CN109048520A - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
- Publication number
- CN109048520A CN109048520A CN201810897901.3A CN201810897901A CN109048520A CN 109048520 A CN109048520 A CN 109048520A CN 201810897901 A CN201810897901 A CN 201810897901A CN 109048520 A CN109048520 A CN 109048520A
- Authority
- CN
- China
- Prior art keywords
- turn trough
- slot
- sliding
- another market
- axis
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/06—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by liquid or gas pressure only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/40—Single-purpose machines or devices for grinding tubes internally
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of robot control systems, including base, the pillar that is fixedly installed on above the base and the pipe sleeve for being set to the pillar left end face, the first turn trough of symmetrical above and below and notch outwardly is equipped in the pipe sleeve, pivoted frame is rotatably provided with by the first axis of shipping and reselling on another market in first turn trough, the pivoted frame end face outside is fixed with polishing item, the pivoted frame inner side end is fixed with cleaning cotton, in the pivoted frame left end face it is symmetrical above and below equipped with notch towards left lockhole, it is symmetrical above and below in the first turn trough inner left wall to be equipped with the first sliding slot opposite with the lockhole, sliding is equipped with closing piece in the first sliding slot, notch is equipped in the closing piece towards the first left spiral shell shape hole.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of robot control system.
Background technique
With the high speed development in intelligent epoch, some robot grinding devices for pipe fitting inner wall polishing are processed in pipe fitting
It is used in field and its extensively, and the robot grinding device in tradition is difficult to realize clean pipe fitting inner wall after polishing
Operation, to the spraying in later period bring greatly it is constant, therefore, tradition in robot grinding device be difficult to realize polish and clean
The free switching of operation is unable to satisfy existing demand, needs to improve.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of robot control systems, are able to solve above-mentioned present skill
The problems in art.
The present invention is achieved through the following technical solutions: a kind of robot control system of the invention, including base,
The pillar that is fixedly installed on above the base and the pipe sleeve for being set to the pillar left end face are equipped in the pipe sleeve upper
Lower symmetrical and the first turn trough of notch outwardly is rotatably provided with pivoted frame by the first axis of shipping and reselling on another market in first turn trough, institute
It states pivoted frame end face outside and is fixed with polishing item, the pivoted frame inner side end is fixed with cleaning cotton, the pivoted frame left end face
It is interior it is symmetrical above and below equipped with notch towards left lockhole, in the first turn trough inner left wall it is symmetrical above and below be equipped with it is opposite with the lockhole
The first sliding slot, sliding is equipped with closing piece in the first sliding slot, and notch is equipped in the closing piece towards the first left spiral shell shape
Hole is fitted with the first spiral shell shape bar in the first spiral shell shape hole, setting of extending up and down in the first sliding slot inner left wall
There is the second turn trough, extension end is protruded into second turn trough on the left of the first spiral shell shape bar and left side tip is fixed with the first tooth
Shape wheel is equipped with the slid chamber to extend left and right in the pipe sleeve, and sliding is equipped with sliding platform in the slid chamber, in the sliding platform
Equipped with the perforative third turn trough in left and right, the third turn trough inner roof wall is fixed with the first motor, first motor bottom
Portion has been connected by power second and has shipped and resell on another market axis, and described second, which ships and resell on another market, is fixed with the first cone cell stretched out outside the third turn trough on axis
Wheel, described slid chamber inner roof wall or so extension are provided with the second sliding slot, protrude into the described second sliding slot at the top of the sliding platform
In and slide mating connection, the perforative slip hole in left and right, the sliding are equipped in the sliding platform in the second sliding slot
Sliding is equipped with sliding bar in hole, and the sliding bar left and right ends are fixed with inner wall at left and right sides of the described second sliding slot respectively to be connected
It connects, described slid chamber inner bottom wall or so extension is provided with third and slips slot, and the sliding platform bottom protrudes into the third and slips slot
In and slide mating connection, the third, which is slipped, is equipped with the perforative second spiral shell shape hole in left and right in the sliding platform in slot, described
The second spiral shell shape bar is fitted in second spiral shell shape hole, extension end and the third are slipped on the left of slot on the left of the second spiral shell shape bar
Inner wall is rotatably assorted connection, and the second motor on the right side of slot in inner wall is slipped with the third is fixedly installed in right side extension end
It is connected by power.
Further technical solution, communications and liaison are provided with logical between the second sliding slot and first turn trough of upside
Join slot, the third slips communications and liaison between slot and first turn trough of downside and is provided with lower communications and liaison slot, above and below the sliding platform
Both ends of the surface are fixedly installed the scraper plate in the upper communications and liaison slot and the lower communications and liaison slot respectively.
Further technical solution, the pipe sleeve inside left are equipped with the 4th turn trough to extend up and down, the 4th turn trough
It is rotatably assorted between the slid chamber inner left wall and third is installed ships and resell on another market axis, the third in the 4th turn trough is shipped and resell on another market
The first driving wheel is fixed on axis, the third in the slid chamber is shipped and resell on another market and is fixed with and the first cone cell wheel on axis
The second cone cell wheel being cooperatively connected, being rotatably assorted between the 4th turn trough and second turn trough is equipped with the 4th and ships and resell on another market axis,
The described 4th in 4th turn trough, which ships and resell on another market, is fixed with the second driving wheel, upper and lower two second driving wheels and institute on axis
It states and is cooperatively connected between the first driving wheel by the first transmission V belt translation, the described 4th in second turn trough ships and resell on another market solid on axis
It is fixed to be equipped with the second tooth-like wheel being cooperatively connected with upper and lower two first tooth-like wheels.
Further technical solution, the pipe sleeve inner right side are equipped with the 5th turn trough to extend up and down, the 5th turn trough
It is equipped with the 5th being rotatably assorted between the inner wall of side on the right side of the slid chamber and ships and resell on another market axis, described 5th turn in the 5th turn trough
Third driving wheel is fixed on pin shaft, the described 5th in the slid chamber ships and resell on another market and be fixed with third cone cell wheel on axis, institute
It states first and ships and resell on another market that extension end is protruded into the 5th turn trough on the right side of axis and right side extension tip is fixed with the 4th driving wheel, up and down
It is cooperatively connected between two the 4th driving wheels and the third driving wheel by the second transmission V belt translation.
Further technical solution, the pillar left end face is interior to be equipped with the 6th turn trough, passes through axis in the 6th turn trough
It holds and is rotatably provided with change, the change and the third being fixedly installed in the inner wall of the 6th turn trough right side are electronic motor-driven
Power connects, and is fixed with hydraulic cylinder in the change, the hydraulic stem of the hydraulic cylinder is fixedly connected with the pipe sleeve left end face.
The beneficial effects of the present invention are:
For apparatus of the present invention in polishing, the first motor rotation is stated in control residence first, can be passed through after first motor rotation
The rotation of second cone cell wheel described in first cone cell wheel drive, can be shipped and resell on another market axis drive after the second cone cell wheel rotation by the third
First driving wheel, the second driving wheel, the second tooth-like wheel and first tooth-like wheel rotation, the first tooth-like wheel rotation
After the closing piece can be driven to slide to the right by the first spiral shell shape bar to be gradually inserted in the lockhole, when the closing piece is fully inserted into
Control first motor stops operating after in the lockhole, and thus the pivoted frame is rotated by limitation, thus prevents polishing
When operation, the pivoted frame rotates and influences grinding effect；
Then the third motor and hydraulic cylinder starting, institute are controlled after the pore of the pipe sleeve and pipe fitting being aligned
The pipe sleeve can be driven to be gradually moved forward along pore by the hydraulic stem after stating hydraulic cylinder starting, and the third is electronic
The pipe sleeve can be driven to rotate by the change after machine rotation, thus pipe fitting inner wall can be moved by the polishing item
Formula sanding operation greatly reduces labor intensity to see, improves grinding efficiency；
When needing to clean after the completion of polishing, first motor is controlled first and is rotated backward, the closing piece and the lockhole are made
After disengaging, second motor rotation is controlled, the cunning can be driven by the second spiral shell shape bar after second motor rotation
Moving stage drives the first cone cell wheel to move right, after the first cone cell wheel is meshed with the third cone cell wheel, control
Second motor stops operating, and after first motor continues to rotate at this time, can pass through the first cone cell wheel drive
The third cone cell wheel drives the described 5th to ship and resell on another market axis rotation, and the described 5th, which ships and resell on another market, can drive the third to be driven after axis rotation
Wheel, the 4th driving wheel, first ship and resell on another market axis and the pivoted frame rotation, after the pivoted frame degrees of rotation, control described first
Motor stops operating, at this point, the cleaning cotton is outwardly, the polishing item inwardly, it is reversed then to control second motor
Rotation after making the sliding platform that the first cone cell wheel be driven to engage again with the second cone cell wheel, controls first electricity
Motivation rotation, after connecting the closing piece with lockhole lock fit, controls the third motor and the hydraulic cylinder simultaneously
Starting, can carry out rotation clean operation to pipe fitting inner wall by the cleaning cotton；
The scraper plate as described in apparatus of the present invention offsets with the polishing item or the cleaning cotton always, thus can pass through the cunning
Moving stage can scrape the larger pollution particle adhered on the polishing item or the cleaning cotton during moving left and right, by
This can greatly increase polishing or cleaning effect；
Apparatus of the present invention structure is simple, high degree of automation, it can be achieved that the mobile polishing of pipe fitting inner wall and clean operation,
Labor intensity can be greatly reduced, improve working efficiency.
Detailed description of the invention
The present invention is described in detail by following specific embodiments and drawings for ease of explanation,.
Fig. 1 is a kind of overall structure diagram of robot control system of the invention.
Fig. 2 is the schematic diagram of internal structure of pipe sleeve in Fig. 1.
Specific embodiment
As shown in Figs. 1-2, a kind of robot control system of the invention, including base 10, it is fixedly installed on the base
The pillar 11 of 10 tops and be set to the pipe sleeve 12 of 11 left end face of pillar, be equipped in the pipe sleeve 12 it is symmetrical above and below and
The first turn trough 34 of notch outwardly is rotatably provided with pivoted frame 37, institute by the first axis 46 of shipping and reselling on another market in first turn trough 34
It states 37 end face outside of pivoted frame and is fixed with polishing item 36,37 inner side end of pivoted frame is fixed with cleaning cotton 39, the pivoted frame
In 37 left end faces it is symmetrical above and below equipped with notch towards left lockhole 35, it is symmetrical above and below in 34 inner left wall of the first turn trough to be equipped with
The sliding slot 33 of first opposite with the lockhole 35, sliding is equipped with closing piece 32, the closing piece 32 in the first sliding slot 33
In be equipped with notch towards the first left spiral shell shape hole 33, be fitted with the first spiral shell shape bar 31 in the first spiral shell shape hole 3, described first
Extend up and down in sliding 33 inner left wall of slot and be provided with the second turn trough 26, extension end is protruded into described on the left of the first spiral shell shape bar 31
In second turn trough 26 and left side tip is fixed with the first tooth-like wheel 25, and the slid chamber that left and right is extended is equipped in the pipe sleeve 12
43, sliding is equipped with sliding platform 38 in the slid chamber 43, equipped with the perforative third turn trough 28 in left and right, institute in the sliding platform 38
It states 28 inner roof wall of third turn trough and is fixed with the first motor 27,27 bottom of the first motor has been connected by power second and has shipped and resell on another market
Axis 30, described second ships and resell on another market the first cone cell wheel 29 for being fixed on axis 30 and stretching out outside the third turn trough 28, the slid chamber
43 inner roof walls or so extension is provided with the second sliding slot 41, protrudes at the top of the sliding platform 38 in described second sliding slot 41 and sliding
Row is cooperatively connected, and the perforative slip hole in left and right, the slip hole are equipped in the sliding platform 38 in the second sliding slot 41
Middle sliding is equipped with sliding bar 42, and 42 left and right ends of sliding bar are solid with the described second sliding 41 left and right sides inner wall of slot respectively
Fixed connection, described 43 inner bottom wall of slid chamber or so extension are provided with third and slip slot 53, and 38 bottom of sliding platform is protruded into described
Mating connection is slipped in slot 53 and slided to third, and the third is slipped perforative equipped with left and right in the sliding platform 38 in slot 53
Second spiral shell shape hole is fitted with the second spiral shell shape bar 54 in the second spiral shell shape hole, end of extending on the left of the second spiral shell shape bar 54
It is rotatably assorted and connect with sliding 53 inner left wall of slot of the third, and slot is slipped with the third is fixedly installed in right side extension end
The second motor 52 in 53 right side inner walls is connected by power.
Valuably, communications and liaison are provided with communications and liaison slot between the described second sliding slot 41 and first turn trough 34 of upside
40, the third slips communications and liaison between slot and first turn trough 34 of downside and is provided with lower communications and liaison slot 50, the sliding platform 38
Upper and lower end faces are fixedly installed the scraper plate 18 in the upper communications and liaison slot 40 and the lower communications and liaison slot 50 respectively.
Valuably, 12 inside left of pipe sleeve is equipped with the 4th turn trough 24 to extend up and down, the 4th turn trough 24 and institute
It states to be rotatably assorted between 43 inner left wall of slid chamber and third is installed ships and resell on another market axis 16, the third in the 4th turn trough 24 turns
Be fixed with the first driving wheel 17 on pin shaft 16, the third in the slid chamber 43 ship and resell on another market be fixed on axis 16 with it is described
The second cone cell wheel 14 that first cone cell wheel 29 is cooperatively connected, is rotatably assorted between the 4th turn trough 24 and second turn trough 26
The 4th is equipped with to ship and resell on another market axis 22, the in the 4th turn trough 24 the described 4th, which ships and resell on another market, is fixed with the second driving wheel 23 on axis 22,
It is cooperatively connected between upper and lower two second driving wheels 23 and first driving wheel 15 by the transmission of the first transmission belt 19, institute
It states the in the second turn trough 26 the described 4th and ships and resell on another market and be fixed on axis 22 and upper and lower two first tooth-like wheels 25 are cooperatively connected
The second tooth-like wheel 21.
Valuably, 12 inner right side of pipe sleeve is equipped with the 5th turn trough 44 to extend up and down, the 5th turn trough 44 and institute
It states to be rotatably assorted between 43 right side side inner wall of slid chamber and is equipped with the 5th and ships and resell on another market axis 49, the in the 5th turn trough 44 the described 5th
It ships and resell on another market and is fixed with third driving wheel 48 on axis 49, the in the slid chamber 43 the described 5th, which ships and resell on another market, is fixed with third on axis 49
Cone cell wheel 51, the described first extension end on the right side of axis 46 of shipping and reselling on another market are protruded into the 5th turn trough 44 and right side extension tip is fixed with
4th driving wheel 45 is passed between upper and lower two the 4th driving wheels 45 and the third driving wheel 48 by the second transmission belt 47
It is dynamic to be cooperatively connected.
Valuably, the 6th turn trough 55 is equipped in 11 left end face of pillar, it can by bearing in the 6th turn trough 55
Rotation is provided with change 56, third motor change 56 and be fixedly installed in the 55 right side inner wall of the 6th turn trough
57 are connected by power, and hydraulic cylinder 58 is fixed in the change 56, and the hydraulic stem 59 of the hydraulic cylinder 58 and the pipe sleeve 12 are left
Side end face is fixedly connected.
When original state, the lockhole 35 is aligned with the described first sliding slot 35, and the closing piece 32 is not inserted into the lock
In hole 35, outwardly, inwardly, the sliding platform 38 is located at 43 inside left of slid chamber to the cleaning cotton 39 to the polishing item 36
At position, the first cone cell wheel 29 is meshed with the second cone cell wheel 14, and the scraper plate 18 offsets with the cleaning cotton 39.
When polishing, the rotation of the first motor 27 is stated in control residence first, and first motor 27 can pass through first after rotating
Cone cell wheel 29 drives the second cone cell wheel 14 to rotate, and can be shipped and resell on another market axis 16 after the rotation of the second cone cell wheel 14 by the third
Drive first driving wheel 17, the second driving wheel 23, the second tooth-like wheel 21 and first tooth-like wheel 25 rotation, described the
The closing piece 32 can be driven to slide to the right by the first spiral shell shape bar 31 after the rotation of one tooth-like wheel 25 and be gradually inserted the lockhole 35
In, control first motor 27 stops operating after the closing piece 32 is fully inserted into the lockhole 35, thus described to turn
Frame 37 is rotated by limitation, controls the third motor 57 and institute after then aligning the pore of the pipe sleeve 12 and pipe fitting
State the starting of hydraulic cylinder 58, the hydraulic cylinder 58 can be driven by the hydraulic stem 59 after starting the pipe sleeve 12 along pore gradually
It moves forward, and the pipe sleeve 12 can be driven to rotate by the change 56 after the third motor 57 rotation, thus can lead to
It crosses the polishing item 36 and mobile sanding operation is carried out to pipe fitting inner wall；
After the completion of polishing when needing to clean, control first motor 27 first and rotate backward, make the closing piece 32 with it is described
After lockhole 35 is detached from, controls second motor 52 and rotate, second motor 52 can pass through the second spiral shell shape bar after rotating
The 54 driving sliding platforms 38 drive the first cone cell wheel 29 to move right, when the first cone cell wheel 29 is bored with the third
After shape wheel 51 is meshed, controls second motor 52 and stop operating, it, can after first motor 27 continues to rotate at this time
By the first cone cell wheel 29 drive the third cone cell wheel 51 drive the described 5th ship and resell on another market axis 49 rotate, the described 5th ships and resell on another market
Axis 49 can drive the third driving wheel 48, the 4th driving wheel 45, first to ship and resell on another market axis 46 and the pivoted frame 37 after rotating
Rotation controls first motor 27 and stops operating, at this point, 39 court of the cleaning cotton after pivoted frame 37 rotates 180 degree
Outside, the polishing item 36 inwardly, then controls second motor 52 and rotates backward, and the sliding platform 38 is made to drive described
After one cone cell wheel 29 is engaged with the second cone cell wheel 14 again, controls first motor 27 and rotate, make the closing piece 32
After being connect with 35 lock fit of lockhole, controls the third motor 57 and the hydraulic cylinder 58 while starting, can pass through
The cleaning cotton 39 carries out rotation clean operation to pipe fitting inner wall；
The scraper plate 18 as described in apparatus of the present invention offsets with the polishing item 36 or the cleaning cotton 39 always, thus can pass through
The larger pollution that the sliding platform 38 can will be adhered to during moving left and right on the polishing item 36 or the cleaning cotton 39
Grain is scraped, and polishing or cleaning effect thus can be greatly increased.
The beneficial effects of the present invention are:
For apparatus of the present invention in polishing, the first motor rotation is stated in control residence first, can be passed through after first motor rotation
The rotation of second cone cell wheel described in first cone cell wheel drive, can be shipped and resell on another market axis drive after the second cone cell wheel rotation by the third
First driving wheel, the second driving wheel, the second tooth-like wheel and first tooth-like wheel rotation, the first tooth-like wheel rotation
After the closing piece can be driven to slide to the right by the first spiral shell shape bar to be gradually inserted in the lockhole, when the closing piece is fully inserted into
Control first motor stops operating after in the lockhole, and thus the pivoted frame is rotated by limitation, thus prevents polishing
When operation, the pivoted frame rotates and influences grinding effect；
Then the third motor and hydraulic cylinder starting, institute are controlled after the pore of the pipe sleeve and pipe fitting being aligned
The pipe sleeve can be driven to be gradually moved forward along pore by the hydraulic stem after stating hydraulic cylinder starting, and the third is electronic
The pipe sleeve can be driven to rotate by the change after machine rotation, thus pipe fitting inner wall can be moved by the polishing item
Formula sanding operation greatly reduces labor intensity to see, improves grinding efficiency；
When needing to clean after the completion of polishing, first motor is controlled first and is rotated backward, the closing piece and the lockhole are made
After disengaging, second motor rotation is controlled, the cunning can be driven by the second spiral shell shape bar after second motor rotation
Moving stage drives the first cone cell wheel to move right, after the first cone cell wheel is meshed with the third cone cell wheel, control
Second motor stops operating, and after first motor continues to rotate at this time, can pass through the first cone cell wheel drive
The third cone cell wheel drives the described 5th to ship and resell on another market axis rotation, and the described 5th, which ships and resell on another market, can drive the third to be driven after axis rotation
Wheel, the 4th driving wheel, first ship and resell on another market axis and the pivoted frame rotation, after the pivoted frame degrees of rotation, control described first
Motor stops operating, at this point, the cleaning cotton is outwardly, the polishing item inwardly, it is reversed then to control second motor
Rotation after making the sliding platform that the first cone cell wheel be driven to engage again with the second cone cell wheel, controls first electricity
Motivation rotation, after connecting the closing piece with lockhole lock fit, controls the third motor and the hydraulic cylinder simultaneously
Starting, can carry out rotation clean operation to pipe fitting inner wall by the cleaning cotton；
The scraper plate as described in apparatus of the present invention offsets with the polishing item or the cleaning cotton always, thus can pass through the cunning
Moving stage can scrape the larger pollution particle adhered on the polishing item or the cleaning cotton during moving left and right, by
This can greatly increase polishing or cleaning effect；
Apparatus of the present invention structure is simple, high degree of automation, it can be achieved that the mobile polishing of pipe fitting inner wall and clean operation,
Labor intensity can be greatly reduced, improve working efficiency.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention
Protection scope should be determined by the scope of protection defined in the claims.
Claims (5)
1. a kind of robot control system including base, the pillar being fixedly installed on above the base and is set to described
The pipe sleeve of pillar left end face, it is characterised in that: the first turn trough of symmetrical above and below and notch outwardly is equipped in the pipe sleeve, it is described
Pivoted frame is rotatably provided with by the first axis of shipping and reselling on another market in first turn trough, the pivoted frame end face outside is fixed with polishing item, institute
It states pivoted frame inner side end and is fixed with cleaning cotton, the lockhole symmetrical above and below for being equipped with notch towards a left side in the pivoted frame left end face, institute
State it is symmetrical above and below in the first turn trough inner left wall be equipped with the first sliding slot opposite with the lockhole, it is sliding in the first sliding slot
Shifting is equipped with closing piece, and notch is equipped in the closing piece towards the first left spiral shell shape hole, and the is fitted in the first spiral shell shape hole
One spiral shell shape bar extends in the first sliding slot inner left wall up and down and is provided with the second turn trough, prolongs on the left of the first spiral shell shape bar
Zhan Duan is protruded into second turn trough and left side tip is fixed with the first tooth-like wheel, and the cunning that left and right is extended is equipped in the pipe sleeve
Chamber is moved, sliding is equipped with sliding platform in the slid chamber, is equipped with the perforative third turn trough in left and right, the third in the sliding platform
Turn trough inner roof wall is fixed with the first motor, and the first electronic motor spindle has been connected by power second and has shipped and resell on another market axis, and described second
It ships and resell on another market the first cone cell wheel for being fixed on axis and stretching out outside the third turn trough, described slid chamber inner roof wall or so extension is provided with
Second sliding slot, protrudes into the described second sliding slot and slides mating connection at the top of the sliding platform, in the second sliding slot
The sliding platform in be equipped with the perforative slip hole in left and right, sliding is equipped with sliding bar, the sliding bar left side in the slip hole
Right both ends are fixedly connected with inner wall at left and right sides of the described second sliding slot respectively, and described slid chamber inner bottom wall or so extension is provided with
Third slips slot, and the sliding platform bottom protrudes into the third and slips in slot and slide mating connection, and the third is slipped in slot
The sliding platform in be equipped with the perforative second spiral shell shape hole in left and right, be fitted with the second spiral shell shape bar in the second spiral shell shape hole,
Extension end, which with the third slips slot inner left wall and is rotatably assorted, on the left of the second spiral shell shape bar connect, and right side extension end with consolidate
Surely the second motor power that the third is slipped on the right side of slot in inner wall is set to connect.
2. a kind of robot control system according to claim 1, it is characterised in that: the second sliding slot and upside
Communications and liaison are provided with communications and liaison slot between first turn trough, and the third slips communications and liaison between slot and first turn trough of downside
It is provided with lower communications and liaison slot, the sliding platform upper and lower end faces are fixedly installed respectively positioned at the upper communications and liaison slot and described lower logical
Join the scraper plate in slot.
3. a kind of robot control system according to claim 1, it is characterised in that: the pipe sleeve inside left is equipped with upper
4th turn trough of lower extension, being rotatably assorted between the 4th turn trough and the slid chamber inner left wall is equipped with third and ships and resell on another market
Axis, the third in the 4th turn trough ship and resell on another market and are fixed with the first driving wheel, the third in the slid chamber on axis
Ship and resell on another market the second cone cell wheel for being fixed on axis and being cooperatively connected with the first cone cell wheel, the 4th turn trough with described second turn
It is rotatably assorted between slot and is equipped with the 4th and ships and resell on another market axis, the in the 4th turn trough the described 4th, which ships and resell on another market, is fixed with the second biography on axis
Driving wheel is cooperatively connected between upper and lower two second driving wheels and first driving wheel by the first transmission V belt translation, institute
The in the second turn trough the described 4th is stated to ship and resell on another market second for being fixed on axis and being cooperatively connected with upper and lower two first tooth-like wheels
Tooth-like wheel.
4. a kind of robot control system according to claim 1, it is characterised in that: the pipe sleeve inner right side is equipped with upper
5th turn trough of lower extension, being rotatably assorted between the inner wall of side on the right side of the 5th turn trough and the slid chamber is equipped with the 5th and ships and resell on another market
Axis, the in the 5th turn trough the described 5th, which ships and resell on another market, is fixed with third driving wheel on axis, and the in the slid chamber the described 5th
It ships and resell on another market and is fixed with third cone cell wheel on axis, the described first extension end on the right side of axis of shipping and reselling on another market is protruded into the 5th turn trough and right side is prolonged
Exhibition tip is fixed with the 4th driving wheel, passes between upper and lower two the 4th driving wheels and the third driving wheel by second
Dynamic V belt translation is cooperatively connected.
5. a kind of robot control system according to claim 1, it is characterised in that: be equipped in the pillar left end face
6th turn trough is rotatably provided with change by bearing in the 6th turn trough, the change and is fixedly installed on described the
Third motor power on the right side of six turn troughs in inner wall connects, and is fixed with hydraulic cylinder, the liquid of the hydraulic cylinder in the change
Compression bar is fixedly connected with the pipe sleeve left end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810897901.3A CN109048520A (en) | 2018-08-08 | 2018-08-08 | A kind of robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810897901.3A CN109048520A (en) | 2018-08-08 | 2018-08-08 | A kind of robot control system |
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| Publication Number | Publication Date |
|---|---|
| CN109048520A true CN109048520A (en) | 2018-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810897901.3A Withdrawn CN109048520A (en) | 2018-08-08 | 2018-08-08 | A kind of robot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260267A (en) * | 2021-12-03 | 2022-04-01 | 中冶赛迪工程技术股份有限公司 | Cleaning device for steel tapping hole of molten steel container |
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2018
- 2018-08-08 CN CN201810897901.3A patent/CN109048520A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260267A (en) * | 2021-12-03 | 2022-04-01 | 中冶赛迪工程技术股份有限公司 | Cleaning device for steel tapping hole of molten steel container |
| CN114260267B (en) * | 2021-12-03 | 2023-03-24 | 中冶赛迪工程技术股份有限公司 | Cleaning device for steel tapping hole of molten steel container |
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Application publication date: 20181221 |