CN110125747B - A transport all-in-one of polishing for large-scale surface coating - Google Patents
A transport all-in-one of polishing for large-scale surface coating Download PDFInfo
- Publication number
- CN110125747B CN110125747B CN201910314007.3A CN201910314007A CN110125747B CN 110125747 B CN110125747 B CN 110125747B CN 201910314007 A CN201910314007 A CN 201910314007A CN 110125747 B CN110125747 B CN 110125747B
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- sliding
- servo motor
- clamping
- chuck
- groove
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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
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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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
- B24B41/06—Work supports, e.g. adjustable steadies
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a carrying and polishing integrated machine for large-scale surface spraying, and relates to the field of processing devices; the wire winding device comprises a support, wherein a grabbing device used for grabbing a workpiece is arranged in the support, a grinding machine is arranged on the grabbing device, a plurality of pull wires are arranged around the grabbing device, one ends of the pull wires are connected to the grabbing device, the other ends of the pull wires are connected with a wire winding device used for winding and unwinding the pull wires, and the grabbing device, the grinding machine and the wire winding device are connected with a controller; the first pull wire and the second pull wire are adopted to control the control arm to move, the control arm can move freely in a three-dimensional space, so that a workpiece can be conveyed to a required position, the polisher is arranged below the body, and after the workpiece is put down, the workpiece can be immediately polished, and the conveying and polishing are in seamless connection.
Description
Technical Field
The invention belongs to the field of processing devices, and particularly relates to a carrying and polishing integrated machine for large-scale surface spraying.
Background
At present, when a large workpiece is sprayed, the workpiece needs to be carried to a specified position, the surface of the workpiece is polished smoothly in advance, and finally spraying operation is carried out. The prior method comprises the following steps: the operation track is preset, the pulley supports the workpiece to move along the operation track through the sliding groove until the polishing place, time is consumed for carrying and polishing procedures to be connected, after polishing is completed, the polished workpiece is carried out, the pulley is moved down through manpower or mechanical equipment, efficiency is low, meanwhile, the workpiece can be carried on a designated track path only, and limitation on space is large.
The Chinese patent grant publication No. CN204057067U, the patent name "a rail type carrying device", includes a rotating disc and a moving slot arranged therein, the moving slot is provided with a moving vehicle capable of sliding back and forth, the moving vehicle includes a conveying plate and a first rail arranged below the conveying plate, the rotating disc is further connected with the first rail, and the inner side of the first rail is provided with a sliding slot; although the function of conveying workpieces can be realized simply and conveniently, the workpiece is conveyed to the side of the grinding machine by the movable vehicle, the conveying and grinding procedures are troublesome to link, after the workpieces are ground, the workpieces which are ground are conveyed out by the movable vehicle, the movable vehicle is moved down by manpower or mechanical equipment, the efficiency is low, meanwhile, the workpieces can be conveyed only on a designated track path, and the limitation on space is large.
Disclosure of Invention
The invention aims to overcome the defects of low efficiency of connection between conveying and polishing and single conveying path in the prior art, and provides a conveying and polishing integrated machine which adopts a first pull wire and a second pull wire to control a control arm to move, wherein the control arm can freely move in a three-dimensional space so as to convey a workpiece to a required position, a polisher is arranged below a body, and the workpiece can be immediately polished after being put down, so that the seamless connection between conveying and polishing can be realized.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an all-in-one of polishing of transport for large-scale surface spraying, includes the support, be equipped with the grabbing device who is used for snatching the work piece in the support, the last polisher that is equipped with of grabbing device, grabbing device is equipped with a plurality of acting as go-between all around, the one end of acting as go-between is connected on grabbing device, the other end of acting as go-between all is connected with a spiral device that is used for receiving and releasing the acting as go-between, grabbing device, polisher and spiral device all are connected with a. The support plays the effect of support, grabbing device is used for snatching the work piece, grabbing device can adopt the arm on the market, grabbing device is located the support, grabbing device is located its all around acting as go-between and pulls away from ground, it can control grabbing device around the acting as go-between all around to be located grabbing device, grabbing device takes the work piece from a place another place after, the polisher on grabbing device polishes the work piece immediately, seamless connection, after polishing, grabbing device takes the work piece to the finished product district and stores, the operation of coiling device can be controlled to the controller, thereby can control the receiving and releasing of acting as go-between, thereby control grabbing device's removal, grabbing device's taking can be controlled to the controller, the switch of polisher can be controlled to the controller.
Preferably, the support comprises a cross beam frame and four upright posts, the cross beam frame is formed by connecting the four cross beams end to end in a closed ring mode, connecting points of the cross beams and the adjacent cross beams are connected to the top ends of the upright posts, the grabbing device is located below the cross beam frame, and the pull wire bypasses from the upper portion of the cross beams and is connected with the grabbing device. The stand plays the effect of supporting the crossbeam frame, and the crossbeam frame has four crossbeams end to seal the cyclization, and rigidity is very big, and the tie point at the crossbeam is connected to the stand, and the atress is reasonable, and the acting as go-between is walked around from the crossbeam top, and the acting as go-between can support and lean on the crossbeam, and when the acting as go-between was receiving and releasing, the acting as go-between can slide on the crossbeam, and the crossbeam bears the pressure.
Preferably, the gripping device comprises a control arm and a clamping device, the control arm comprises a moving block, a plurality of upper connecting pieces are arranged at the top end of the moving block, a plurality of lower connecting pieces are arranged at the bottom end of the moving block, the upper connecting pieces and the lower connecting pieces face the periphery of the moving block, first idler wheels are arranged at the top ends of the stand columns, second idler wheels are arranged in the middle of the cross beam, third idler wheels are arranged in the middle of the stand columns, the stay wires are divided into first stay wires and second stay wires, one ends of the first stay wires are connected with the winding device, the other ends of the first stay wires are connected to the corresponding upper connecting pieces after passing through the first idler wheels and the third idler wheels, one ends of the second stay wires are connected to the winding device, the other ends of the second stay wires are connected to the corresponding lower connecting pieces. The movable block plays a role in supporting the clamping device, the first idler wheel, the second idler wheel and the third idler wheel can play a role in guiding and lubricating, the upper connecting sheet is connected with the first pull wire, the lower connecting sheet is connected with the second pull wire, the component force of the pull force of the upper connecting sheet is downward given by the first pull wire, the component force of the pull wire of the lower connecting sheet is upward given by the second pull wire, the control arm can be controlled to press a workpiece downwards by controlling the first pull wire, the control arm drives the grinding machine to press the workpiece downwards, the grinding pressure between the grinding machine and the workpiece is increased, the second pull wire is controlled, and the lifting of the control arm can be controlled. The sander is located on the clamping device.
Preferably, a lead screw is arranged on the stand column, the lead screw is parallel to the stand column, two ends of the lead screw are hinged to the stand column, an adjusting servo motor is arranged on the stand column, the lead screw is connected with the adjusting servo motor, a sliding block is connected to the stand column in a sliding mode, the sliding block is in threaded fit with the lead screw, a third roller is arranged on the sliding block, and the adjusting servo motor is connected with the controller. The controller can control and adjust servo motor operation, adjusts servo motor and drives the lead screw and rotate, and the lead screw drives the slider and slides on the stand, and the slider drives the third gyro wheel and slides from top to bottom along the stand to can control the angle of first acting as go-between and last connection piece, prevent that first acting as go-between and second act as go-between winding together, guarantee equipment normal operating, the size of the first component of acting as go-between downwards can be controlled to the third gyro wheel, thereby the pressure between control polisher and the work piece.
Preferably, the bottom end of the moving block is provided with a sliding groove, the bottom end of the moving block is provided with a sliding sleeve, the sliding sleeve is inserted into the sliding groove and is in sliding connection with the sliding groove, a weighing spring is arranged in the sliding sleeve, the bottom end of the moving block is provided with a first groove at a position corresponding to the weighing spring, the first groove comprises a closed end, one end of the weighing spring is connected with the sliding sleeve, the other end of the weighing spring extends into the first groove and is connected with the closed end of the first groove, an infrared distance meter for measuring the stretching amount of the weighing spring is arranged in the first groove, the infrared distance meter is connected with a controller, and the clamping device is located below the sliding sleeve. Clamping device connects in the sliding sleeve below, and the sliding sleeve can slide from top to bottom in the spout, and the sliding sleeve drives the spring of weighing and stretches out and draws back, and first recess is used for holding the spring of weighing, can reduce the product volume, and infrared distance meter can record the distance between first recess closed end to the sliding sleeve, promptly, the length of spring of weighing to can record the flexible volume of spring of weighing, when the work piece when polishing, the spring of weighing can stretch out and draw back, thereby can survey the pressure of polishing according to hooke's law.
Preferably, the clamping device comprises a body, two slide bars are arranged on the left and right sides of the upper side of the body, the slide bars are in sliding connection with the body, two ends of each slide bar are fixedly connected with a hinge piece, a second chute is arranged at the position of the body corresponding to the hinge piece, the hinge pieces are fixedly connected with the slide bars, the hinge pieces are positioned in the second chutes and are in sliding connection with the second chutes, each slide bar is provided with a rack, a control servo motor is arranged between the slide bars and is fixedly connected with the body, an output shaft of the control servo motor is provided with a gear, one end of each rack is connected with the corresponding slide bar, the other end of each rack is meshed with the gear, the two racks are meshed on two opposite sides of the gear, two clamping head assemblies used for clamping workpieces are arranged on the left and right sides below the body, and the positions of the clamping head, the chuck component is connected with the corresponding hinging sheet, and the control servo motor is connected with the controller. The servo motor is controlled to drive the gear to rotate, the racks are meshed on two opposite sides of the gear, therefore, the gear synchronously controls the racks to open and close, the racks drive the two sliding rods to open and close, the sliding rods drive the hinging pieces to open and close, and therefore opening and closing of the chuck assemblies are controlled, and the two chuck assemblies can clamp workpieces.
Preferably, the chuck assembly comprises a chuck, the position of the chuck corresponds to the position of the slide rod, two second slide blocks are slidably connected to one side of the chuck, the second slide blocks are located at two ends of the chuck, the second slide blocks on the chuck correspond to the hinged pieces at two ends of the slide rod corresponding to the chuck, an electric telescopic rod and a second hinged piece are arranged between each hinged piece and the corresponding second slide block, the top end of the electric telescopic rod is hinged to the bottom end of the hinged piece, the bottom end of the electric telescopic rod is hinged to the top end of the second hinged piece, the bottom end of the second hinged piece is fixedly connected to the second slide block, a rotating rod servo motor is arranged at the hinged position of the electric telescopic rod and the hinged piece, the rotating rod servo motor is fixedly connected to the hinged piece, the rotating rod servo motor is connected to the top end of the electric telescopic rod, and a clamping device for clamping a, and the electric telescopic rod and the rotating rod servo motor are both connected with the controller. The chuck plays the effect of support, electric telescopic handle can control reciprocating of chuck, and bull stick servo motor can control electric telescopic handle's rotation, electric telescopic handle rotates and can removes the second slider and move on the chuck, the articulated piece of second plays the effect of transmission, when electric telescopic handle pivoted, the chuck reciprocates, when electric telescopic handle rotates horizontal position, the position of chuck is the highest, when the polisher was polished this moment, the work piece can not be touched to the chuck, avoid disturbing and polish.
Preferably, a vertically-arranged rotating servo motor is fixedly connected to the upper portion of the body, a rotating shaft of the rotating servo motor is fixedly connected with the bottom end of the sliding sleeve, and the rotating servo motor is connected with the controller. The rotary servo motor is additionally arranged, and the controller controls the rotary servo motor to rotate, so that the sliding sleeve and the body rotate relatively, and a workpiece can be rotated.
As preferred, the body lower surface is equipped with the second recess, be equipped with in the second recess and cut fork lift platform, it includes the platform to cut fork lift platform, it connects in the second recess to cut fork lift platform top, the platform is located the bottom of cutting fork lift platform, the polisher is located the platform below, it is connected with the controller to cut fork lift platform. The body downside is equipped with the second recess, and the controller can control scissors fork lift platform flexible to can control platform's lift, thereby can control the lift of polisher, when polishing, the chuck rises, and the polisher descends chuck below, when polishing, the polisher is polished at the work piece upper surface to controller control, and the polisher need move about around the work piece upper surface simultaneously, and the chuck just can not be touched to the work piece this moment.
Preferably, the clamping device comprises two clamping pieces which are fixedly connected at two ends of the chuck, a sliding clamping piece is arranged above each clamping piece, the sliding clamping piece is connected on the chuck in a sliding way, a pressure spring is arranged between the clamping piece and the sliding clamping piece, one end of the pressure spring is connected with the clamping head, the other end of the pressure spring is connected with the sliding clamping piece, the clamping head is provided with a fourth roller wheel at the position corresponding to the clamping piece, a take-up pulley is arranged between the fourth roller wheels, the take-up pulley is connected with a take-up servo motor, the sliding clamping sheets are respectively provided with a third pull wire, one end of the third pull wire is connected on the sliding clamping piece, the other end of the third pull wire is connected on the corresponding take-up pulley after passing through the corresponding fourth roller, and the winding directions of the third pull wires on the two sides of the fourth roller are opposite, and the take-up servo motor is connected with the controller. The controller controls the take-up servo motor to work, the take-up servo motor drives the take-up pulley to rotate, the third pull wire is wound on the take-up pulley, the winding directions of the third pull wires on the two sides are opposite, the third pull wires on the two sides are guaranteed to be synchronously wound and unwound, when the third pull wire is wound, the pressure spring is compressed, the sliding clamping piece is close to the clamping piece, the clamping piece and the sliding clamping piece can clamp a workpiece, when the third pull wire is unwound, the pressure spring pushes the sliding clamping piece to the direction away from the clamping piece, and the workpiece is loosened.
The invention has the beneficial effects that: the first pull wire and the second pull wire are adopted to control the control arm to move, the control arm can move freely in a three-dimensional space, so that a workpiece can be conveyed to a required position, the polisher is arranged below the body, and after the workpiece is put down, the workpiece can be immediately polished, and the conveying and polishing are in seamless connection.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 1 at A;
FIG. 4 is a cross-sectional view B-B of FIG. 2;
FIG. 5 is an enlarged view of a portion of FIG. 4 at C;
fig. 6 is a partial enlarged view of fig. 5 at D;
FIG. 7 is a top view of the clamping device;
FIG. 8 is a cross-sectional view E-E of FIG. 7;
fig. 9 is a partial enlarged view at F of fig. 5;
FIG. 10 is a state diagram of the gripping device and scissor lift platform of the present invention during sanding;
FIG. 11 is a schematic view of the grasping apparatus grasping a plate;
fig. 12 is a schematic view of the gripping device gripping the box.
In the figure: the device comprises a bracket 1, a vertical column 2, a cross beam frame 3, a cross beam 4, a moving block 5, a sliding chute 6, a sliding sleeve 7, a weighing spring 8, a first groove 9, a first limit bump 10, a second limit bump 11, an upper connecting sheet 12, a corner 13, a first roller 14, a second roller 15, a lower connecting sheet 16, a screw 18, an adjusting servo motor 19, a sliding block 20, a third roller 21, a first winch 22, a second winch 23 and a first pull wire 24, the device comprises a second pull wire 25, a body 26, a rotating servo motor 27, a scissor type lifting platform 28, a platform 29, a grinding machine 30, a sliding rod 31, a hinge plate 32, a second sliding chute 33, an electric telescopic rod 34, a clamping head 35, a clamping piece 36, a second hinge plate 37, a sliding clamping piece 38, a fourth roller 39, a take-up wheel 40, a take-up servo motor 41, a pressure spring 42, a rack 43, a control servo motor 44, a gear 45, a rotating rod servo motor 46 and a second sliding block 47.
Detailed Description
The invention is explained in further detail below with reference to the figures and the detailed description:
example (b):
fig. 1 to 9 show a carrying and polishing integrated machine for large-scale surface spraying, which comprises a support 1, a gripping device is arranged in the support 1, the gripping device comprises a control arm and a clamping device, the support 1 comprises four upright posts 2 and a cross beam frame 3, the cross beam frame 3 is horizontally arranged, the upright posts 2 are vertically arranged, the cross beam frame 3 is formed by connecting four cross beams 4 end to form a square structure, the top end of each upright post 2 is fixedly connected with four corners 13 of the cross beam frame 3, a control arm is arranged below the cross beam frame 3, the control arm comprises a movable block 5, the bottom end of the movable block 5 is provided with a chute 6, the cross section of the chute 6 is circular, the bottom end of the movable block 5 is provided with a sliding sleeve 7, the sliding sleeve 7 is inserted in the chute 6 and is in sliding connection with the chute 6, one end of the chute 6 close to the sliding sleeve 7 is provided with a first limit bump 10, one, a weighing spring 8 is arranged in the sliding sleeve 7, a first groove 9 is arranged at the bottom end of the moving block 5 at a position corresponding to the weighing spring 8, the first groove 9 comprises an open end and a closed end, one end of the weighing spring 8 is connected with the sliding sleeve 7, the other end of the weighing spring 8 extends into the first groove 9 and is connected with the closed end of the first groove 9, an infrared distance meter is arranged in the first groove 9, four upper connecting sheets 12 are arranged at the top end of the moving block 5, the four upper connecting sheets 12 correspond to four corners 13 facing the beam frame 3, the beam frame 3 is provided with a first roller 14 at the corners 13, a second roller 15 is arranged at the middle part of the beam 4, four lower connecting sheets 16 are arranged at the bottom end of the moving block 5, the four lower connecting sheets 16 correspond to the four second rollers 15, a lead screw 18 is arranged on the strut 2, the lead screw 18 is parallel to the strut 2, two ends of the lead screw 18, a sliding block 20 is connected on each pillar 2 in a sliding mode, the sliding blocks 20 are in threaded fit with a lead screw 18, a third roller 21 is arranged on each sliding block 20, a winding device is adopted and comprises a first winding machine 22 and a second winding machine 23, the first winding machine 22 is arranged on one side, away from a control arm, of the bottom end of each pillar 2, a second winding machine 23 is arranged below each cross beam 4, a first pull wire 24 is arranged on each first winding machine 22, one end of each first pull wire 24 is wound on each first winding machine 22, the other end of each first pull wire 24 passes through the first roller 14 and the third roller 21 in sequence and is connected to the corresponding upper connecting piece 12, the first pull wire 24 abuts against one side of the first roller 14, the first pull wire 24 abuts against one side of the third roller 21, each second winding machine 23 is provided with a second pull wire 25, one end of each second pull wire 25 is wound on the second winding machine 23, the other end of each second pull wire 25 passes through the second connecting piece 15 and is connected to the corresponding lower connecting piece 16, the second pull wire 25 is abutted against one side of the second roller 15, a clamping device is arranged below the control arm, the clamping device comprises a body 26, a vertically-placed rotary servo motor 27 is fixedly connected to the upper surface of the body 26, a rotary shaft of the rotary servo motor 27 is fixedly connected with the bottom end of the sliding sleeve 7, two sliding rods 31 are arranged on the left side and the right side of the upper side of the body 26, the sliding rods 31 are slidably connected with the body 26, the two sliding rods 31 are parallel to each other, two ends of each sliding rod 31 are fixedly connected with a hinge plate 32, a second sliding chute 33 is arranged at a position of the body 26 corresponding to the hinge plate 32, the direction of the second sliding chute 33 is perpendicular to the sliding rods 31, the direction of the second sliding chute 33 is parallel to the sliding direction of the sliding rods 31, one end of each hinge plate 32 is fixedly connected with the corresponding sliding rod 31, the other end of each hinge plate 32 penetrates through the second sliding chute 33 and is positioned, a control servo motor 44 is fixedly connected with the body 26, a gear 45 is arranged on an output shaft of the control servo motor 44, one end of a rack 43 is connected with the corresponding slide rod 31, the other end of the rack 43 is meshed with the gear 45, the two racks 43 are meshed on two opposite sides of the gear 45, two chucks 35 are arranged on the left and right of the lower part of the body 26, the positions of the chucks 35 are in one-to-one correspondence with the positions of the slide rods 31, two second sliding blocks 47 are connected to one side of each chuck 35 far away from the other chuck 35 in a sliding manner, the second sliding blocks 47 are positioned at two ends of each chuck 35, the second sliding blocks 47 on the chucks 35 are in one-to-one correspondence with the hinge plates 32 at two ends of the slide rod 31 corresponding to the chuck 35, an electric telescopic rod 34 and a second hinge plate 37 are arranged between each hinge plate 32 and the corresponding second sliding block 47, the top end of the, the bottom end of the second hinged sheet 37 is fixedly connected to a second sliding block 47, a rotating rod servo motor 46 is arranged at the hinged position of the electric telescopic rod 34 and the hinged sheet 32, the rotating rod servo motor 46 is fixedly connected to the hinged sheet 32, the rotating rod servo motor 46 is connected to the top end of the electric telescopic rod 34, two clamping sheets 36 are arranged on one side of each clamping head 35 close to the other clamping head 35, the clamping sheets 36 are fixedly connected to two ends of each clamping head 35, a sliding clamping sheet 38 is arranged above each clamping sheet 36, each sliding clamping sheet 38 is slidably connected to each clamping head 35, a pressure spring 42 is arranged between each clamping sheet 36 and each sliding clamping sheet 38, one end of each pressure spring 42 is connected to each clamping head 35, the other end of each pressure spring 42 is connected to each sliding clamping sheet 38, each clamping head 35 is hinged to a fourth roller 39 at the corresponding position of each clamping head 36, a take-up pulley 40 is arranged on one side of each clamping head, all be equipped with a third stay wire on the slip clamping piece 38, third stay wire one end is connected on slip clamping piece 38, and the third stay wire other end is connected on corresponding take-up pulley 40 behind the fourth gyro wheel 39 that corresponds, and the third stay wire supports and leans on in fourth gyro wheel 39 one side, and body 26 lower surface is equipped with second recess 28, is equipped with scissor lift platform 28 in the second recess 28, and scissor lift platform 28 includes platform 29, platform 29 lower surface is equipped with polisher 30, adjusts servo motor 19, first hoisting machine 22, second hoisting machine 23, rotates servo motor 27, scissor lift platform 28, polisher 30, electric telescopic handle 34, infrared distance meter, receipts line servo motor 41, bull stick servo motor 46, control servo motor 44 and all are connected with the controller electricity, and the controller can adopt the FX series of mitsubishi PLC.
The use process of the invention is as follows:
the invention has two functions of carrying and polishing.
FIG. 11 is a schematic view for grabbing flat plate workpieces, FIG. 12 is a schematic view for grabbing box workpieces, in the carrying process of the present invention, a controller controls a scissor-type lifting platform to be shortened, and finally the scissor-type lifting platform is shortened into a second groove, and the platform is lifted into the second groove, the controller controls four first winches and four second winches to cooperatively work, the first winch rotates to drive a first pull wire to move, the first pull wire drives a first roller and a third roller to rotate, the second winch rotates to drive a second pull wire to move, the second pull wire drives a second roller to rotate, and under the action of the first pull wire and the second pull wire, a control arm moves back and forth left and right, and the control arm is controlled to be above the objects to be carried, wherein for convenience of description, assuming that a flat plate needs to be carried, the controller controls the first winch and the second winch, thereby controlling the length of the first stay wire and the second stay wire, controlling the up-and-down movement of the control arm, enabling the control arm to be close to a flat plate, controlling the servo motor to operate by the controller, controlling the servo motor to drive the gear to rotate, driving the rack to slide by the gear, driving the slide rod to slide by the rack, driving the hinge piece to slide in the second chute by the slide rod, driving the chucks to move by the hinge piece, enabling the two chucks to be far away from each other under the action of the hinge piece, controlling the electric telescopic rod to extend by the controller, driving the chucks to descend by the electric telescopic rod, controlling the servo motor to operate in reverse direction when the chucks descend to two opposite sides of the flat plate by the controller, enabling the two chucks to be close to each other and finally abut against two sides of the flat plate, controlling the take-up servo motor to operate, driving the take-up wheel to, the slip clamping piece slides to the clamping piece direction, the pressure spring shortens, final clamping piece and slip clamping piece are firmly held the flat board, then electric telescopic handle shortens, first hoist engine and second hoist engine function simultaneously, carry the flat board to the place of polishing, then put the flat board down, receive line servo motor function, slip clamping piece and clamping piece are kept away from each other, the clamping piece loosens on the flat board with the slip clamping piece, in the process of transport, if need rotate the flat board, controller control rotates servo motor function, it is rotatory to rotate servo motor drive body, the body drives the flat board and rotates.
As shown in FIG. 10, during polishing, the controller controls the servo motor to operate, controls the servo motor to drive the gear to rotate, controls the gear to drive the rack to slide, drives the slide rod to slide, drives the two chucks to move away from each other, controls the rotary rod servo motor to operate, and controls the rotary rod servo motor to rotate the electric telescopic rod towards the other electric telescopic rod, meanwhile, controls the electric telescopic rod to shorten, drives the electric telescopic rod and the hinge plate to rotate relatively, drives the electric telescopic rod and the second hinge plate to rotate relatively, drives the second hinge plate and the second slide block to rotate relatively, slides along the chucks, the two second slide blocks on the chucks approach each other, the chucks ascend and move towards the body, and finally, the two electric telescopic rods on the chucks are on the same straight line, and the distance between the chucks and the body is shortest, then, controller control scissors fork lift platform function, scissors fork lift platform extension, the platform of scissors fork lift platform descends, the polisher is located the platform downside, the polisher descends to dull and stereotyped upper surface, at this moment, controller control polisher function, the polisher begins to polish the flat board, when the polisher supports to dull and stereotyped upper surface, the sleeve slides along the spout, the sleeve slides to the movable block direction, the spring of weighing shortens, infrared distance meter records the spring flexible volume of weighing, when polishing, first hoist engine and second hoist engine function, the control polisher slides at dull and stereotyped upper surface, thereby realize dull and stereotyped upper surface different positions and polish.
Claims (5)
1. A carrying and polishing integrated machine for large-scale surface spraying is characterized by comprising a support, wherein a grabbing device for grabbing a workpiece is arranged in the support, a polisher is arranged on the grabbing device, a plurality of pull wires for controlling the grabbing device to translate, lift and rotate are arranged on the periphery of the grabbing device, one end of each pull wire is connected to the grabbing device, the other end of each pull wire is connected with a wire winding device for winding and unwinding the pull wire, and the grabbing device, the polisher and the wire winding device are all connected with a controller;
the support comprises a cross beam frame and four upright posts, the cross beam frame is formed by connecting the four cross beams end to end in a closed ring mode, connecting points of the cross beams and the adjacent cross beams are connected to the top ends of the upright posts, the gripping device is located below the cross beam frame, and the pull wire bypasses from the upper side of the cross beams and is connected with the gripping device;
the grabbing device comprises a control arm and a clamping device, the control arm comprises a moving block, a plurality of upper connecting pieces are arranged at the top end of the moving block, a plurality of lower connecting pieces are arranged at the bottom end of the moving block, the upper connecting pieces and the lower connecting pieces face the periphery of the moving block, first idler wheels are arranged at the top ends of the stand columns, second idler wheels are arranged in the middle of the cross beam, third idler wheels are arranged in the middle of the stand columns, the stay wires are divided into first stay wires and second stay wires, one ends of the first stay wires are connected with the wire coiling device, the other ends of the first stay wires are connected to the corresponding upper connecting pieces after passing through the first idler wheels and the third idler wheels, one ends of the second stay wires are connected to the wire coiling device, the other ends of the second stay wires are connected to the corresponding lower connecting;
the clamping device comprises a body, two slide bars are arranged on the left and right sides of the upper side of the body, the slide bars are in sliding connection with the body, two ends of each slide bar are fixedly connected with a hinge piece, a second sliding groove is formed in the corresponding position of each hinge piece of the body, each hinge piece is fixedly connected with the corresponding slide bar, each hinge piece is positioned in the corresponding second sliding groove and is in sliding connection with the corresponding second sliding groove, each slide bar is provided with a rack, a control servo motor is arranged between the slide bars and is fixedly connected with the body, an output shaft of the control servo motor is provided with a gear, one end of each rack is connected with the corresponding slide bar, the other end of each rack is meshed with the gear, the two racks are meshed on two opposite sides of the gear, two chuck assemblies used for clamping workpieces are arranged on the left and right sides below the body, and the, the chuck component is connected with the corresponding hinge piece, and the control servo motor is connected with the controller;
the chuck component comprises a chuck, the position of the chuck corresponds to that of the slide rod, one side of the chuck is connected with two second slide blocks in a sliding way, the second sliding blocks are positioned at the two ends of the chuck, the second sliding blocks on the chuck correspond to the hinged sheets at the two ends of the sliding rod corresponding to the chuck, an electric telescopic rod and a second hinged sheet are arranged between each hinged sheet and the corresponding second sliding block, the top end of the electric telescopic rod is hinged at the bottom end of the hinging sheet, the bottom end of the electric telescopic rod is hinged at the top end of the second hinging sheet, the bottom end of the second hinged sheet is fixedly connected to the second sliding block, a rotating rod servo motor is arranged at the hinged position of the electric telescopic rod and the hinged sheet, the rotating rod servo motor is fixedly connected with the hinging sheet, the rotating rod servo motor is connected with the top end of the electric telescopic rod, the clamping device for clamping the flat plate is arranged on the chuck, and the electric telescopic rod and the rotating rod servo motor are both connected with the controller;
the clamping device comprises two clamping pieces which are fixedly connected at two ends of the chuck, a sliding clamping piece is arranged above each clamping piece, the sliding clamping piece is connected on the chuck in a sliding way, a pressure spring is arranged between the clamping piece and the sliding clamping piece, one end of the pressure spring is connected with the clamping head, the other end of the pressure spring is connected with the sliding clamping piece, the clamping head is provided with a fourth roller wheel at the position corresponding to the clamping piece, a take-up pulley is arranged between the fourth roller wheels, the take-up pulley is connected with a take-up servo motor, the sliding clamping sheets are respectively provided with a third pull wire, one end of the third pull wire is connected on the sliding clamping piece, the other end of the third pull wire is connected on the corresponding take-up pulley after passing through the corresponding fourth roller, and the winding directions of the third pull wires on the two sides of the fourth roller are opposite, and the take-up servo motor is connected with the controller.
2. The carrying and polishing all-in-one machine for large-scale surface spraying according to claim 1, wherein a lead screw is arranged on the upright, the lead screw is parallel to the upright, two ends of the lead screw are hinged to the upright, an adjusting servo motor is arranged on the upright, the lead screw is connected with the adjusting servo motor, a sliding block is connected to the upright in a sliding mode, the sliding block is in threaded fit with the lead screw, the third roller is arranged on the sliding block, and the adjusting servo motor is connected with a controller.
3. The all-in-one machine for carrying and grinding large-scale surface painting according to claim 1, wherein a sliding groove is formed in the bottom end of the moving block, a sliding sleeve is arranged at the bottom end of the moving block, the sliding sleeve is inserted into the sliding groove and slidably connected with the sliding groove, a weighing spring is arranged in the sliding sleeve, a first groove is formed in the bottom end of the moving block at a position corresponding to the weighing spring, the first groove comprises a closed end, one end of the weighing spring is connected with the sliding sleeve, the other end of the weighing spring extends into the first groove and is connected with the closed end of the first groove, an infrared distance meter for measuring the expansion and contraction amount of the weighing spring is arranged in the first groove, the infrared distance meter is connected with a controller, and the clamping device is located below the sliding.
4. The carrying and grinding integrated machine for large-scale surface spraying according to claim 1, wherein a vertically arranged rotating servo motor is fixedly connected above the body, a rotating shaft of the rotating servo motor is fixedly connected with the bottom end of the sliding sleeve, and the rotating servo motor is connected with a controller.
5. The carrying and polishing all-in-one machine for large-scale surface spraying according to claim 1, wherein a second groove is formed in the lower surface of the body, a scissor type lifting platform is arranged in the second groove and comprises a platform, the top end of the scissor type lifting platform is connected into the second groove, the platform is located at the bottom end of the scissor type lifting platform, the polishing machine is located below the platform, and the scissor type lifting platform is connected with a controller.
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| CN110125747B true CN110125747B (en) | 2020-12-29 |
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| CN111360793B (en) * | 2020-03-31 | 2022-07-05 | 合肥工业大学 | Flexible cable driven series-parallel spraying robot mechanism and operation method thereof |
| CN111531446B (en) * | 2020-05-08 | 2021-12-17 | 瑞安市金易得机电有限公司 | Offshore drilling platform steelframe rust cleaning device |
| CN112975616A (en) * | 2021-04-06 | 2021-06-18 | 杭州三耐环保科技股份有限公司 | Double-span truss robot for inspecting electrode plate |
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