extension of the Support large arm, forearm is made, there is stable drive, it is light weight, small, it is easy to accomplish the advantages that stepless speed regulation,
And fluid has shock sucking function, the precision that can guarantee detection and work when repairing；The present invention can substantially increase detection and repair effect
Rate saves manpower, and can be high-risk and be unsuitable for manually-operated local work；The eyes of people are avoided because being chronically at simultaneously
Injury, greatly protects the safety of staff caused by under the environmental stimulus of high brightness.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of weight bearing foundation in the present invention；
Fig. 3 is the structural schematic diagram of middle guide pedestal of the present invention；
Fig. 4 is the structural schematic diagram of hinge head in the present invention；
Fig. 5 is detecting head, obturator and electric motor mounting structure schematic diagram in the present invention；
Fig. 6 is job control flow chart of the present invention；
In figure：1- rail beds；101- slides thick stick；102- track gears；103- moves sliding block；2- weight bearing foundations；21- is moved
Motor；22- fixation steel plates；23- screws；24- stepper motors；25- turntable bearings；26- rotates stud；27- rotates cavity；28-
Steel nail；3- bearings；4- Support large arms；5- hydraulic pumps；6- hydraulically extensible cylinders；7- hydraulic support cylinders；8- forearm pedestals；81- is turned to
Motor；82- steering bearings；83- forearm pedestal steelframes；9- accumulators；10- forearms；11- hinge heads；12- motors；13- is detected
Head；14- obturators.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
Please refer to Fig.1-Fig. 6, a kind of embodiment provided by the invention：
A kind of rail mounted mechanical arm with repair function, the rail mounted mechanical arm with repair function includes track
It is pedestal 1, weight bearing foundation 2, rotation cavity 27, bearing 3, Support large arm 4, hydraulic pump 5, hydraulically extensible cylinder 6, hydraulic support cylinder 7, preceding
Arm pedestal 8, accumulator 9, forearm 10, hinge head 11, motor 12, detecting head 13 and obturator 14；The weight bearing foundation 2 passes through spiral shell
Nail 23 and fixation steel plate 22 are mounted on four mobile sliding blocks 103, and the mobile sliding block 103 is sleeved on the cunning of the rail bed 1
On thick stick 101, and it can be moved freely on the sliding thick stick 101；Mobile motor 21 is mounted on 22 top of the fixation steel plate, and leads to
Gear is crossed to connect with the track gear 102 in the rail bed 1；Stepper motor 24 is connect with turntable bearing 25 by gear；
The turntable bearing 25 is fixed on by steel nail 28 on the weight bearing foundation 2；The stepper motor 24 is fixedly mounted on rotating drum
Inside body 27；Stud 26 is rotated to be mounted on the fixation steel plate 22；The rotation stud 26 supports the rotation cavity 27, institute
Stating rotation cavity 27 can rotate freely on the rotation stud 26；The Support large arm 4 is connected to institute by the bearing 3
It states on rotation cavity 27；The hydraulically extensible cylinder 6 supports the Support large arm 4；The hydraulic support cylinder 7 and forearm pedestal steelframe
83 are connected through the hinge；Steering motor 81 is mounted on inside the forearm pedestal 8, and is connect by gear with steering bearing 82；
The steering bearing 82 is fixedly mounted on the forearm pedestal steelframe 83；The accumulator 9 is mounted on the forearm pedestal 8
On；The hinge head 11 is connected with the forearm pedestal 8 by the forearm 10；The detecting head 13 and the obturator 14
On the rotor of the motor 12；The motor 12 is fixedly mounted on inside the hinge head 11U shapes；The rail bed
1 is horizontally mounted either vertically-mounted or is installed on the top for needing to detect reparation cavity, completes the inspection of different parts, angle
It surveys；A weight bearing foundations of N (N >=1) 2 can be installed simultaneously, you can to install N number of mechanical arm additional simultaneously in the rail bed 1
Operation；The hydraulic pump 5, motor 12, mobile motor 21, stepper motor 24, steering motor 81, accumulator 9, detecting head 13 are by list
Piece machine or computer control；The detecting head 13 provides repair data and coordinate setting.
In the present embodiment, the hydraulic pump 5 is connected by hydraulic tube with the hydraulically extensible cylinder 6, hydraulic support cylinder 7,
And power is provided for the hydraulically extensible cylinder 6, hydraulic support cylinder 7, the Support large arm, preceding is controlled using hydraulicdriven mode
The stretching, extension of arm has stable drive, light weight, small, it is easy to accomplish the advantages that stepless speed regulation, and fluid has absorbing work(
Can, the precision that can guarantee mechanical arm detection and work when repairing.
In the present embodiment, 6 bottom of hydraulically extensible cylinder is fixedly installed in 27 surface of rotation cavity by hinge；
7 bottom of the hydraulic support cylinder is fixedly installed in 4 surface of the Support large arm by hinge.
In the present embodiment, mechanical arm is driven to be moved in the rail bed 1 when the mobile motor 21 rotates；Institute
It states and Support large arm 4 and rotation cavity 27 is driven to rotate when stepper motor 24 rotates；Described in being driven when the steering motor 81 rotates
Forearm pedestal 8, accumulator 9, forearm 10 rotate.
In the present embodiment, the motor 12 accurately controls the rotation angle of the detecting head 13, obturator 14, is convenient for institute
Stating detecting head 13 and obturator 14 comprehensively can be detected and repair.
In the present embodiment, the weight bearing foundation 2 can be removed from the fixation steel plate 22；The Support large arm 4 exists
It is front and back on the bearing 3 to rotate freely；The 360 degree rotation on the weight bearing foundation 2 of the rotation cavity 27.
In the present embodiment, the hydraulically extensible cylinder 6 controls the angle of the Support large arm 4 by stretching and shrinking；Institute
Hydraulic support cylinder 7 is stated to stretch forward by stretching and shrink the control forearm 10 or move backward.
Operation principle：The present invention provides a kind of rail mounted mechanical arm with repair function, the weight bearing foundation 2 pass through
Screw 23 and fixation steel plate 22 are mounted on four mobile sliding blocks 103, and the mobile sliding block 103 is sleeved on the rail bed 1
On sliding thick stick 101, when work, moves freely on the sliding thick stick 101；When work, mechanical arm is controlled certainly by microcontroller or computer
The dynamic flexible posture of adjustment, the mobile motor 21 drive the rail mounted mechanical arm with repair function in the rail bed
Transverse shifting on 1, the stepper motor 24, steering motor 81 control the rotation of the rail mounted mechanical arm with repair function
Direction, the detecting head 13 start welding detection, and for the unqualified place of welding quality, the detecting head 13 passes coordinate back
To microcontroller or computer, start the accumulator 9, the accumulator 9 powers to the obturator 14, according to the detecting head
The 13 Coordinate Adjusting arm postures passed back, and the laser projected by the obturator 14 is for the unqualified place of welding quality
It is repaired.
Embodiment two
In the present embodiment, the detecting head 13 and the obturator 14 are mounted on the rotor of the motor 12；The electricity
Machine 12 is fixedly mounted on inside the hinge head 11U shapes；The rail bed 1 is horizontally mounted either vertically-mounted or installation
In the top for needing detection to repair cavity, the detection of different parts, angle is completed；N (N can be installed simultaneously in the rail bed 1
>=1) a weight bearing foundation 2, you can to install the operation simultaneously of N number of mechanical arm additional；The hydraulic pump 5, motor 12, mobile motor
21, stepper motor 24, steering motor 81, accumulator 9, detecting head 13 are controlled by microcontroller or computer；The detecting head 13 carries
For repair data and coordinate setting.The present embodiment is with the difference place of embodiment one, in the present embodiment, 13 He of the detecting head
The obturator 14 is separately mounted on different weight bearing foundations 2, and the detecting head 13 and the obturator 14 are independently made
Industry, but controlled by the same microcontroller or computer, the detecting head 13 is located at before the obturator 14, also, institute
It states detecting head 13 and preferentially starts welding detection, for the unqualified place of welding quality, coordinate is returned to by the detecting head 13
Microcontroller or computer start the accumulator 9, and the accumulator 9 powers to the obturator 14, according to the detecting head 13
The posture for the mechanical arm that obturator 14 is located at described in the Coordinate Adjusting passed back, and the laser pair projected by the obturator 14
It is repaired in the unqualified place of welding quality, then, the mechanical arm residing for the detecting head 13 is moved, under detection
One region, mechanical arm residing for the obturator 14 is and then moved, in the present embodiment, the detecting head 13 and institute
It states obturator 14 respectively to work independently, and is controlled by a microcontroller or computer, can not only be realized in embodiment one
Function, additionally it is possible to so that the detecting head 13 is not interacted with the obturator 14, if breaking down, also allow for repairman into
Row maintenance.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacing, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection domain of invention.
Claims (7)
1. a kind of rail mounted mechanical arm with repair function, it is characterised in that：The rail mounted manipulator with repair function
Arm includes rail bed (1), weight bearing foundation (2), rotation cavity (27), bearing (3), Support large arm (4), hydraulic pump (5), hydraulic pressure
Telescoping cylinder (6), forearm pedestal (8), accumulator (9), forearm (10), hinge head (11), motor (12), is visited hydraulic support cylinder (7)
Gauge head (13) and obturator (14)；The weight bearing foundation (2) is mounted on four movements by screw (23) and fixation steel plate (22)
On sliding block (103), the mobile sliding block (103) is sleeved on the cunning thick stick (101) of the rail bed (1), and can be in the cunning
Thick stick moves freely on (101)；Mobile motor (21) is mounted on above the fixation steel plate (22), and passes through gear and the track
Track gear (102) connection on pedestal (1)；Stepper motor (24) is connect with turntable bearing (25) by gear；The turntable
Bearing (25) is fixed on by steel nail (28) on the weight bearing foundation (2)；The stepper motor (24) is fixedly mounted on rotating drum
Body (27) is internal；Stud (26) is rotated to be mounted on the fixation steel plate (22)；The rotation stud (26) supports the rotation
Cavity (27), the rotation cavity (27) can rotate freely on the rotation stud (26)；The Support large arm (4) passes through
The bearing (3) is connected on the rotation cavity (27)；The hydraulically extensible cylinder (6) supports the Support large arm (4)；It is described
Hydraulic support cylinder (7) is connected through the hinge with forearm pedestal steelframe (83)；Steering motor (81) is mounted on the forearm pedestal (8)
Inside, and connect by gear with steering bearing (82)；The steering bearing (82) is fixedly mounted on the forearm pedestal steelframe
(83) on；The accumulator (9) is mounted on the forearm pedestal (8)；The hinge head (11) is logical with the forearm pedestal (8)
The forearm (10) is crossed to be connected；The detecting head (13) and the obturator (14) are mounted on the rotor of the motor (12)
On；The motor (12) is fixedly mounted on inside the hinge head (11) U-shaped；The rail bed (1) is horizontally mounted, or perpendicular
Straight installation, or be installed on and need to detect the top for repairing cavity, complete the detection of different parts, angle；The rail bed
(1) a weight bearing foundations (2) of N (N >=1) can be installed simultaneously, you can to install the operation simultaneously of N number of mechanical arm additional on；The liquid
Press pump (5), motor (12), mobile motor (21), stepper motor (24), steering motor (81), accumulator (9), detecting head (13)
It is controlled by microcontroller or computer；The detecting head (13) provides repair data and coordinate setting.
2. a kind of rail mounted mechanical arm with repair function according to claim 1, it is characterised in that：The hydraulic pump
(5) it is connected with the hydraulically extensible cylinder (6), hydraulic support cylinder (7) by hydraulic tube, and is the hydraulically extensible cylinder (6), hydraulic pressure
Shoring (7) provides power.
3. a kind of rail mounted mechanical arm with repair function according to claim 1, it is characterised in that：The hydraulic pressure is stretched
Contracting cylinder (6) bottom is fixedly installed in rotation cavity (27) surface by hinge；Hydraulic support cylinder (7) bottom passes through hinge
Chain is fixedly installed in the Support large arm (4) surface.
4. a kind of rail mounted mechanical arm with repair function according to claim 1, it is characterised in that：The mobile electricity
Mechanical arm is driven to be moved in the rail bed (1) when machine (21) rotates；Branch is driven when stepper motor (24) rotation
It supports large arm (4) and rotation cavity (27) rotates；The forearm pedestal (8), accumulator are driven when steering motor (81) rotation
(9), forearm (10) rotates.
5. a kind of rail mounted mechanical arm with repair function according to claim 1, it is characterised in that：The motor
(12) rotation angle of the detecting head (13), obturator (14) is accurately controlled.
6. a kind of rail mounted mechanical arm with repair function according to claim 1, it is characterised in that：The load-bearing bottom
Seat (2) can be removed from the fixation steel plate (22)；The Support large arm (4) is front and back on the bearing (3) to be rotated freely；
The rotation cavity (27) 360 degree rotation on the weight bearing foundation (2).
7. a kind of rail mounted mechanical arm with repair function according to claim 3, it is characterised in that：The hydraulic pressure is stretched
Contracting cylinder (6) controls the angle of the Support large arm (4) by stretching and shrinking；The hydraulic support cylinder (7) is by stretching and receiving
Contracting controls the forearm (10) and stretches forward or move backward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810210912.XA CN108481361A (en) | 2018-03-14 | 2018-03-14 | A kind of rail mounted mechanical arm with repair function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810210912.XA CN108481361A (en) | 2018-03-14 | 2018-03-14 | A kind of rail mounted mechanical arm with repair function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108481361A true CN108481361A (en) | 2018-09-04 |
Family
ID=63339341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810210912.XA Pending CN108481361A (en) | 2018-03-14 | 2018-03-14 | A kind of rail mounted mechanical arm with repair function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108481361A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941946A (en) * | 2018-09-28 | 2018-12-07 | 桂林电子科技大学 | A kind of fixed platform for photomechanical laser processing |
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|---|---|---|---|---|
| CN101062529A (en) * | 2006-04-25 | 2007-10-31 | 南京理工大学 | Weld seam appearance, fused bath and seam near-infrared vision integral sensing checkout gear |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN103692433A (en) * | 2013-12-23 | 2014-04-02 | 厦门理工学院 | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof |
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Application publication date: 20180904 |
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