CN110125747A - A kind of carrying polishing all-in-one machine for large surfaces spraying - Google Patents
A kind of carrying polishing all-in-one machine for large surfaces spraying Download PDFInfo
- Publication number
- CN110125747A CN110125747A CN201910314007.3A CN201910314007A CN110125747A CN 110125747 A CN110125747 A CN 110125747A CN 201910314007 A CN201910314007 A CN 201910314007A CN 110125747 A CN110125747 A CN 110125747A
- Authority
- CN
- China
- Prior art keywords
- bracing wire
- servo motor
- connect
- sliding
- pin
- 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
- 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
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- 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
- B24B41/06—Work supports, e.g. adjustable steadies
-
- 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
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
Abstract
The invention discloses a kind of carrying polishing all-in-one machines for large surfaces spraying, are related to processing unit (plant) field；Including bracket, the grabbing device for grabbing workpiece is equipped in bracket, grabbing device is equipped with sander, grabbing device is surrounded by several bracing wires, bracing wire one end is connected on grabbing device, the bracing wire other end is connect with a coiling apparatus for operating thread, and grabbing device, sander and coiling apparatus are connect with a controller；The present invention is mobile using the first bracing wire and the second bracing wire control control arm, control arm can be moved freely in three-dimensional space, so as to by workpiece handling to need position, sander is equipped with below ontology, after workpiece is laid down, it can polish immediately workpiece, seamless connection of carrying and polish.
Description
Technical field
The invention belongs to processing unit (plant) field, in particular to a kind of carrying polishing all-in-one machine for large surfaces spraying.
Background technique
Currently, spraying large-scale workpiece, need workpiece surface in advance to be polished smooth to workpiece handling to designated position,
Finally just carry out spraying operation.Existing way: presetting running track, coaster support workpiece by sliding slot along running track
Operation, until polishing place, carries and be connected time consuming with polishing program, after the completion of polishing, the workpiece polished is transported, lead to
It crosses manpower or mechanical equipment moves lower block, efficiency is very low, meanwhile, workpiece can only be carried on track designation path, the space upper limit
It makes bigger.
Chinese patent Authorization Notice No. CN204057067U, patent name " a kind of rail mounted handling device ", including rotation
Disk and the shifting chute to set within it are equipped with the locomotive that can be slidably reciprocated, the movement on the shifting chute
Vehicle includes transfer plate and the track one that is arranged under transfer plate, and the rotating disc is also connected with track one, the track one
Inside is provided with sliding groove；Although the invention can it is relatively simple and it is convenient realize carry workpiece function, locomotive
It after beside workpiece handling to sander, carries and is connected pretty troublesome with polishing program, after polishing has been got well, locomotive will polish
Good workpiece transports, and moves lower locomotive by manpower or mechanical equipment, and efficiency is very low, meanwhile, workpiece can only be on track designation road
It carries, spatially limits bigger on diameter.
Summary of the invention
The purpose of the invention is to overcome the prior art to carry to be connected inefficiency with polishing, transport path is single to be lacked
Point proposes that a kind of the first bracing wire of use and the second bracing wire control control arm are mobile, and control arm can be moved freely in three-dimensional space,
So as to which by workpiece handling to the position needed, ontology lower section is equipped with sander can be right immediately after workpiece is laid down
Workpiece is polished, the carrying polishing all-in-one machine for seamless connection of carrying and polish.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of carrying polishing all-in-one machine for large surfaces spraying, including bracket, interior be equipped with of the bracket are used for grabbing workpiece
Grabbing device, the grabbing device is equipped with sander, and the grabbing device is surrounded by several bracing wires, described bracing wire one end
It is connected on grabbing device, the bracing wire other end is connect with a coiling apparatus for operating thread, the crawl dress
It sets, sander and coiling apparatus are connect with a controller.Bracket plays the role of support, and grabbing device is for grabbing work
Part, grabbing device can be located in bracket using mechanical arm on the market, grabbing device, and grabbing device is located at the drawing of its surrounding
Line is pulled away from ground, and the bracing wire positioned at grabbing device surrounding can control the up and down motion of grabbing device left-right and front-back, grabbing device handle
After workpiece takes another place from a place, and then the sander on grabbing device polishes to workpiece, seamless rank
It connects, after polishing has been got well, workpiece is taken finished product area and stored by grabbing device, and controller can control the fortune of coiling apparatus
Row, so as to control the folding and unfolding of bracing wire, to control the movement of grabbing device, controller can control taking for grabbing device
It puts, controller can control the switch of sander.
Preferably, bracket includes cross beam frame and four columns, the cross beam frame by the end to end closing of four crossbeams at
It is both connected at the tie point of ring, the crossbeam and adjacent beams on the top of the column, the grabbing device is located at cross
Below roof beam structure, the bracing wire is connect above crossbeam with grabbing device.Column plays the role of support beam frame, cross beam frame
There is four crossbeams end to end closing cyclization, rigidity is very big, and column is connected to the tie point of crossbeam, reasonable stress, and bracing wire is from cross
It is bypassed above beam, bracing wire can be resisted against on crossbeam, and when folding and unfolding, bracing wire can be slided on crossbeam, and crossbeam is held for bracing wire
By the pressure of bracing wire.
Preferably, grabbing device includes control arm and clamping device, the control arm includes movable block, the movable block
Top is equipped with several upper connection sheets, and the movable block bottom end is equipped with several lower connection sheets, the upper connection sheet and lower connection sheet court
To movable block surrounding, the column top is equipped with the first idler wheel, and the second idler wheel, the column middle part are equipped in the middle part of the crossbeam
It is equipped with third idler wheel, the bracing wire is divided into the first bracing wire and the second bracing wire, and first bracing wire one end is connect with coiling apparatus,
The first bracing wire other end is successively connected in corresponding upper connection sheet by the first idler wheel after third idler wheel, and described second
Bracing wire one end is connected on coiling apparatus, and the second bracing wire other end is connected in corresponding lower connection sheet, the clamping dress
Setting in below movable block.Movable block plays the role of supporting clamping device, and the first idler wheel, the second idler wheel and third idler wheel can be with
Play the role of guiding and lubrication, upper connection sheet connects the first bracing wire, and lower connection sheet connects the second bracing wire, and upper company is given in the first bracing wire
The component of the pulling force of contact pin is downward, and the second bracing wire is upward to the component of the bracing wire of lower connection sheet, can be with by controlling the first bracing wire
It controlling control arm and pushes workpiece, control arm drives sander to push workpiece, increase the polishing pressure between sander and workpiece, and
The second bracing wire is controlled, can control the lifting of control arm.Sander is located on clamping device.
Preferably, column is equipped with a lead screw, the lead screw is parallel with column, and the lead screw both ends and column are cut with scissors
It connects, the column, which is equipped with, adjusts servo motor, and the lead screw is connect with servo motor is adjusted, and is slidably connected on the column
One sliding block, the sliding block and threads of lead screw cooperate, and the sliding block is equipped with the third idler wheel, the adjustings servo motor and
Controller connection.Controller, which can control, adjusts servo motor operation, adjusts servo motor and drives lead screw rotation, lead screw, which drives, to be slided
Block slides on column, and sliding block drives third idler wheel to slide up and down along column, so as to control the first bracing wire and upper connection
The angle of piece prevents the first bracing wire together with the second guy winding, guarantees that equipment operates normally, third idler wheel can control the
The size of the downward component of one bracing wire, to control the pressure between sander and workpiece.
Preferably, movable block bottom end is equipped with sliding slot, the movable block bottom end is equipped with a sliding sleeve, and the sliding sleeve is plugged in
It is slidably connected in sliding slot and with sliding slot, weighing spring is equipped in the sliding sleeve, the movable block bottom end corresponds to position in weighing spring
The first groove is installed, first groove includes closed end, and described weighing spring one end is connect with sliding sleeve, the weighing spring
The other end is protruded into the first groove and is connect with the closed end of the first groove, is equipped in first groove for measuring weighing bullet
The infrared ambulator of spring stroke, the infrared ambulator are connect with controller, and the clamping device is located at below sliding sleeve.
Clamping device is connected to below sliding sleeve, and sliding sleeve can slide up and down in sliding slot, and sliding sleeve drives weighing spring flexible, the first groove
For accommodating weighing spring, can reduce small product size, infrared ambulator can measure the first groove closed end to sliding sleeve it
Between distance, that is, the length of weighing spring, so as to measure the stroke of weighing spring, when workpiece polishing when, claim
Weight spring can stretch, to can measure polishing pressure according to Hooke's law.
Preferably, clamping device includes ontology, left and right settings has two slide bars, the slide bar and sheet on the upside of the ontology
Body is slidably connected, and the slide bar both ends are connected with a pin-joint piece, and the ontology is equipped with second in pin-joint piece corresponding position and slides
Slot, the pin-joint piece and slide bar are affixed, and the pin-joint piece is located in second sliding slot and is slidably connected with second sliding slot, every slide bar
On be equipped with a toothed rack, a control servo motor is equipped between the slide bar, the control servo motor and ontology are affixed,
The output shaft of the control servo motor is equipped with gear, and the corresponding slide bar in described rack gear one end connects, and the rack gear is another
One end is engaged with gear, and two toothed racks are engaged on the opposite sides of gear, and being used for there are two left and right settings below the ontology will
The position of the chuck component that workpiece is clamped, the position of the chuck component and slide bar corresponds, the chuck component with it is corresponding
Pin-joint piece connection, the control servo motor connect with controller.It controls servo motor band moving gear to rotate, rack gear is engaged on
Gear opposite sides, therefore gear synchronous control rack gear folding, two slide bar foldings of rack drives, slide bar drive pin-joint piece to open
It closes, to control the folding of chuck component, two chuck components can clamp workpiece.
Preferably, chuck component includes collet, the clip position is corresponding with the position of slide bar, and the collet one breaks away
There are two the second sliding block, second sliding block is located at the both ends of collet for dynamic connection, the second sliding block on the collet and the collet
The pin-joint piece at the both ends of corresponding slide bar is corresponding, and an electric expansion is equipped between the second corresponding sliding block of each pin-joint piece
Bar and second pin-joint piece, the electric telescopic rod top are hinged on the bottom end of pin-joint piece, the electric telescopic rod bottom end hinge
It connects on the second pin-joint piece top, second pin-joint piece bottom end is fixed on the second sliding block, the electric telescopic rod and pin-joint piece
Hinged place is equipped with a bull stick servo motor, and the bull stick servo motor and pin-joint piece are affixed, the bull stick servo motor and electricity
Dynamic telescopic rod top end connection, the collet are equipped with the clamping device for clamping plate, and the electric telescopic rod and bull stick are watched
Motor is taken to connect with controller.Collet plays the role of support, and electric telescopic rod can control moving up and down for collet, and turn
Bar servo motor can control the rotation of electric telescopic rod, and electric telescopic rod rotation can move the second sliding block and move up in collet
Dynamic, the second pin-joint piece plays the role of transmitting, and when electric telescopic rod rotation, collet is moved up and down, and works as electric telescopic rod
When turning to horizontal position, the position highest of collet, when sander is polished at this time, collet will not encounter workpiece, keep away
Interruption-free polishing.
Preferably, the rotation servo motor placed vertically is connected with above ontology, the rotation of the rotation servo motor
Axis and sliding sleeve bottom end are affixed, and the rotation servo motor is connect with controller.Add rotation servo motor, controller control rotation
Servo motor rotation, so that sliding sleeve produces relative rotation with ontology, so as to turning of work piece.
Preferably, ontology lower surface is equipped with the second groove, scissor-type lifting platform is equipped in second groove, it is described
Scissor-type lifting platform includes platform, and the scissor-type lifting platform top is connected in the second groove, and the platform, which is located at, to be cut
The bottom end of fork elevating platform, the sander are located at below platform, and the scissor-type lifting platform is connect with controller.Ontology
Downside is equipped with the second groove, and controller can control scissor-type lifting platform and stretch, so as to the lifting of control platform, thus
The lifting that can control sander, when polishing, collet rises, and sander declines, and sander drops to below collet,
When polishing, controller controls sander and polishes in workpiece surface, while sander needs a left side before and after workpiece surface
It moves right, workpiece would not encounter collet at this time.
Preferably, clamping device includes two intermediate plates, the intermediate plate is fixed in collet both ends, is all provided with above the intermediate plate
There is a sliding intermediate plate, the sliding intermediate plate is slidably connected on collet, is equipped with one between the intermediate plate and sliding intermediate plate
Pressure spring, described pressure spring one end are connect with collet, and the pressure spring other end is connect with sliding intermediate plate, and the collet corresponds to position in intermediate plate
It sets and is equipped with the 4th idler wheel, a take-up pulley is equipped between the 4th idler wheel, the take-up pulley is connected with a take-up servo
Motor, the slip clamp on piece are equipped with a third bracing wire, and third bracing wire one end is connected to slip clamp on piece, and described
The three bracing wire other ends are connected on corresponding take-up pulley after corresponding 4th idler wheel, the third bracing wire of the 4th idler wheel two sides
Winding direction on the 4th idler wheel is on the contrary, the take-up servo motor is connect with controller.Controller controls take-up servo
Motor work, take-up servo motor drive take-up pulley rotation, and third bracing wire is wrapped on take-up pulley, and the third bracing wire of two sides twines
Around contrary, guarantee the third bracing wire of two sides it is synchronous by folding and unfolding, when third bracing wire is received, pressure spring is compressed, sliding
Intermediate plate can clamp workpiece close to intermediate plate, intermediate plate with sliding intermediate plate, and when third bracing wire is put, pressure spring will slide intermediate plate
Push the direction far from intermediate plate to, workpiece is released.
The beneficial effects of the present invention are: the present invention is mobile using the first bracing wire and the second bracing wire control control arm, control arm
It can be moved freely in three-dimensional space, so as to which by workpiece handling to the position needed, ontology lower section is equipped with sander, works as work
It after part is laid down, can polish immediately workpiece, seamless connection of carrying and polish, the present invention is using the first bracing wire and the
Two bracing wires control grabbing device movement, and working space is big, and operating accuracy is high, and speed is fast.
Detailed description of the invention
Fig. 1 is perspective view of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is the partial enlarged view in Fig. 1 at A；
Fig. 4 is the B-B cross-sectional view of Fig. 2；
Fig. 5 is the partial enlarged view in Fig. 4 at C；
Fig. 6 is the partial enlarged view at the D of Fig. 5；
Fig. 7 is the top view of clamping device；
Fig. 8 is the E-E cross-sectional view of Fig. 7；
Fig. 9 is the partial enlarged view at the F of Fig. 5；
Figure 10 is the state diagram of present invention grabbing device and scissor-type lifting platform when polishing；
Figure 11 is schematic diagram when grabbing device grabs plate；
Figure 12 is schematic diagram when grabbing device grabs cabinet.
In figure: bracket 1, column 2, cross beam frame 3, crossbeam 4, movable block 5, sliding slot 6, sliding sleeve 7, weighing spring 8, the first groove
9, the first spacing block set 10, the second spacing block set 11, upper connection sheet 12, turning 13, the first idler wheel 14, the second idler wheel 15, lower company
Contact pin 16, adjusts servo motor 19, sliding block 20, third idler wheel 21, first hoist 22, second hoist 23, first at lead screw 18
Bracing wire 24, the second bracing wire 25, ontology 26, rotation servo motor 27, scissor-type lifting platform 28, platform 29, sander 30, slide bar
31, pin-joint piece 32, second sliding slot 33, electric telescopic rod 34, collet 35, intermediate plate 36, the second pin-joint piece 37, sliding intermediate plate 38, the
Four idler wheels 39, take-up pulley 40, take-up servo motor 41, pressure spring 42, rack gear 43, control servo motor 44, gear 45, bull stick servo
Motor 46, the second sliding block 47.
Specific embodiment
The present invention is further elaborated on reference to the accompanying drawings and detailed description:
Embodiment:
Fig. 1 to Fig. 9 is a kind of carrying polishing all-in-one machine for large surfaces spraying, including bracket 1, is equipped with crawl in bracket 1
Device, grabbing device include control arm and clamping device, and bracket 1 includes four columns 2 and a cross beam frame 3, and cross beam frame 3 is horizontal
It places, column 2 is placed vertically, and cross beam frame 3 surrounds a square structure by four crossbeams 4 are end to end, and 2 top of column is affixed
At 3 four turnings 13 of cross beam frame, a control arm is equipped with below cross beam frame 3, control arm includes movable block 5,5 bottom end of movable block
Equipped with sliding slot 6, the cross section of sliding slot 6 is circular ring shape, and 5 bottom end of movable block is equipped with a sliding sleeve 7, and sliding sleeve 7 is plugged in sliding slot 6 simultaneously
It is slidably connected with sliding slot 6, sliding slot 6 is equipped with the first spacing block set 10 close to one end of sliding sleeve 7, and sliding sleeve 7 is located at one end in sliding slot 6
It is equipped with the second spacing block set 11 in 10 corresponding position of the first spacing block set, is equipped with a weighing spring 8,5 bottom of movable block in sliding sleeve 7
End is equipped with the first groove 9 in 8 corresponding position of weighing spring, and the first groove 9 includes open end and closed end, 8 one end of weighing spring
It is connect with sliding sleeve 7,8 other end of weighing spring is protruded into the first groove 9 and connect with the closed end of the first groove 9, the first groove 9
Interior to be equipped with infrared ambulator, 5 top of movable block is set there are four upper connection sheet 12, and four upper connection sheets 12 are corresponding towards cross beam frame
3 four turnings 13, cross beam frame 3 are equipped with first idler wheel 14 at turning 13, one second rolling are equipped in the middle part of crossbeam 4
Wheel 15,5 bottom end of movable block are set there are four lower connection sheet 16, and four lower connection sheets 16 are corresponding towards four the second idler wheels 15, pillar 2
On be equipped with a lead screw 18, lead screw 18 is parallel with pillar 2, and 18 both ends of lead screw and pillar 2 are hinged, and 18 bottom end of lead screw is respectively connected with
Servo motor 19 is adjusted, slidably connects a sliding block 20 on pillar 2, sliding block 20 is threadedly engaged with lead screw 18, on sliding block 20
It is equipped with a third idler wheel 21, coiling apparatus uses hoist engine, and coiling apparatus includes first hoist 22 and second hoist
23,2 bottom end of pillar is equipped with a first hoist 22 far from control arm side, and second elevator is equipped with below crossbeam 4
Machine 23 is equipped with first bracing wire 24 in first hoist 22, and 24 one ends wound of the first bracing wire is in first hoist 22, and
One bracing wire, 24 other end is successively connected in corresponding upper connection sheet 12 after the first idler wheel 14 and third idler wheel 21, the first bracing wire
24 are resisted against 14 side of the first idler wheel, and the first bracing wire 24 is resisted against 21 side of third idler wheel, is equipped with one in second hoist 23
The second bracing wire of root 25, for 25 one ends wound of the second bracing wire in second hoist 23,25 other end of the second bracing wire passes through the second idler wheel
It is connected to after 15 in corresponding lower connection sheet 16, the second bracing wire 25 is resisted against 15 side of the second idler wheel, is equipped with clamping below control arm
Device, clamping device include ontology 26, and 26 upper surface of ontology is connected with vertical place and rotates servo motor 27, rotate servo motor
27 rotation axis and 7 bottom end of sliding sleeve are affixed, and 26 upside left and right settings of ontology has two slide bars 31, and slide bar 31 and the sliding of ontology 26 connect
It connects, two slide bars 31 are parallel to each other, and 31 both ends of slide bar are connected with a pin-joint piece 32, and ontology 26 is in 32 corresponding position of pin-joint piece
Equipped with second sliding slot 33, the trend of second sliding slot 33 is vertical with slide bar 31, the trend of second sliding slot 33 and the sliding side of slide bar 31
To parallel, 32 one end of pin-joint piece is fixed on slide bar 31, and 32 other end of pin-joint piece passes through second sliding slot 33 and is located at below ontology 26,
Pin-joint piece 32 is slidably connected with second sliding slot 33, and a toothed rack 43 is equipped on every slide bar 31, is equipped with one between slide bar 31
Servo motor 44 is controlled, servo motor 44 is controlled and ontology 26 is affixed, the output shaft of control servo motor 44 is equipped with gear 45,
The corresponding slide bar 31 in 43 one end of rack gear connects, and 43 other end of rack gear is engaged with gear 45, and two toothed racks 43 are engaged on gear
45 opposite sides, there are two collet 35,35 position of collet and 31 positions of slide bar to correspond for 26 lower section left and right settings of ontology, often
A collet 35 is slidably connected in the side far from another collet 35 there are two the second sliding block 47, and the second sliding block 47 is located at collet
The pin-joint piece 32 at 35 both ends, 31 both ends of the second sliding block 47 slide bar corresponding with the collet 35 on collet 35 corresponds, often
An electric telescopic rod 34 and second pin-joint piece 37 are equipped between the second corresponding sliding block 47 of a pin-joint piece 32, electricity
Dynamic 34 top of telescopic rod is hinged on 32 bottom end of pin-joint piece, and 34 bottom end of electric telescopic rod is hinged on 37 top of the second pin-joint piece, and second
37 bottom end of pin-joint piece is fixed on the second sliding block 47, and electric telescopic rod 34 and 32 hinged place of pin-joint piece are equipped with a bull stick servo electricity
Machine 46, bull stick servo motor 46 and pin-joint piece 32 are affixed, and bull stick servo motor 46 is connect with 34 top of electric telescopic rod, each folder
First 35 are all provided with close to the side of another collet 35 there are two intermediate plate 36, and intermediate plate 36 is fixed in 35 both ends of collet, 36 top of intermediate plate
It is equipped with a sliding intermediate plate 38, sliding intermediate plate 38 is slidably connected on collet 35, is all provided between intermediate plate 36 and sliding intermediate plate 38
There is a pressure spring 42,42 one end of pressure spring is connect with collet 35, and 42 other end of pressure spring is connect with sliding intermediate plate 38, and collet 35 is in intermediate plate
36 corresponding positions are hinged with the 4th idler wheel 39, and each collet 35 is equipped with a take-up close to another 35 side of collet
Wheel 40, for take-up pulley 40 between the 4th idler wheel 39, take-up pulley 40 is connected with take-up servo motor 41, slides and is all provided on intermediate plate 38
There is a third bracing wire 43,43 one end of third bracing wire is connected on sliding intermediate plate 38, and 43 other end of third bracing wire is by corresponding
It is connected to after 4th idler wheel 39 on corresponding take-up pulley 40, third bracing wire 43 is resisted against 39 side of the 4th idler wheel, 26 following table of ontology
Face is equipped with the second groove 28, and scissor-type lifting platform 28 is equipped in the second groove 28, and scissor-type lifting platform 28 includes platform 29,
29 lower surface of platform is equipped with sander 30, adjusts servo motor 19, first hoist 22, second hoist 23, rotates and watch
Take motor 27, scissor-type lifting platform 28, sander 30, electric telescopic rod 34, infrared ambulator, take-up servo motor 41,
Bull stick servo motor 46, control servo motor 44 are electrically connected with the controller, and the FX series of Mitsubishi PLC can be used in controller.
Use process of the present invention:
The present invention has the function of to carry and polish two kinds.
Figure 11 is the schematic diagram for grabbing flat-type workpiece, and Figure 12 is the schematic diagram for grabbing box-type workpieces, and the present invention is removing
When fortune, controller, which controls scissor-type lifting platform, to be shortened, and final scissor-type lifting platform shortens in the second groove, platform
It rises in the second groove, controller controls four first hoist and four second hoist cooperate, first hoist
Rotation drives the first bracing wire campaign, and the first bracing wire drives the first idler wheel and the rotation of third idler wheel, second hoist rotation drive the
Two bracing wire campaigns, the second bracing wire drives the rotation of the second idler wheel, under the action of the first bracing wire and the second bracing wire, before control arm or so
After move, for control control arm to the thing top for needing to carry, the present invention can grab plate and cabinet, here for the ease of retouching
It states, it is assumed that need to carry a plate, controller controls first hoist and second hoist, so as to control the first bracing wire
With the length of the second bracing wire, so as to control moving up and down for control arm, control arm is close to plate, then controller control control
Servo motor operation processed, control servo motor band moving gear rotate, the sliding of gear band carry-over bar, and rack drives sliding bar is sliding
Bar drives pin-joint piece to slide in second sliding slot, and pin-joint piece drives collet movement, and under the action of pin-joint piece, two collets are mutual
Separate, then controller control electric telescopic rod elongation, electric telescopic rod drives collet decline, when to drop to plate opposite for collet
Two sides, then controller control control servo motor inverted running, and two collets are close to each other, are finally resisted against plate two sides,
Controller controls the operation of take-up servo motor, and take-up servo motor drives take-up pulley rotation, and take-up pulley winds third bracing wire, third
Bracing wire pulls sliding intermediate plate, and sliding intermediate plate is slided to intermediate plate direction, and pressure spring shortens, and final intermediate plate and sliding intermediate plate clamp plate
Firmly, then electric telescopic rod shortens, while first hoist and second hoist running, and plate is transported to the place of polishing,
Then plate is put down, take-up servo motor running, sliding intermediate plate is located remotely from each other with intermediate plate, and intermediate plate and sliding intermediate plate are in plate
Upper release, during carrying, if necessary to pivotal plate, controller control rotation servo motor running, rotation servo electricity
Machine drives ontology rotation, and ontology drives plate rotation.
As shown in Figure 10, for the present invention when polishing, controller control control servo motor running controls servo motor
Band moving gear rotates, the sliding of gear band carry-over bar, rack drives sliding bar, and slide bar drives two collets to be located remotely from each other, meanwhile,
Controller controls the running of bull stick servo motor, and bull stick servo motor makes electric telescopic rod towards another electric telescopic rod direction
Rotation, meanwhile, controller, which controls electric telescopic rod, to be shortened, and electric telescopic rod relatively rotates with pin-joint piece, electric telescopic rod
It relatively rotates with the second pin-joint piece, relatively rotates between the second pin-joint piece and the second sliding block, the second sliding block is along folder
Head slides, and two the second sliding blocks on collet are mutually drawn close, and collet rises, and collet is mobile to ontology direction, finally, on collet
Point-blank, the distance between collet and ontology are most short for two electric telescopic rods, and then, controller controls scissors type elevating
Platform in operation, scissor-type lifting platform elongation, the platform decline of scissor-type lifting platform, sander are located at platform underside, polish
Machine drops to plate upper surface, at this point, controller control sander running, sander start polish plate, when sander against
When to plate upper surface, sleeve is slided along sliding slot, and sleeve shortens to mobile Block direction sliding, weighing spring, infrared ray
Rangefinder measures weighing spring stroke, and when polishing, first hoist and second hoist running, control sander exist
Plate upper surface slide, to realize that plate upper surface different location is polished.
Claims (10)
- The all-in-one machine 1. a kind of carrying for large surfaces spraying is polished, which is characterized in that including bracket, be equipped in the bracket For the grabbing device of grabbing workpiece, the grabbing device is equipped with sander, and the grabbing device is surrounded by several be used for The bracing wire of grabbing device translation, lifting and rotation is controlled, described bracing wire one end is connected on grabbing device, the bracing wire other end It is connect with a coiling apparatus for operating thread, the grabbing device, sander and coiling apparatus are controlled with one Device connection.
- The all-in-one machine 2. a kind of carrying for large surfaces spraying according to claim 1 is polished, which is characterized in that described Bracket includes cross beam frame and four columns, the cross beam frame by the end to end closing cyclization of four crossbeams, the crossbeam with it is adjacent It is both connected at the tie point of crossbeam on the top of the column, the grabbing device is located at below cross beam frame, the bracing wire It bypasses above crossbeam and is connect with grabbing device.
- The all-in-one machine 3. a kind of carrying for large surfaces spraying according to claim 2 is polished, which is characterized in that described Grabbing device includes control arm and clamping device, and the control arm includes movable block, and the movable block top is equipped with several upper companies Contact pin, the movable block bottom end are equipped with several lower connection sheets, and the upper connection sheet and lower connection sheet are described towards movable block surrounding Column top is equipped with the first idler wheel, and the second idler wheel is equipped in the middle part of the crossbeam, is equipped with third idler wheel, institute in the middle part of the column It states bracing wire and is divided into the first bracing wire and the second bracing wire, first bracing wire one end is connect with coiling apparatus, and first bracing wire is another End is successively connected in corresponding upper connection sheet by the first idler wheel after third idler wheel, and second bracing wire one end is connected to volume On line apparatus, the second bracing wire other end is connected in corresponding lower connection sheet, and the clamping device is located at below movable block.
- The all-in-one machine 4. a kind of carrying for large surfaces spraying according to claim 3 is polished, which is characterized in that described Column is equipped with a lead screw, and the lead screw is parallel with column, and the lead screw both ends and column are hinged, and the column, which is equipped with, to be adjusted Save servo motor, the lead screw is connect with servo motor is adjusted, slidably connect a sliding block on the column, the sliding block and Threads of lead screw cooperation, the sliding block are equipped with the third idler wheel, and the adjusting servo motor is connect with controller.
- The all-in-one machine 5. a kind of carrying for large surfaces spraying according to claim 3 is polished, which is characterized in that described Movable block bottom end is equipped with sliding slot, and the movable block bottom end is equipped with a sliding sleeve, and the sliding sleeve is plugged in sliding slot and slides with sliding slot Dynamic connection, the sliding sleeve is interior to be equipped with weighing spring, and the movable block bottom end is equipped with the first groove, institute in weighing spring corresponding position Stating the first groove includes closed end, and described weighing spring one end is connect with sliding sleeve, and it is recessed that the weighing spring other end protrudes into first It is connect in slot and with the closed end of the first groove, the infrared ray for measuring weighing spring stroke is equipped in first groove Rangefinder, the infrared ambulator are connect with controller, and the clamping device is located at below sliding sleeve.
- 6. a kind of carrying polishing all-in-one machine for large surfaces spraying, feature according to claim 3 or 4 or 5 exist In the clamping device includes ontology, and left and right settings has two slide bars on the upside of the ontology, and the slide bar and ontology sliding connect It connects, the slide bar both ends are connected with a pin-joint piece, and the ontology is equipped with second sliding slot, the hinge in pin-joint piece corresponding position Contact pin is affixed with slide bar, and the pin-joint piece is located in second sliding slot and is slidably connected with second sliding slot, is equipped on every slide bar One toothed rack is equipped with a control servo motor between the slide bar, and the control servo motor and ontology are affixed, the control The output shaft of servo motor is equipped with gear, the corresponding slide bar connection in described rack gear one end, the rack gear other end and tooth Wheel engagement, two toothed racks are engaged on the opposite sides of gear, and there are two for clamping workpiece for left and right settings below the ontology Chuck component, the position of the position of the chuck component and slide bar corresponds, the chuck component and corresponding pin-joint piece Connection, the control servo motor are connect with controller.
- The all-in-one machine 7. a kind of carrying for large surfaces spraying according to claim 6 is polished, which is characterized in that described Chuck component includes collet, and the clip position is corresponding with the position of slide bar, and the collet side is slidably connected, and there are two second Sliding block, second sliding block are located at the both ends of collet, the both ends of the second sliding block slide bar corresponding with the collet on the collet Pin-joint piece it is corresponding, an electric telescopic rod is equipped between the second corresponding sliding block of each pin-joint piece and one second is hinged Piece, the electric telescopic rod top are hinged on the bottom end of pin-joint piece, and the electric telescopic rod bottom end is hinged on the second pin-joint piece top End, second pin-joint piece bottom end are fixed on the second sliding block, and the electric telescopic rod and pin-joint piece hinged place are equipped with one and turn Bar servo motor, the bull stick servo motor and pin-joint piece are affixed, and the bull stick servo motor is connect with electric telescopic rod top, The collet is equipped with the clamping device for clamping plate, and the electric telescopic rod and bull stick servo motor connect with controller It connects.
- The all-in-one machine 8. a kind of carrying for large surfaces spraying according to claim 6 is polished, which is characterized in that described The rotation servo motor placed vertically is connected with above ontology, the rotation axis of the rotation servo motor and sliding sleeve bottom end are affixed, The rotation servo motor is connect with controller.
- The all-in-one machine 9. a kind of carrying for large surfaces spraying according to claim 6 is polished, which is characterized in that described Ontology lower surface is equipped with the second groove, is equipped with scissor-type lifting platform, the scissor-type lifting platform packet in second groove Platform is included, the scissor-type lifting platform top is connected in the second groove, and the platform is located at the bottom of scissor-type lifting platform End, the sander are located at below platform, and the scissor-type lifting platform is connect with controller.
- The all-in-one machine 10. a kind of carrying for large surfaces spraying according to claim 7 is polished, which is characterized in that institute Stating clamping device includes two intermediate plates, and the intermediate plate is fixed in collet both ends, is equipped with a sliding intermediate plate above the intermediate plate, The sliding intermediate plate is slidably connected on collet, is equipped with a pressure spring, the pressure spring one between the intermediate plate and sliding intermediate plate End is connect with collet, and the pressure spring other end is connect with intermediate plate is slided, and the collet is equipped with one the in intermediate plate corresponding position Four idler wheels, a take-up pulley is equipped between the 4th idler wheel, and the take-up pulley is connected with a take-up servo motor, the slip clamp On piece is equipped with a third bracing wire, and third bracing wire one end is connected to slip clamp on piece, the third bracing wire other end warp It is connected on corresponding take-up pulley after crossing corresponding 4th idler wheel, the third bracing wire of the 4th idler wheel two sides is on the 4th idler wheel Winding direction on the contrary, the take-up servo motor is connect with controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910314007.3A CN110125747B (en) | 2019-04-18 | 2019-04-18 | A transport all-in-one of polishing for large-scale surface coating |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910314007.3A CN110125747B (en) | 2019-04-18 | 2019-04-18 | A transport all-in-one of polishing for large-scale surface coating |
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| CN110125747A true CN110125747A (en) | 2019-08-16 |
| CN110125747B CN110125747B (en) | 2020-12-29 |
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| CN111360793A (en) * | 2020-03-31 | 2020-07-03 | 合肥工业大学 | Flexible cable driven series-parallel spraying robot mechanism and operation method thereof |
| CN111531446A (en) * | 2020-05-08 | 2020-08-14 | 刘涵 | Offshore drilling platform steelframe rust cleaning device |
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| Publication number | Publication date |
|---|---|
| CN110125747B (en) | 2020-12-29 |
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