CN110202460A - Milling robot - Google Patents
Milling robot Download PDFInfo
- Publication number
- CN110202460A CN110202460A CN201910383729.4A CN201910383729A CN110202460A CN 110202460 A CN110202460 A CN 110202460A CN 201910383729 A CN201910383729 A CN 201910383729A CN 110202460 A CN110202460 A CN 110202460A
- Authority
- CN
- China
- Prior art keywords
- robot body
- bracket
- polishing roller
- robot
- polishing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003801 milling Methods 0.000 title claims abstract description 27
- 238000005498 polishing Methods 0.000 claims abstract description 65
- 238000000227 grinding Methods 0.000 claims abstract description 26
- 239000003463 adsorbent Substances 0.000 claims abstract description 14
- BVPWJMCABCPUQY-UHFFFAOYSA-N 4-amino-5-chloro-2-methoxy-N-[1-(phenylmethyl)-4-piperidinyl]benzamide Chemical compound COC1=CC(N)=C(Cl)C=C1C(=O)NC1CCN(CC=2C=CC=CC=2)CC1 BVPWJMCABCPUQY-UHFFFAOYSA-N 0.000 claims description 13
- 238000004064 recycling Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 239000003795 chemical substances by application Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 9
- 238000001816 cooling Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- 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
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
-
- 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
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The present invention provides a kind of milling robot, including robot body, adsorbent equipment, running gear and grinding device, running gear and grinding device are arranged on robot body, adsorbent equipment is arranged on robot body and/or running gear, adsorbent equipment is for adsorbing working face, and running gear is for driving robot body to walk along working face；Grinding device includes bracket, driving device and polishing roller, bracket is connected with robot body, driving device is arranged on bracket, roller of polishing is in shuttle shape, the end of shuttle shape is connect by connecting shaft with holder pivots, the output end of driving device with connect axis connection, connecting shaft and shuttle shape coaxial line, driving device is polished for driving polishing roller to rotate centered on connecting shaft relative to robot body with treating polishing object.Working efficiency and grinding effect can be improved in the present invention.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of milling robots.
Background technique
Water-cooling wall is the main heated portion of boiler, is made of number row's steel pipe, is distributed in the surrounding of boiler furnace, water-cooling wall
Inside be flowing water or steam, the heat of the flame for receiving boiler furnace.
However, water-cooling wall surface dirt easy to form and rust deposite in use, reduce heat exchanger effectiveness.Current pot
Dirt and rust deposite on the water-cooling wall of furnace usually require staff and carry out polishing removal, working efficiency using hand-held grinding device
Lower and grinding effect is bad.
Summary of the invention
The present invention provides a kind of milling robot, to improve working efficiency and grinding effect.
The present invention provides a kind of milling robot, including robot body, adsorbent equipment, running gear and grinding device,
The running gear and grinding device are arranged on the robot body, and the adsorbent equipment is arranged in the robot body
And/or on running gear, the adsorbent equipment is for adsorbing working face, and the running gear is for driving the robot body
It walks along the working face；The grinding device includes bracket, driving device and polishing roller, the bracket and the robot master
Body is connected, and on the bracket, the polishing roller is in shuttle shape, and the end of the shuttle shape passes through connection for the driving device setting
Axis is connect with the holder pivots, the output end of the driving device and the connection axis connection, the connecting shaft and the shuttle
Shape coaxial line, the driving device is for driving the polishing roller centered on the connecting shaft relative to the robot body
Rotation is polished with treating polishing object.
Based on above-mentioned, milling robot provided by the invention, in use, work can be adsorbed by adsorbent equipment
Face, so that running gear is for driving robot body can when needs, which treat polishing object, is polished along working face walking
Polishing roller is set to be in contact with object to be polished, while driving device drives polishing roller centered on connecting shaft relative to robot master
Body rotation, as a result, without manually polishing, improves the effect of polishing to realize the polishing for object to be polished
Rate.In addition, since polishing roller is in shuttle shape, and the end of shuttle shape is connect by the connecting shaft of coaxial line with holder pivots, therefore, when
Wait object of polishing there are when groove or interior concave plane, the middle part of roller of polishing can be deep enough to being beaten in groove or interior concave plane
Mill, to improve grinding effect.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of milling robot provided in an embodiment of the present invention；
Fig. 2 is a kind of bottom view of milling robot provided in an embodiment of the present invention；
Fig. 3 is a kind of partial structural diagram of milling robot provided in an embodiment of the present invention；
Fig. 4 is a kind of front view of milling robot (not showing getter device) provided in an embodiment of the present invention.
Appended drawing reference:
101: robot body；102: adsorbent equipment；103: running gear；
104: grinding device；105: bracket；106: polishing roller；
107: steel wire；108: lifting device；109: motor；
110: guide rail；111: screw rod；112: getter device；
113: driving device.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1-4 is please referred to, the embodiment of the present invention provides a kind of milling robot, including robot body 101, adsorbent equipment
102, running gear 103 and grinding device 104, running gear 103 and grinding device 104 are arranged on robot body 101, inhale
Adsorption device 102 is arranged on robot body 101 and/or running gear 103, and adsorbent equipment 102 is walked for adsorbing working face
Device 103 is for driving robot body 101 to walk along working face；Grinding device 104 includes bracket 105,113 and of driving device
Polishing roller 106, bracket 105 are connected with robot body 101, and driving device 113 is arranged on bracket 105, and polishing roller 106 is in
Shuttle shape, the end of shuttle shape are rotatablely connected by connecting shaft and bracket 105, the output end of driving device 113 with connect axis connection, company
Spindle and shuttle shape coaxial line, driving device 113 is for driving polishing roller 106 centered on connecting shaft relative to robot body
101 rotations are polished with treating polishing object.
Milling robot in the present embodiment can adsorb working face by adsorbent equipment 102 in use, so that
Running gear 103, can when needs, which treat polishing object, is polished for driving robot body 101 to walk along working face
Polishing roller 106 is set to be in contact with object to be polished, while the driving polishing roller 106 of driving device 113 is opposite centered on connecting shaft
It rotates in robot body 101, to realize the polishing for object to be polished, as a result, without manually polishing, mentions
The high efficiency of polishing.In addition, since polishing roller 106 is in shuttle shape, i.e., polishing 106 mid diameter of roller is larger and the diameter at both ends
It is smaller, and the end of shuttle shape is rotatablely connected by the connecting shaft and bracket 105 of coaxial line, therefore, when there are recessed for object to be polished
When slot or interior concave plane, the middle part for roller 106 of polishing can be deep enough to polishing in groove or interior concave plane, to improve polishing
Effect.
In the present embodiment, it is preferred that polishing roller 106 includes steel wire 107, length direction spiral shell of the steel wire 107 along polishing roller 106
Rotation extends and forms shuttle shape.Since polishing 106 outer profile of roller is formed by helical form steel wire 107, it is conducive to improve polishing roller
106 grinding effect and the weight for mitigating polishing roller 106.
In the present embodiment, it is preferred that milling robot further includes lifting device 108, and lifting device 108 is arranged in robot
In main body 101, and it is connected with bracket 105, for driving grinding device 104 to move along the short transverse of robot body 101.
As a result, when object of polishing is working face, grinding device 104 can be driven along robot body's 101 by lifting device 108
Short transverse is mobile so that polishing roller 106 is in contact and polishes with working face, after polishing, can pass through lifting device
108 driving grinding devices 104 are moved along the short transverse of robot body 101 so that roller 106 of polishing mutually is separated with working face, from
And prevent polishing roller 106 from colliding in milling robot moving process with working face, improve what milling robot used
Reliability.
In the present embodiment, it is preferred that polishing roller 106 is arranged along the width direction of robot body 101.Work as polishing as a result,
When robot walks in the duct, the length direction of robot body 101 can be adjusted to the axial direction of pipeline, roller of polishing at this time
106 radially extending along pipeline, due to polishing 106 mid diameter of roller is larger and the diameter at both ends is smaller, roller of polishing
106 can fit with the inner surface of pipeline, to be conducive to improve the grinding effect of the inner surface of pipeline, while can make sander
Device people along pipeline axial traveling, thus enable to polish roller 106 while milling robot is mobile to the inner surface of pipeline
Carry out lasting polishing.Wherein, the length direction of robot body 101 and width direction are only to perpendicular to robot body
The name of 101 short transverse and orthogonal both direction is not length in the longitudinal direction to robot body 101
The limitation of degree and length in the direction of the width, specifically the length of robot body 101 in the longitudinal direction is not necessarily
The length being longer than in width direction.
In the present embodiment, it is preferred that lifting device 108 includes motor 109, guide rail 110 and screw rod 111, and guide rail 110 is along machine
The short transverse of device human agent 101 is arranged, and bracket 105 is slidably installed on guide rail 110；Screw rod 111 it is parallel with guide rail 110 and and machine
Human agent 101 is rotatablely connected, and bracket 105 is equipped with threaded hole, and screw rod 111 is threaded through in threaded hole and connects with threaded hole screw thread
It connects, motor 109 is arranged on robot body 101, and the output end of motor 109 is connect with screw rod 111, and motor 109 is for driving
Screw rod 111 is rotated centered on axis relative to robot body 101, to drive bracket 105 to slide along guide rail 110, to make
Grinding device 104 is moved along the short transverse of robot body 101.Make 108 structure of lifting device simple as a result, using reliable.
In the present embodiment, it is preferred that milling robot further includes recyclable device, and recyclable device connect with bracket 105, is used for
Recycling polishing roller 106 generated clast in treating polishing object progress bruting process.Thereby, it is possible to effectively prevent clast to dissipate
It falls on working face, improves cleaning effect.
In the present embodiment, it is preferred that recyclable device includes air-channel system, and air-channel system includes getter device 112, air-breathing dress
It sets 112 and offers air entry, air entry is arranged towards polishing roller 106, and getter device 112 is used for through air entry air-breathing to suck
Clast.It is conducive to improve recyclable device as a result, for the recovery efficiency of clast, further increases cleaning efficiency.
In the present embodiment, it is preferred that air entry is located at the side of polishing roller 106 and prolongs along the length direction of polishing roller 106
It stretches.It is conducive to improve recyclable device as a result, for the recovery efficiency of clast, further increases cleaning efficiency.
In the present embodiment, it is preferred that recyclable device further includes vacuum pump, and air-channel system further includes pipeline and recycling bins, is returned
It receives case to be connected by pipeline with getter device 112, vacuum pump is arranged in air-channel system, and vacuum pump is in the start-up conditions
Make air entry air-breathing to suck clast and enter clast in recycling bins by pipeline.As a result, by being born caused by vacuum pump
Pressure, can be sucked clast by air entry, and enter clast in recycling bins by pipeline and recycled.Wherein, recycling bins can
Setting is in fixed position, so that staff be facilitated to clear up recycling bins.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (9)
1. a kind of milling robot, which is characterized in that including robot body, adsorbent equipment, running gear and grinding device, institute
It states running gear and grinding device is arranged on the robot body, the adsorbent equipment is arranged in the robot body
And/or on running gear, the adsorbent equipment is for adsorbing working face, and the running gear is for driving the robot body
It walks along the working face；
The grinding device includes bracket, driving device and polishing roller, and the bracket is connected with the robot body, described
Driving device is arranged on the bracket, and the polishing roller is in shuttle shape, and the end of the shuttle shape passes through connecting shaft and the bracket
Rotation connection, the output end of the driving device and the connection axis connection, the connecting shaft and the shuttle shape coaxial line, it is described
Driving device is beaten for driving the polishing roller to rotate centered on the connecting shaft relative to the robot body with treating
Mill object is polished.
2. milling robot according to claim 1, which is characterized in that the polishing roller includes steel wire, the steel wire edge
The length direction of the polishing roller extends spirally and forms the shuttle shape.
3. milling robot according to claim 1, which is characterized in that further include lifting device, the lifting device is set
It sets on the robot body, and is connected with the bracket, for driving the grinding device along the robot body
Short transverse it is mobile.
4. milling robot according to claim 3, which is characterized in that width of the polishing roller along the robot body
Spend direction setting.
5. milling robot according to claim 3, which is characterized in that the lifting device includes motor, guide rail and spiral shell
Bar, the guide rail are arranged along the short transverse of the robot body, and the bracket is slidably installed on the guide rail；
The screw rod is parallel with the guide rail and is rotatablely connected with the robot body, and the bracket is equipped with threaded hole, institute
It states screw rod to be threaded through in the threaded hole and be threadedly coupled with the threaded hole, the motor is arranged in the robot body
On, the output end of the motor is connect with the screw rod, the motor for drive the screw rod centered on axis relative to
Robot body's rotation, to drive the bracket to slide along the guide rail, to make the grinding device along the machine
The short transverse of human agent is mobile.
6. any milling robot in -5 according to claim 1, which is characterized in that it further include recyclable device, described time
Receiving apparatus is connect with the bracket, for recycling the polishing roller produced by carrying out in bruting process to the object to be polished
Clast.
7. milling robot according to claim 6, which is characterized in that the recyclable device includes air-channel system, described
Air-channel system includes getter device, and the getter device offers air entry, and the air entry is arranged towards the polishing roller, institute
Getter device is stated to be used for through the air entry air-breathing to suck the clast.
8. milling robot according to claim 7, which is characterized in that the air entry is located at the side of the polishing roller
And extend along the length direction of the polishing roller.
9. milling robot according to claim 7, which is characterized in that the recyclable device further includes vacuum pump, described
Air-channel system further includes pipeline and recycling bins, and the recycling bins are connected by pipeline with the getter device, the vacuum pump
It is arranged in the air-channel system, the vacuum pump for making the air entry air-breathing to suck the clast in the start-up conditions
And enter the clast in the recycling bins by the pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910383729.4A CN110202460A (en) | 2019-05-09 | 2019-05-09 | Milling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910383729.4A CN110202460A (en) | 2019-05-09 | 2019-05-09 | Milling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110202460A true CN110202460A (en) | 2019-09-06 |
Family
ID=67785646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910383729.4A Pending CN110202460A (en) | 2019-05-09 | 2019-05-09 | Milling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110202460A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2875626Y (en) * | 2005-12-29 | 2007-03-07 | 岳为 | Tool special for cleaning oil pipe |
| KR20070093685A (en) * | 2006-03-15 | 2007-09-19 | 대우조선해양 주식회사 | Robot for high place works |
| KR20100102245A (en) * | 2009-03-11 | 2010-09-24 | 정용진 | Multi functional painter and cleaner |
| KR20110033389A (en) * | 2009-09-25 | 2011-03-31 | 삼성중공업 주식회사 | Pipe cleaning robot |
| CN206200669U (en) * | 2016-09-28 | 2017-05-31 | 朱德进 | Intelligent wall surface grinding machine device people |
| CN206550091U (en) * | 2017-02-15 | 2017-10-13 | 深圳市南峰水处理服务有限公司 | Pipeline cleaning robot |
| CN207413946U (en) * | 2017-10-30 | 2018-05-29 | 天津绿之峰空气净化技术有限公司 | A kind of central air conditioning cleaning robot |
| CN207681131U (en) * | 2017-10-23 | 2018-08-03 | 广州伊索自动化科技有限公司 | A kind of oil-smoke expulsion pipe cleaning robot |
| CN208483677U (en) * | 2018-04-25 | 2019-02-12 | 龙马智能科技（常熟）有限公司 | A kind of spherical tank climbs wall milling robot |
| CN209850630U (en) * | 2019-05-09 | 2019-12-27 | 北京史河科技有限公司 | Polishing robot |
-
2019
- 2019-05-09 CN CN201910383729.4A patent/CN110202460A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2875626Y (en) * | 2005-12-29 | 2007-03-07 | 岳为 | Tool special for cleaning oil pipe |
| KR20070093685A (en) * | 2006-03-15 | 2007-09-19 | 대우조선해양 주식회사 | Robot for high place works |
| KR20100102245A (en) * | 2009-03-11 | 2010-09-24 | 정용진 | Multi functional painter and cleaner |
| KR20110033389A (en) * | 2009-09-25 | 2011-03-31 | 삼성중공업 주식회사 | Pipe cleaning robot |
| CN206200669U (en) * | 2016-09-28 | 2017-05-31 | 朱德进 | Intelligent wall surface grinding machine device people |
| CN206550091U (en) * | 2017-02-15 | 2017-10-13 | 深圳市南峰水处理服务有限公司 | Pipeline cleaning robot |
| CN207681131U (en) * | 2017-10-23 | 2018-08-03 | 广州伊索自动化科技有限公司 | A kind of oil-smoke expulsion pipe cleaning robot |
| CN207413946U (en) * | 2017-10-30 | 2018-05-29 | 天津绿之峰空气净化技术有限公司 | A kind of central air conditioning cleaning robot |
| CN208483677U (en) * | 2018-04-25 | 2019-02-12 | 龙马智能科技（常熟）有限公司 | A kind of spherical tank climbs wall milling robot |
| CN209850630U (en) * | 2019-05-09 | 2019-12-27 | 北京史河科技有限公司 | Polishing robot |
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