CN108724022A - A kind of gantry type sand blasting machine people - Google Patents

A kind of gantry type sand blasting machine people Download PDF

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Publication number
CN108724022A
CN108724022A CN201810622844.8A CN201810622844A CN108724022A CN 108724022 A CN108724022 A CN 108724022A CN 201810622844 A CN201810622844 A CN 201810622844A CN 108724022 A CN108724022 A CN 108724022A
Authority
CN
China
Prior art keywords
arm
sand blasting
machine people
blasting machine
gantry type
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810622844.8A
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Chinese (zh)
Inventor
吴化格
邬新波
石成林
夏少辉
汤斌斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HUBEI SANJIANG AEROSPACE COATING EQUIPMENT ENGINEERING Co Ltd
Original Assignee
HUBEI SANJIANG AEROSPACE COATING EQUIPMENT ENGINEERING Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HUBEI SANJIANG AEROSPACE COATING EQUIPMENT ENGINEERING Co Ltd filed Critical HUBEI SANJIANG AEROSPACE COATING EQUIPMENT ENGINEERING Co Ltd
Priority to CN201810622844.8A priority Critical patent/CN108724022A/en
Publication of CN108724022A publication Critical patent/CN108724022A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24CABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00Abrasive blasting machines or devices; Plants
    • B24C3/02Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24CABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C5/00Devices or accessories for generating abrasive blasts
    • B24C5/02Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
    • B24C5/04Nozzles therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24CABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C9/00Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material

Abstract

The invention discloses a kind of gantry type sand blasting machine people, including crane span structure overhead traveling crane, crane span structure overhead traveling crane includes two body frames, two body frames are arranged by mobile mechanism on guide rail respectively, the bindiny mechanism includes driving wheel and driven wheel, and the side of the driving wheel is sequentially connected with the first servo drive;The top of two body frames is equipped with adjustable shelf trolley, the adjustable shelf trolley includes vehicle frame, the bottom end both sides of the vehicle frame are fixedly connected with body frame, sliding shoe there are four being set on the outer wall of the vehicle frame, the side of one of them sliding shoe is connected with the second servo drive, and second servo drive includes first servo motor.The present invention substitutes artificial sandblasting operation using robot, while having automation, high efficiency, benefit stable, sandblasting precision is high, safe, and the uninterrupted running in rough circumstances, creates the leading working efficiency of the abrasive jet cleaning machine National People's Congress.

Description

A kind of gantry type sand blasting machine people
Technical field
The present invention relates to large-scale workpiece abrasive jet cleaning technical field more particularly to a kind of gantry type sand blasting machine people.
Background technology
Sandblasting also known as shot-peening, sanding refer to that the process cleared up the surface of mechanical workpieces, derusted, sandblasting can also For deburring, casting is handled, and generating decorative surface its principles is cleared up using the impact of high speed sand flow, Roughening workpiece surface improves the fatigue resistance of workpiece to make the mechanical performance of material surface be improved, and enhances work The adhesion of part surface coating.
Current machine-building industry just makes great efforts to further increase the quality of product, reduces cost, and by by robot skill Art is cleared up for surface sand-blasting, and to protect the health of worker, manual sandblasting labor intensity is big, and working environment is severe, and worker is reluctant Meaning is engaged in this dirty and dangerous work, and with manufacturing fast-developing trend, the quick rise of worker's cost, people The problems such as Environmental security of work operation, the trend that robot substitutes artificial sandblasting is more and more, and robot automatic sand blasting is fast with it Prompt mode of operation, higher sandblasting efficiency, stable sandblasting quality are increasingly favored by sandblasting industry.
The shortcoming of existing sand blasting machine people:The actuating range of sand blasting machine people is limited, it is difficult to competent large size work Part abrasive jet cleaning works, and the automatic sand blasting cleaning of the large-scale workpiece under rugged environment how is solved the problems, such as, in sandblasting industry Then it is particularly important.
Invention content
The purpose of the present invention is to provide a kind of gantry type sand blasting machine people, has and artificial sandblasting work is substituted using robot Industry, while having the advantages that automation, high efficiency, stable, sandblasting precision is high, safety, solves existing:Sand blasting machine people Actuating range be limited, it is difficult to the problem of competent large-scale workpiece abrasive jet cleaning work.
A kind of gantry type sand blasting machine people according to the ... of the embodiment of the present invention, including crane span structure overhead traveling crane, crane span structure overhead traveling crane include two Body frame, two body frames are arranged by mobile mechanism on guide rail respectively, the bindiny mechanism include driving wheel with it is driven Wheel, the side of the driving wheel is sequentially connected with the first servo drive;It is small that the top of two body frames is equipped with adjustable shelf Vehicle, the adjustable shelf trolley includes vehicle frame, and the bottom end both sides of the vehicle frame are fixedly connected with body frame, on the outer wall of the vehicle frame If there are four sliding shoe, the side of one of them sliding shoe is connected with the second servo drive, and second servo is driven Dynamic device includes first servo motor, and the side of the first servo motor is connected with the first retarder, first retarder Output end be equipped with gear, the gear is meshed with the rack-and-pinion on the outer wall of body frame both sides;Connect between four sliding shoes It is connected to turntable, turntable top side is equipped with rotating servo driving device, and the rotating servo driving device is watched including second Motor is taken, the rotary head end of second servo motor is connected with turbine worm retarder, one end of the turbine worm retarder Equipped with pinion gear;Vertical telescopic arm is equipped in the middle part of the turntable, the external wall of upper portion of the vertical telescopic arm is equipped with ring flange, institute The top for stating ring flange is fixed with external tooth turntable bearing, and the outside of the external tooth turntable bearing is meshed with pinion gear;It is described to hang down The bottom end of straight telescopic arm is equipped with first level arm, and the side of the first level arm is connected with the second horizontal arm, second water The side of flat arm is connected with cursor, and the side of the cursor is equipped with nozzle.
Further, the vertical telescopic arm includes fixed arm, the second section telescopic arm or is stretched including fixed arm, the second section Contracting arm, third section telescopic arm.
Further, the fixed arm, second are saved in telescopic arm is equipped with lower guider, the lower guiding at end port The bayonet of device matches with the second section telescopic arm or third section telescopic arm.
Further, the fixed arm, second are saved and are both provided with flexible servo drive in telescopic arm, and described stretch is watched It includes driving device to take driving device, and the end of the driving device is connected with ball-screw, on the outer wall of the ball-screw It is arranged with matched slide plate, the both sides of the slide plate are each provided in the linear guide, and the slide plate is far from the linear guide Side is fixedly connected with the second section telescopic arm or third section telescopic arm.
Further, the first level arm includes the first arm body, and being equipped with third servo-drive in the first arm body fills It sets, the third servo drive includes third servo motor, and the side of the third servo motor is connected with third deceleration One end of device, the third retarder connects dual output turbine worm reduction gearbox, and the outer wall both sides of the first arm body are all connected with There is first connecting rod.
Further, the end of two first connecting rods is connected with the second horizontal arm, and second horizontal arm includes Second arm body, the second arm body is interior to be equipped with the 4th servo drive, and the second arm body is outer far from first connecting rod one end The equal second connecting rod in wall both sides.
Further, the end of two second connecting rods is equipped with cursor, and the cursor includes third arm body, described Hollow rotating formula executive component is equipped in third arm body, the external wall of third arm is run through in one end of the hollow rotating formula executive component And it is connected with nozzle by connecting flange.
Further, the nozzle includes the 4th arm body, and nozzle servo drive unit is equipped in the 4th arm body, described The output end of nozzle servo drive unit is equipped with spray gun clamper.
Further, the crane span structure overhead traveling crane is equipped with encoder, synchronous belt, the coding close to the both sides of adjustable shelf trolley Device is fixed in the dust cover on crane span structure overhead traveling crane, and the synchronous belt is fixed on guide rail both ends, and the encoder is nibbled along synchronous belt Resultant motion.
Further, the gantry type sand blasting machine people is internally provided with controller, the controller respectively with crane span structure overhead traveling crane 1, adjustable shelf trolley 2, turntable 3, vertical telescopic arm 4, first level arm 5, the second horizontal arm 6, cursor 7, nozzle 8 are electrically connected.
The present invention has an advantageous effect in that compared with prior art:
1, artificial sandblasting operation is substituted using robot, while there is automation, high efficiency, stable, sandblasting precision High, safety benefit, the problem of successfully solving the long-time automatic sand blasting cleaning of the large-scale workpiece under rugged environment.
2, input workpiece code after robot can automatic identification various specifications workpiece and be automatically performed sandblasting operation, once Property be completely covered, be not necessarily to human assistance.
3, abrasive jet cleaning machine people can indefatigable work, be higher by a lot of times than traditional manual sandblasting efficiency;With And the uninterrupted running in rough circumstances, create the leading working efficiency of the abrasive jet cleaning machine National People's Congress.
4, robot use programming Control, stable, the destabilizing factors such as, erroneous judgement tired without manual sandblasting, mood, Robot is equipped with anticollision device, collision-prevention device, and reset, system alarm can be automatically stopped when meeting improper collision.
5, robot high sensitivity, stable, duplicate paths precision reach 0.1mm, reached far from artificial, after sandblasting The surface quality of workpiece is very ideal, has good cleannes and roughness, can directly paint or carry out other processing.It is suitable When blasting pressure, nozzle is with a distance from the suitable sandblasting of workpiece, and accurately sandblasting angle can all directly affect roughness and dry Cleanliness.Sand blasting machine people can constantly be adjusted using the pellet and air pressure, the distance and angle of nozzle for being most suitable for workpiece surface requirement It is whole to ensure the quality requirement of client's high standard.
6, sand blasting machine people can be sitting in and be equipped with when machine people is manually operated in operator by automatic or manual progress sandblasting In the operational window of the hommization of air-conditioning, robot is controlled by control stick, when robot clears up workpiece automatically, operator only need to be Supervisory-controlled robot in control room outside sand blasting room.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of structural schematic diagram of gantry type sand blasting machine people proposed by the present invention;
Fig. 2 is a kind of connection signal of gantry type sand blasting machine people's central bridge overhead traveling crane and adjustable shelf trolley proposed by the present invention Figure;
Fig. 3 is the structural schematic diagram of adjustable shelf trolley in a kind of gantry type sand blasting machine people proposed by the present invention;
Fig. 4 is the connection diagram of vertical telescopic arm and turntable in a kind of gantry type sand blasting machine people proposed by the present invention;
Fig. 5 is the structural schematic diagram of vertical telescopic arm in a kind of gantry type sand blasting machine people proposed by the present invention;
Fig. 6 is the internal structure schematic diagram of vertical telescopic arm in a kind of gantry type sand blasting machine people proposed by the present invention;
Fig. 7 is the structural schematic diagram of first level arm in a kind of gantry type sand blasting machine people proposed by the present invention;
Fig. 8 is the structural schematic diagram of the second horizontal arm in a kind of gantry type sand blasting machine people proposed by the present invention;
Fig. 9 is the structural schematic diagram of cursor in a kind of gantry type sand blasting machine people proposed by the present invention;
Figure 10 is the structural schematic diagram of nozzle in a kind of gantry type sand blasting machine people proposed by the present invention;
Figure 11 is that each component of gantry type sand blasting machine people proposed by the present invention a kind of connects block diagram.
In figure:1- crane span structures overhead traveling crane, 11- body frames, 12- mobile mechanisms, the first servo drives of 13-, 121- driving wheels, 122- driven wheels;
2- adjustable shelfs trolley, 21- vehicle frames, the second servo drives of 22-, 221- first servo motors, 222- first subtract Fast device, 223- rack-and-pinion;
3- turntables, 31- external tooths turntable bearing, 32- rotating servos driving device, the second servo motors of 321-, 322- turbines Scroll bar retarder, 323- pinion gears;
4- vertical telescopics arm, 41- fixed arms, 42- second save telescopic arm, 43- third sections telescopic arm, guider under 44-, 45- stretches servo drive, 46- driving devices, 47- the linear guides, 48- ball-screws, 49- slide plates;
5- first levels arm, the first arms of 51- body, 52- first connecting rods, 53- thirds servo drive, 531- third servos Motor, 532- thirds retarder, 533- dual output turbine worm reduction gearboxes;
The second horizontal arms of 6-, the second arms of 61- body, 62- second connecting rods, the 4th servo drives of 63-;
7- cursors, 71- third arms body, 72- hollow rotating formulas executive component, 73- connecting flanges;
8- nozzles, the 4th arm bodies of 81-, 82- nozzles servo drive unit, 83- spray gun clampers;
9- controllers.
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 1
Referring to Fig.1-10, including crane span structure overhead traveling crane 1, crane span structure overhead traveling crane 1 includes two body frames 11, and two body frames 11 pass through respectively Mobile mechanism 12 is arranged on guide rail, and bindiny mechanism 12 includes driving wheel 121 and driven wheel 122, and the side of driving wheel 121 is driven Be connected with the first servo drive 13, the first servo drive 13 includes mainly motor and speed reducer, be mainly used for for Driving wheel 121 provides kinetic energy, to realize that movement of the crane span structure overhead traveling crane 1 on guide rail, body frame 11 are short with two root long steel pipes and double joint Steel-pipe welding forms twin beams platform, and body frame 11 is finished using high intensity shaped steel and quality steel plate welding after annealing processing, had again Effect is avoided deforming and be vibrated, and ensures the long-time stability of precision.11 steel construction of body frame is analyzed by Three-D limited meta software simultaneously Meet intensity and amount of deflection requirement, realize the optimal design of mechanical structure, improves robot precision;The top of two body frames 11 is set It includes vehicle frame 21 to have adjustable shelf trolley 2, adjustable shelf trolley 2, and the bottom end both sides of vehicle frame 21 are fixedly connected with body frame 11, vehicle frame 21 Outer wall on set there are four sliding shoe, the side of one of sliding shoe is connected with the second servo drive 22, the second servo Driving device 22 includes first servo motor 221, and the side of first servo motor 221 is connected with the first retarder 222, and first subtracts The output end of fast device 22 is equipped with gear, and gear is meshed with the rack-and-pinion 223 on 11 both sides outer wall of body frame, and vehicle frame 21 is using high Intensity shaped steel and quality steel plate welding after annealing processing finish again, effectively avoid deforming and vibrate, ensure the long-term steady of precision Qualitative, 21 welding structure of vehicle frame meets strength and stiffness requirement by the analysis of Three-D limited meta software, realizes mechanical structure Optimal design improves robot precision;Turntable 3 is connected between four sliding shoes, 3 top side of turntable drives equipped with rotating servo Device 32, rotating servo driving device 32 include the second servo motor 321, and the rotary head end of the second servo motor 321 is connected with whirlpool Scroll bar retarder 322 is taken turns, one end of turbine worm retarder 322 is equipped with pinion gear 323;3 middle part of turntable is equipped with vertical telescopic arm 4, the external wall of upper portion of vertical telescopic arm 4 is equipped with ring flange, and the top of ring flange is fixed with external tooth turntable bearing 31, external tooth turntable The outside of bearing 31 is meshed with pinion gear 323, and external tooth turntable bearing 31 is the single four-point contact ball slewing bearing of external tooth, by Two seat rings composition, four point contact of compact-sized, light-weight, steel ball and arc raceway, can recognize simultaneously axial force, radial load and Tilting moment, and vertical telescopic arm 4 uses all-sealed structure, lower movable end to be sealed with rubber slab;The bottom end of vertical telescopic arm 4 Equipped with first level arm 5, the side of first level arm 5 is connected with the second horizontal arm 6, and the side of the second horizontal arm 6, which is connected with, to be turned The side of swing arm 7, cursor 7 is equipped with nozzle 8.
Vertical telescopic arm 4 includes that fixed arm 41, second saves telescopic arm 42;Lower guiding is equipped in fixed arm 41 at end port Device 44, the bayonet of lower guider 44 match with the second section telescopic arm 42;Flexible servo-drive is provided in fixed arm 41 Device 45, the servo drive 45 that stretches includes driving device 46, and the end of driving device 46 is connected with ball-screw 48, ball Matched slide plate 49 is arranged on the outer wall of leading screw 48, the both sides of slide plate 49 are each provided in the linear guide 47, slide plate 49 Side far from the linear guide 47 is fixedly connected with the second section telescopic arm 42 or third section telescopic arm 43;First level arm 5 includes First arm body 51, the first arm body 51 is interior equipped with third servo drive 53, and third servo drive 53 includes third servo The side of motor 531, third servo motor 531 is connected with third retarder 532, and one end of third retarder 532 connects lose-lose Go out turbine worm reduction gearbox 533, the outer wall both sides of the first arm body 51 are respectively connected with first connecting rod 52;The end of two first connecting rods 52 End is connected with the second horizontal arm 6, and the second horizontal arm 6 includes the second arm body 61, and the 4th servo-drive is equipped in the second arm body 61 Device 63, the equal second connecting rod in outer wall both sides of the second arm body 61 far from 52 one end of first connecting rod 62;The end of two second connecting rods 62 End is equipped with cursor 7, and cursor 7 includes third arm body 71, and hollow rotating formula executive component 72 is equipped in third arm body 71, hollow Rotary executive component 72 is by ultrathin, the accurate control Harmonic Drive and super flat integrated AC of AC servo motors Servo executive component, have outstanding angle convey precision, running accuracy Harmonic Drive and have excellent properties High torque (HT) executive component made of servo motor combination creates the servo system for having accurate running accuracy and positional precision One end of system, hollow rotating formula executive component 72 with nozzle 8 is connected through 71 outer wall of third arm body and by connecting flange 73; Nozzle 8 includes the 4th arm body 81, is equipped with nozzle servo drive unit 82 in the 4th arm body 81, nozzle servo drive unit 82 includes The swing of nozzle is realized in the rotation of motor and right angle planetary reduction gear, motor and right angle planetary reduction gear.Motor, right angle Planetary reduction gear is mounted in the shell of hermetically sealed mechanical arm, and dust and steel sand is avoided to invade damage, and key core part uses High performance motor, high-precision right angle planetary reduction gear, ensure robot motion's precision and reliability, motor one end with Planetary reduction gear is connected, and the output end of nozzle servo drive unit 82 is equipped with spray gun clamper 83;Crane span structure overhead traveling crane 1 is close to adjustable shelf The both sides of trolley 2 are equipped with encoder, synchronous belt, and encoder is fixed in the dust cover on crane span structure overhead traveling crane 1, and synchronous belt is fixed on Guide rail both ends, encoder is along synchronous belt gear motion, the first arm body 51, the second arm body 61, third arm body 71, the 4th arm body 81 It is all made of high intensity shaped steel and quality steel plate welding after annealing processing finishes again, effectively avoid deforming and vibrate, ensure precision Long-time stability.
Referring to Fig.1 1, the component of gantry type sand blasting machine people connects block diagram, and gantry type sand blasting machine people is internally provided with control Device 9, controller 9 are horizontal with crane span structure overhead traveling crane 1, adjustable shelf trolley 2, turntable 3, vertical telescopic arm 4, first level arm 5, second respectively Arm 6, cursor 7, nozzle 8 are electrically connected, and controller 9 is the opening control based on PC machine, and it is empty in work exactly to control robot Between in movement position, posture and track, operation order and action time.Open, Modular control system is used, point For robot controller (RC), motion controller (MC), Phototube Coupling I/O control panels, sensor processing board and programming teaching box. The master computer of robot controller (RC) completes motion planning, interpolation and the position servo and master control logic, number of robot Word I/O, sensor processing etc. functions human-computer interaction interface, on-line operation prompt and it is easy to use.
Artificial sandblasting operation is substituted using robot, at the same have automation, high efficiency, stable, sandblasting precision is high, Safety benefit, successfully solve the large-scale workpiece under rugged environment long-time automatic sand blasting cleaning the problem of;Input After workpiece code robot can automatic identification various specifications workpiece and be automatically performed sandblasting operation, be disposably completely covered, nothing Need human assistance;Robot use programming Control, it is stable, erroneous judgement tired without manual sandblasting, mood etc. it is unstable because Element, robot are equipped with anticollision device, collision-prevention device, reset, system alarm can be automatically stopped when meeting improper collision;Robot high sensitivity, fortune Row stabilization, duplicate paths precision reach 0.1mm, and reached far from artificial, the surface quality of workpiece is very ideal after sandblasting, has Good cleannes and roughness, can directly paint or carry out other processing.Blasting pressure appropriate, nozzle 8 are closed from workpiece Suitable sandblasting distance, and accurately sandblasting angle can all directly affect roughness and clean degree.Sand blasting machine people is using most suitable The pellet and air pressure, the distance and angle of nozzle 8 that workpiece surface requires can be adjusted constantly to ensure the quality of client's high standard It is required that;When machine people is manually operated in operator, robot, when robot clears up workpiece automatically, operator are controlled by control stick Only need in the control room outside sand blasting room supervisory-controlled robot.
Embodiment 2
Vertical telescopic arm 4 in the present embodiment includes that fixed arm 41, second saves telescopic arm 42, third section telescopic arm 43, institute It states in the section telescopic arm 42 of fixed arm 41, second and is equipped with lower guider 44, the bayonet of the lower guider 44 at end port Match with the second section telescopic arm 42, third section telescopic arm 43, remaining technical solution is same as Example 1.
Place is not described in detail by the present invention, is the known technology of those skilled in the art.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace And modification, the scope of the present invention is defined by the appended.

Claims (10)

1. a kind of gantry type sand blasting machine people, it is characterised in that:Including crane span structure overhead traveling crane (1), crane span structure overhead traveling crane (1) includes two body frames (11), two body frames (11) are respectively arranged by mobile mechanism (12) on guide rail, and the bindiny mechanism (12) includes Driving wheel (121) and driven wheel (122), the side of the driving wheel (121) is sequentially connected with the first servo drive (13);
The top of two body frames (11) is equipped with adjustable shelf trolley (2), and the adjustable shelf trolley (2) includes vehicle frame (21), institute The bottom end both sides for stating vehicle frame (21) are fixedly connected with body frame (11), are set on the outer wall of the vehicle frame (21) there are four sliding shoe, The side of one of them sliding shoe is connected with the second servo drive (22), the second servo drive (22) packet Including first servo motor (221), the side of the first servo motor (221) is connected with the first retarder (222), and described first The output end of retarder (222) is equipped with gear, and the gear is mutually nibbled with the rack-and-pinion (223) on the outer wall of body frame (11) both sides It closes;
Turntable (3) is connected between four sliding shoes, turntable (3) the top side is equipped with rotating servo driving device (32), the rotating servo driving device (32) includes the second servo motor (321), and second servo motor (321) turns Head end is connected with turbine worm retarder (322), and one end of the turbine worm retarder (322) is equipped with pinion gear (323);
Vertical telescopic arm (4) is equipped in the middle part of the turntable (3), the external wall of upper portion of the vertical telescopic arm (4) is equipped with ring flange, The top of the ring flange is fixed with external tooth turntable bearing (31), the outside of the external tooth turntable bearing (31) and pinion gear (323) it is meshed;
The bottom end of the vertical telescopic arm (4) is equipped with first level arm (5), and the side of the first level arm (5) is connected with the The side of two horizontal arms (6), second horizontal arm (6) is connected with cursor (7), and the side of the cursor (7) is equipped with spray Mouth (8).
2. a kind of gantry type sand blasting machine people according to claim 1, it is characterised in that:Vertical telescopic arm (4) packet Include fixed arm (41), the second section telescopic arm (42) or including fixed arm (41), the second section telescopic arm (42), third section telescopic arm (43)。
3. a kind of gantry type sand blasting machine people according to claim 2, it is characterised in that:The fixed arm (41), second Lower guider (44) is equipped at section telescopic arm (42) interior end port, the bayonet of the lower guider (44) is stretched with the second section Contracting arm (42) or third section telescopic arm (43) match.
4. a kind of gantry type sand blasting machine people according to claim 3, it is characterised in that:The fixed arm (41), second Flexible servo drive (45) is both provided in section telescopic arm (42), the flexible servo drive (45) includes that driving fills It sets (46), the end of the driving device (46) is connected with ball-screw (48), is arranged on the outer wall of the ball-screw (48) There are matched slide plate (49), the both sides of the slide plate (49) to be each provided in the linear guide (47), the slide plate (49) is remote Side from the linear guide (47) is fixedly connected with the second section telescopic arm (42) or third section telescopic arm (43).
5. a kind of gantry type sand blasting machine people according to claim 1, it is characterised in that:First level arm (5) packet The first arm body (51) is included, third servo drive (53), the third servo-drive dress are equipped in the first arm body (51) It includes third servo motor (531) to set (53), and the side of the third servo motor (531) is connected with third retarder (532), One end connection dual output turbine worm reduction gearbox (533) of the third retarder (532), the outer wall of the first arm body (51) Both sides are respectively connected with first connecting rod (52).
6. a kind of gantry type sand blasting machine people according to claim 5, it is characterised in that:Two first connecting rods (52) End be connected with the second horizontal arm (6), second horizontal arm (6) include the second arm body (61), the second arm body (61) the 4th servo drive (63), outer wall both sides of the second arm body (61) far from first connecting rod (52) one end are equipped in Equal second connecting rod (62).
7. a kind of gantry type sand blasting machine people according to claim 6, it is characterised in that:Two second connecting rods (62) End be equipped with cursor (7), the cursor (7) includes third arm body (71), is equipped in the third arm body (71) hollow One end of rotary executive component (72), the hollow rotating formula executive component (72) through third arm body (71) outer wall and passes through Connecting flange (73) is connected with nozzle (8).
8. a kind of gantry type sand blasting machine people according to claim 7, it is characterised in that:The nozzle (8) includes the 4th Arm body (81), the 4th arm body (81) is interior to be equipped with nozzle servo drive unit (82), the nozzle servo drive unit (82) Output end be equipped with spray gun clamper (83).
9. a kind of gantry type sand blasting machine people according to claim 1, it is characterised in that:The crane span structure overhead traveling crane (1) is close The both sides of adjustable shelf trolley (2) are equipped with encoder, synchronous belt, and the encoder is fixed on the dust cover on crane span structure overhead traveling crane (1) Interior, the synchronous belt is fixed on guide rail both ends, and the encoder is along synchronous belt gear motion.
10. a kind of gantry type sand blasting machine people according to claim 1, it is characterised in that:The gantry type sand blasting machine People is internally provided with controller (9), the controller (9) respectively with crane span structure overhead traveling crane (1), adjustable shelf trolley (2), turntable (3), vertical Telescopic arm (4), first level arm (5), the second horizontal arm (6), cursor (7), nozzle (8) electrical connection.
CN201810622844.8A 2018-06-15 2018-06-15 A kind of gantry type sand blasting machine people Pending CN108724022A (en)

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CN204673487U (en) * 2015-03-19 2015-09-30 宁夏共享精密加工有限公司 A kind of automatic sand blasting machine telescopic arm
CN105643587A (en) * 2016-03-04 2016-06-08 哈尔滨工业大学 Thirteen-freedom spraying robot for outer surface of large ship body
CN206335475U (en) * 2016-11-23 2017-07-18 上海广成涂装技术工程有限公司 A kind of container doorframe sand blasting system
CN107571158A (en) * 2017-10-16 2018-01-12 湖北三江航天涂装设备工程有限公司 A kind of sand blasting room with crown-block type sand blasting machine people

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CN202572396U (en) * 2012-04-24 2012-12-05 山东电力集团公司 Gantry type mechanical arm for checking automatic production line mutual inductor
CN103949985A (en) * 2014-04-17 2014-07-30 湖北三江航天涂装设备工程有限公司 Three-dimensional reciprocating oscillating sand blasting manipulator
CN204673487U (en) * 2015-03-19 2015-09-30 宁夏共享精密加工有限公司 A kind of automatic sand blasting machine telescopic arm
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CN206335475U (en) * 2016-11-23 2017-07-18 上海广成涂装技术工程有限公司 A kind of container doorframe sand blasting system
CN107571158A (en) * 2017-10-16 2018-01-12 湖北三江航天涂装设备工程有限公司 A kind of sand blasting room with crown-block type sand blasting machine people

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Application publication date: 20181102