CN108748206A - Metal surface dirt cleaner device people's end-effector - Google Patents
Metal surface dirt cleaner device people's end-effector Download PDFInfo
- Publication number
- CN108748206A CN108748206A CN201810688488.XA CN201810688488A CN108748206A CN 108748206 A CN108748206 A CN 108748206A CN 201810688488 A CN201810688488 A CN 201810688488A CN 108748206 A CN108748206 A CN 108748206A
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- inner tube
- connecting seat
- bearing
- shaft
- right end
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Metal surface dirt cleaner device people's end-effector, described device includes connecting seat（1）, quick access elbow（2）, guide post（3）, motor（4）, small pulley（5）, synchronous belt（6）, big belt wheel（7）, flat key（8）, pulley shaft（9）, disc brush（10）, circlip（11）, right end bearing（12）, inner tube（13）, holding screw（14）, left end bearing（15）, motor rack（16）, flange（17）, spring（18）And linear bearing（19）.Present apparatus installation is simple and convenient to operate, and is cleared up using metal surface dirt twice, and removing surface effect is good；Using the rolling linear telecontrol equipment with spring, not spending concordantly and applying certain pressure to disc brush for metal surface can be compensated, cleaning effect is more preferable, and job stability is high；Have a wide range of application, for the operation of different shape workpiece, only needs to change corresponding disc brush.
Description
Technical field
The present invention relates to a kind of metal surface dirts to clear up end-effector, more particularly, to one kind there is surface location to mend
The metal surface dirt cleaner device people's end-effector repaid.
Background technology
Currently, cleaning end-effector is a kind of industrial relatively conventional end-effector, it is commonly used in metal surface
Deburring, polishing.And industrial common metal parts surface is cleared up not in same plane not in conplane table
Robot is needed to reposition identification when face, there is no the functions that surface location compensates for existing cleaning end-effector, and
For impurity such as remaining dusts also without corresponding cleaning operation.Therefore, a kind of metal with surface location compensation is invented
Surface smut clears up tail end manipulator of robot has very strong show for the similar industrials application scenarios such as metal surface scale removal
Sincere justice.
Invention content
To solve the above problems, metal surface dirt cleaner device people's end-effector of the present invention is mounted on universal industrial machine
The end of device people is mainly used to complete the cleaning work of metal surface dirt.
Metal surface dirt cleaner device people's end-effector of the present invention includes：Connecting seat 1, quick access elbow 2, guide post 3,
Motor 4, small pulley 5, synchronous belt 6, big belt wheel 7, flat key 8, pulley shaft 9, disc brush 10, circlip 11, right end bearing 12 are interior
Pipe 13, holding screw 14, left end bearing 15, motor rack 16, flange 17, spring 18 and linear bearing 19.
Connecting seat 1 generally left end and right end are respectively a ring flange, and centre is shaft part.Connecting seat 1 passes on left a left side
The ring flange at end is fixedly connected with the end of popular industrial machine people with merging.Among two flanges of connecting seat 1 in an axial direction
Mutually perpendicular two guide grooves are opened up respectively.Linear bearing 19, the ring flange of 1 right end of connecting seat are arranged in the right side of connecting seat 1
Together with being connected through a screw thread and connect firmly with the ring flange of linear bearing 19.The right end of connecting seat 1 is provided with more bigger than 13 outer diameter of inner tube
Through-hole, inner tube 13 passes through from the through-hole on the right side of connecting seat 1.The left end of inner tube 13 radially symmetrically opens up two threaded holes.It leads
Top to column 3 is cylinder, lower part is screw rod.Two guide posts 3 are separately mounted in two threaded holes of the left end of inner tube 13,
The column part of two guide posts 3 moves in two guide grooves up and down of connecting seat 1 respectively, formed sliding straight kinematic pair,
The circumferential movement of inner tube 13 is limited simultaneously.The left end of inner tube 13 opens up internal thread, quick access elbow 2 is connected through a screw thread be fixed in
The inlet end of the left end of pipe 13, quick access elbow 2 is contained in the guide groove of 1 horizontal direction of connecting seat.Linear bearing 19 and inner tube
13 form rolling linear kinematic pair.Motor rack 16, the ring flange and motor rack 16 of inner tube 13 are placed on the left of the ring flange of inner tube 13
It is connected through a screw thread and connects firmly together.17 right end external screw thread of flange, inside machining diameters are slightly larger than the through-hole of 13 outer diameter of inner tube.Electricity
It is identical with the outer diameter of linear bearing 19 that the passing on left of rack 16 is threadedly coupled mounting flange 17, flange 17.In linear bearing 19
And the outside of flange 17, linear bearing 19 ring flange and motor rack 16 between arrange spring 18.The ring flange right end of inner tube 13
The shaft shoulder of processing one, positions 15 inner ring of left end bearing by the shaft shoulder.The inside of pulley shaft 9 opens up stepped hole, is formed
Left and right two shaft shoulders.The inside left arrangement left end bearing 15 of pulley shaft 9,15 outer ring of left end bearing right side passes through pulley shaft 9
The left side shaft shoulder is fixed on the positioning.The inner right side arrangement right end bearing 12 of pulley shaft 9, the outer ring of right end bearing 12 passes on left
The right side shaft shoulder of pulley shaft 9 is fixed on the positioning.13 right end of inner tube processes groove, and circlip 11 is mounted on inner tube groove.
Right end bearing 12 is placed in the left side of baffle ring 11, and baffle ring 11 is to enclosing axially position effect in right end bearing 12.Left end bearing 15,
Right end bearing 12, pulley shaft 9, circlip 11 and inner tube 13 form revolute pair.The outer ring of pulley shaft 9 is multi-diameter shaft, passes through axis
Shoulder carries out location and installation to big belt wheel 7, and is axially and radially located by flat key 8 and holding screw 14.Small pulley 5 and electricity
The axis of machine 4 carries out installation positioning by key and holding screw.Synchronous belt 6 is mounted on big belt wheel 7 and small pulley 5, motor 4, small
Belt wheel 5, synchronous belt 6 and big belt wheel 7 form toothed belt transmission.Place disc brush 10, the right side of pulley shaft 9 in the right side of pulley shaft 9
Together with ring flange is connected through a screw thread and connects firmly with the brush body of disc brush 10.Disc brush 10 brush body processing with 13 internal diameter of inner tube and
The right end shaft part of the identical stepped hole of outer diameter, inner tube 13 is inserted into 10 left side endoporus of disc brush.Inner tube 13 and the formation of linear bearing 19
Rolling linear kinematic pair, the slot moving range by guide post 3 in connecting seat 1 limit moving range, as apparatus of the present invention surface
The stroke of position compensation.
The advantageous effect of apparatus of the present invention is：
（1）Installation is simple and convenient to operate, and is convenient for the replacement of daily maintenance and part；
（2）It is cleared up using metal surface dirt twice, removing surface effect is good；
（3）Using the rolling linear telecontrol equipment with spring, not spending concordantly and being applied to disc brush for metal surface can be compensated
Add certain pressure, cleaning effect is more preferable, and job stability is high；
（4）Have a wide range of application, for the operation of different shape workpiece, only needs to change corresponding disc brush.
Description of the drawings
Fig. 1 is the installation diagram of metal surface dirt cleaner device people's end-effector of the present invention；
The connection signal of Fig. 2 metal surface dirt cleaner device people end-effector of the present invention and popular industrial machine people end
Figure.
Specific embodiment
In conjunction with attached drawing 1-2 structurally and operationally illustrating to the present invention.
Metal surface dirt cleaner device people's end-effector of the present invention includes：Connecting seat 1, quick access elbow 2, guide post 3,
Motor 4, small pulley 5, synchronous belt 6, big belt wheel 7, flat key 8, pulley shaft 9, disc brush 10, circlip 11, right end bearing 12 are interior
Pipe 13, holding screw 14, left end bearing 15, motor rack 16, flange 17, spring 18 and linear bearing 19.
Connecting seat 1 generally left end and right end are respectively a ring flange, and centre is shaft part.Connecting seat 1 passes on left a left side
The ring flange at end is fixedly connected with the end of popular industrial machine people with merging.Among two flanges of connecting seat 1 in an axial direction
Mutually perpendicular two guide grooves are opened up respectively.Linear bearing 19, the ring flange of 1 right end of connecting seat are arranged in the right side of connecting seat 1
Together with being connected through a screw thread and connect firmly with the ring flange of linear bearing 19.The right end of connecting seat 1 is provided with more bigger than 13 outer diameter of inner tube
Through-hole, inner tube 13 passes through from the through-hole on the right side of connecting seat 1.The left end of inner tube 13 radially symmetrically opens up two threaded holes.It leads
Top to column 3 is cylinder, lower part is screw rod.Two guide posts 3 are separately mounted in two threaded holes of the left end of inner tube 13,
The column part of two guide posts 3 moves in two guide grooves up and down of connecting seat 1 respectively, formed sliding straight kinematic pair,
The circumferential movement of inner tube 13 is limited simultaneously.The left end of inner tube 13 opens up internal thread, quick access elbow 2 is connected through a screw thread be fixed in
The inlet end of the left end of pipe 13, quick access elbow 2 is contained in the guide groove of 1 horizontal direction of connecting seat.Linear bearing 19 and inner tube
13 form rolling linear kinematic pair.Motor rack 16, the ring flange and motor rack 16 of inner tube 13 are placed on the left of the ring flange of inner tube 13
It is connected through a screw thread and connects firmly together.17 right end external screw thread of flange, inside machining diameters are slightly larger than the through-hole of 13 outer diameter of inner tube.Electricity
It is identical with the outer diameter of linear bearing 19 that the passing on left of rack 16 is threadedly coupled mounting flange 17, flange 17.In linear bearing 19
And the outside of flange 17, linear bearing 19 ring flange and motor rack 16 between arrange spring 18.The ring flange right end of inner tube 13
The shaft shoulder of processing one, positions 15 inner ring of left end bearing by the shaft shoulder.The inside of pulley shaft 9 opens up stepped hole, is formed
Left and right two shaft shoulders.The inside left arrangement left end bearing 15 of pulley shaft 9,15 outer ring of left end bearing right side passes through pulley shaft 9
The left side shaft shoulder is fixed on the positioning.The inner right side arrangement right end bearing 12 of pulley shaft 9, the outer ring of right end bearing 12 passes on left
The right side shaft shoulder of pulley shaft 9 is fixed on the positioning.13 right end of inner tube processes groove, and circlip 11 is mounted on inner tube groove.
Right end bearing 12 is placed in the left side of baffle ring 11, and baffle ring 11 is to enclosing axially position effect in right end bearing 12.Left end bearing 15,
Right end bearing 12, pulley shaft 9, circlip 11 and inner tube 13 form revolute pair.The outer ring of pulley shaft 9 is multi-diameter shaft, passes through axis
Shoulder carries out location and installation to big belt wheel 7, and is axially and radially located by flat key 8 and holding screw 14.Small pulley 5 and electricity
The axis of machine 4 carries out installation positioning by key and holding screw.Synchronous belt 6 is mounted on big belt wheel 7 and small pulley 5, motor 4, small
Belt wheel 5, synchronous belt 6 and big belt wheel 7 form toothed belt transmission.Place disc brush 10, the right side of pulley shaft 9 in the right side of pulley shaft 9
Together with ring flange is connected through a screw thread and connects firmly with the brush body of disc brush 10.Disc brush 10 brush body processing with 13 internal diameter of inner tube and
The right end shaft part of the identical stepped hole of outer diameter, inner tube 13 is inserted into 10 left side endoporus of disc brush.Inner tube 13 and the formation of linear bearing 19
Rolling linear kinematic pair, the slot moving range by guide post 3 in connecting seat 1 limit moving range, as apparatus of the present invention surface
The stroke of position compensation.
The left side of connecting seat 1 and the end of popular industrial machine people cooperation blending bolt are fixedly connected, quick access is curved
First 2 are connected by tracheae with air source.
When metallic surface finishing, the end of mobile popular industrial machine people makes the disc brush 10 and workpiece of end-effector
Surface contacts, and spring 18 compresses, and carries out surface location compensation, while the reaction force of spring applies disc brush 10 certain pressure
Power, motor 4 are powered, and are driven by small pulley 5, synchronous belt 6 and big belt wheel 7, so that disc brush 10 is carried out metal surface primary clear
Reason.
After the completion of disc brush 10 is cleared up, the end of mobile popular industrial machine people makes end-effector leave workpiece surface,
It opens simultaneously gas circuit and compressed gas is sprayed by inner tube 13, secondary to metal surface progress clear, spring 18 makes disc brush 10 reset, and closes
It holds one's breath road, completes to carry out secondary cleaning to metal surface, end-effector returns to waiting station.
If necessary to carry out metal surface dirt cleaning operation, mobile popular industrial machine people's linear joint to multiple workpiece
End so that metal surface dirt cleaner device people's end-effector is repeated the above action, until until all operations completion.
Claims (2)
1. metal surface dirt cleaner device people's end-effector, described device includes connecting seat（1）, quick access elbow（2）, it is oriented to
Column（3）, motor（4）, small pulley（5）, synchronous belt（6）, big belt wheel（7）, flat key（8）, pulley shaft（9）, disc brush（1）0, elasticity
Baffle ring（11）, right end bearing（12）, inner tube（13）, holding screw（14）, left end bearing（15）, motor rack（16）, flange（17）,
Spring（18）And linear bearing（19）, which is characterized in that connecting seat（1）Generally left end and right end are respectively a ring flange, in
Between be shaft part, connecting seat（1）The ring flange for passing on left left end and the end of popular industrial machine people be fixedly connected with merging,
Connecting seat（1）Two flanges among open up mutually perpendicular two guide grooves, connecting seat respectively in an axial direction（1）Right side cloth
Set linear bearing（19）, connecting seat（1）The ring flange and linear bearing of right end（19）Ring flange be connected through a screw thread and connect firmly
Together, connecting seat（1）Right end be provided with and compare inner tube（13）The bigger through-hole of outer diameter, inner tube（13）From connecting seat（1）Right side leads to
Hole passes through, inner tube（13）Left end radially symmetrically open up two threaded holes, guide post（3）Top be cylinder, lower part is spiral shell
Bar, two guide posts（3）It is separately mounted to inner tube（13）Left end two threaded holes in, two guide posts（3）Cylindrical portion
Divide respectively in connecting seat（1）Two guide grooves up and down in move, form sliding straight kinematic pair while limiting inner tube（13）'s
Circumferential movement, inner tube（13）Left end open up internal thread, quick access elbow（2）It is connected through a screw thread and is fixed on inner tube（13）A left side
End, quick access elbow（2）Inlet end be contained in connecting seat（1）In the guide groove of horizontal direction, linear bearing（19）With inner tube
（13）Form rolling linear kinematic pair, inner tube（13）Ring flange on the left of place motor rack（16）, inner tube（13）Ring flange and
Motor rack（16）It is connected through a screw thread and connects firmly together, flange（17）Right end external screw thread, inside machining diameters are slightly larger than inner tube
（13）The through-hole of outer diameter, motor rack（16）Pass on left threaded connection mounting flange（17）, flange（17）With linear bearing 19
Outer diameter it is identical, in the outside of linear bearing 19 and flange 17, the ring flange and motor rack of linear bearing 19（16）Between arrange
Spring（18）, inner tube（13）Ring flange right end process one shaft shoulder, by the shaft shoulder to left end bearing（15）Inner ring is determined
Position, pulley shaft（9）Inside open up stepped hole, form left and right two shaft shoulders, pulley shaft（9）Inside left arrange left end shaft
It holds（15）, left end bearing（15）Pass through pulley shaft on the right side of outer ring（9）The left side shaft shoulder be fixed on the positioning, pulley shaft（9）It is interior
Right end bearing is arranged on the right side of portion（12）, right end bearing（12）Outer ring pass on left pulley shaft（9）The right side shaft shoulder positioned
It is fixed, inner tube（13）Right end processes groove, circlip（11）On inner tube groove, baffle ring（11）Left side place right end
Bearing（12）, baffle ring（11）To right end bearing（12）In enclose axially position effect, left end bearing（15）, right end bearing
（12）, pulley shaft（9）, circlip（11）With inner tube（13）Form revolute pair, pulley shaft（9）Outer ring be multi-diameter shaft, pass through
The shaft shoulder is to big belt wheel（7）Location and installation is carried out, and passes through flat key（8）With holding screw（14）It is axially and radially located, it is small
Belt wheel（5）With motor（4）Axis installation positioning, synchronous belt are carried out by key and holding screw（6）Mounted on big belt wheel（7）With it is small
Belt wheel（5）On, motor（4）, small pulley（5）, synchronous belt（6）And big belt wheel（7）Form toothed belt transmission, pulley shaft（9）The right side
Place disc brush in side（10）, pulley shaft（9）Right flange disk and disc brush（10）Brush body be connected through a screw thread and connect firmly one
It rises, disc brush（10）Brush body processing and inner tube（13）Internal diameter and the identical stepped hole of outer diameter, inner tube（13）Right end shaft part insert
Enter disc brush（10）Left side endoporus, inner tube（13）And linear bearing（19）Rolling linear kinematic pair is formed, by guide post（3）Even
Joint chair（1）Slot moving range limit moving range, as apparatus of the present invention surface location compensation stroke.
2. metal surface dirt cleaner device people's end-effector according to claim 1, which is characterized in that the spring
（18）For compression spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810688488.XA CN108748206A (en) | 2018-06-28 | 2018-06-28 | Metal surface dirt cleaner device people's end-effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810688488.XA CN108748206A (en) | 2018-06-28 | 2018-06-28 | Metal surface dirt cleaner device people's end-effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748206A true CN108748206A (en) | 2018-11-06 |
Family
ID=63974543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810688488.XA Withdrawn CN108748206A (en) | 2018-06-28 | 2018-06-28 | Metal surface dirt cleaner device people's end-effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108748206A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130100685A (en) * | 2012-03-02 | 2013-09-11 | 주식회사 와이씨티 | Automatic polishing robot of vehicles maintenance and automatic polishing method using the same |
| US20140005831A1 (en) * | 2011-03-16 | 2014-01-02 | Ferrobotics Compliant Robot Technology Gmbh | Active handling apparatus and method for contact tasks |
| CN204686598U (en) * | 2015-04-09 | 2015-10-07 | 徐州德坤电气科技有限公司 | Intelligence automatically grinding polishing unit sanding and polishing machinery hand |
| CN105751236A (en) * | 2016-01-12 | 2016-07-13 | 沈阳工业大学 | Flexible connection device of grinding robot |
| CN205770570U (en) * | 2016-06-30 | 2016-12-07 | 河北科技大学 | A kind of labeling hold down gag |
| CN206908477U (en) * | 2017-04-14 | 2018-01-19 | 深圳艾史比特电机有限公司 | A kind of plastic packaging motor field frame assembly combination of lumens type cleaning plant |
| CN107899983A (en) * | 2017-11-13 | 2018-04-13 | 张粉银 | The oil stain cleaning device on metal parts surface before a kind of heat treatment |
-
2018
- 2018-06-28 CN CN201810688488.XA patent/CN108748206A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140005831A1 (en) * | 2011-03-16 | 2014-01-02 | Ferrobotics Compliant Robot Technology Gmbh | Active handling apparatus and method for contact tasks |
| KR20130100685A (en) * | 2012-03-02 | 2013-09-11 | 주식회사 와이씨티 | Automatic polishing robot of vehicles maintenance and automatic polishing method using the same |
| CN204686598U (en) * | 2015-04-09 | 2015-10-07 | 徐州德坤电气科技有限公司 | Intelligence automatically grinding polishing unit sanding and polishing machinery hand |
| CN105751236A (en) * | 2016-01-12 | 2016-07-13 | 沈阳工业大学 | Flexible connection device of grinding robot |
| CN205770570U (en) * | 2016-06-30 | 2016-12-07 | 河北科技大学 | A kind of labeling hold down gag |
| CN206908477U (en) * | 2017-04-14 | 2018-01-19 | 深圳艾史比特电机有限公司 | A kind of plastic packaging motor field frame assembly combination of lumens type cleaning plant |
| CN107899983A (en) * | 2017-11-13 | 2018-04-13 | 张粉银 | The oil stain cleaning device on metal parts surface before a kind of heat treatment |
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| 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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181106 |