CN110434729A - A kind of caliber metal container automatic abrasive belt milling robot - Google Patents
A kind of caliber metal container automatic abrasive belt milling robot Download PDFInfo
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- CN110434729A CN110434729A CN201910694495.5A CN201910694495A CN110434729A CN 110434729 A CN110434729 A CN 110434729A CN 201910694495 A CN201910694495 A CN 201910694495A CN 110434729 A CN110434729 A CN 110434729A
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- gear
- polishing
- wheel
- joint
- mechanical arm
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- 239000002184 metal Substances 0.000 title claims abstract description 18
- 238000003801 milling Methods 0.000 title claims abstract description 16
- 238000005498 polishing Methods 0.000 claims abstract description 52
- 238000000227 grinding Methods 0.000 claims abstract description 39
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000428 dust Substances 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 3
- 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 description 2
- 208000037873 arthrodesis Diseases 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007306 functionalization reaction Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/02—Machines or devices using grinding or polishing belts; Accessories therefor for grinding rotationally symmetrical surfaces
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/006—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of caliber metal container automatic abrasive belt milling robots, including running gear, mechanical arm, polishing execution part and control section；Wherein, the running gear is installed on polishing container edge, and running gear lies across whole container, and the both ends of the mechanical arm are connect with running gear and polishing execution part respectively, and the present invention relates to container grinding apparatus technical fields.The caliber metal container automatic abrasive belt milling robot, can be achieved to drive by walking structure and mechanical arm grinding device can or size different workpieces larger to size polishing position carry out positioning polishing, executive device is designed for that the grinding wheel of sizes is switched to an operating position in a manner of as simplest as possible, and with good stability, accuracy and rapidity, the opening of rear shell installs dust exhaust apparatus, siphons away the dust generated in bruting process to reduce influence of the dust debris to environment and worker.
Description
Technical field
The present invention relates to container grinding apparatus technical field, specially a kind of caliber metal container automatic abrasive belt sander
Device people.
Background technique
Mostly during the manufacturing of heavy caliber container at present is manual operation, and polishing machine is mostly sander and rigidity
The simple of rack is connected, and when in operation the contact-impact under non-operating conditions occurs with workpiece for sander, can give machine
Frame ontology brings certain impact force, and the bad stability of system, machining accuracy is caused to be lower, in addition, traditional polishing machine
It is mostly fixed pedestal formula, working range is very limited, and in the polishing operation noise issued and the dust debris of generation etc.
Also there is biggish harm to ambient enviroment and workers ' health.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of caliber metal container automatic abrasive belt milling robot,
The manufacturing for solving existing heavy caliber container is mostly in the process manual operation, and polishing machine is mostly sander and rigidity
The simple of rack is connected, and when in operation the contact-impact under non-operating conditions occurs with workpiece for sander, can give machine
Frame ontology brings certain impact force, and the bad stability of system, machining accuracy is caused to be lower, in addition, traditional polishing machine
It is mostly fixed pedestal formula, working range is very limited, and in the polishing operation noise issued and the dust debris of generation etc.
Also there is larger the problem of endangering to ambient enviroment and workers ' health.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of caliber metal container is automatic
Belt sanding machine people, including running gear, mechanical arm, polishing execution part and control section；Wherein, running gear is installed on
Polishing container edge, whole container of lying across, the both ends of mechanical arm are connect with running gear and polishing execution part respectively.
Preferably, the running gear includes traveling wheel, driving motor, connecting shaft and rack bar fixed pedestal；Wherein, row
Walking wheel is I-shaped, and quantity is four, is fixed on rack bar both ends, is driven to make device can be around workpiece side by driving motor
Edge moves in a circle；Card slot on rack bar fixed pedestal is used to fix the rack bar of two same models, connects pedestal and row
Walk the container polishing free to rotate to realize different curvature between wheel.
Preferably, the mechanical arm includes pedestal, the first joint, second joint, third joint, the 4th joint and the 5th pass
Section；Pedestal and the connection of the first arthrodesis, second and third joint can realize pitching movement with respect to the first joint, and the 4th joint is opposite
Third joint can realize rotary motion, and the 5th joint can realize pitching movement with respect to the 4th joint.
Preferably, the polishing execution part includes front cover, rear shell, grinding wheel, abrasive band, wheel carrier, guide post, tensioning wheel, branch
Frame, axis wheel disc, belt, first gear, internal gear, the first friction plate, the second friction plate；The different sand of three sizes in device
Belt wheel is able to carry out switching, and with different contact curvature polishing workpiece, wheel carrier plays the role of fixed support grinding wheel, and guide post is used
In positioning wheel carrier, bracket will be moved for fixing wheel carrier and connection mechanical arm, axis wheel disc and motor and transmission axis connection by belt
Power is transmitted in grinding wheel.
Preferably, three grinding wheels on the polishing execution part wheel carrier possess different radiuses, use after allowing hand over
Polishing under different condition switches the workflow of grinding wheel are as follows: guide post is driven rear shell moves backward when, when guide post no longer with wheel
When bridge joint touches, rotation wheel carrier is adjusted to required radius, and main shaft is connected to the motor, and warp beam wheel disc drives grinding wheel by belt
Drive abrasive band movement.
Preferably, the outer surface of the second gear is engaged with the outer surface of third gear, and the outer surface of third gear
It is engaged with the outer surface of the 4th gear.
Preferably, ten motor of planet gear transmission structure drives adjustment switching to select grinding wheel, and internal gear is fixed on wheel
It on frame, is interconnected and fixed, is wound on same root guide shaft, guide shaft is connected with rear shell between first gear and the second friction plate.
First friction plate and second gear are connected with each other, and are wound on guide shaft, can be rotated around guide shaft, pass through the friction between two friction plates
First gear rotating Vortex, then engaging by first gear and internal gear are driven, abrasive band wheel carrier is driven to rotate in a circumferential direction.
Preferably, lid is connected with rear shell by the bolt structure of seamed edge junction, and opening one end of rear shell is provided with one
Road junction siphons away the dust generated in bruting process for installing dust exhaust apparatus.
(3) beneficial effect
The present invention provides a kind of caliber metal container automatic abrasive belt milling robots.Have compared with prior art with
It is lower the utility model has the advantages that the caliber metal container automatic abrasive belt milling robot, by including running gear, mechanical arm, polishing
Execution part and control section；Wherein, running gear is installed on polishing container edge, whole container of lying across, the both ends of mechanical arm
It is connect respectively with running gear and polishing execution part, running gear includes that traveling wheel, driving motor, connecting shaft and rack bar are solid
Determine pedestal；Wherein, traveling wheel is I-shaped, and quantity is four, is fixed on rack bar both ends, drives to make by driving motor
Device can move in a circle around the edge of work；Card slot on rack bar fixed pedestal is used to fix the rack gear of two same models
Bar connects the container polishing free to rotate to realize different curvature between pedestal and traveling wheel, according to container bore to be polished
Size, it is by fastening screw that rack bar fixation is different from the position of running gear, it, can to adjust the distance of two groups of running gears
Reach automatic abrasive belt milling robot and run around container with certain speed, trolley and mechanical arm tail end are controlled by control section
Position, can by execution part adjust a certain range of any angle, can by the free switching between different grinding wheels
Realize the multifunction and higher automation of execution part, the scalable running gear of entire belt sanding machine people can be realized
More extensive bore range, more size polishing grinding wheels, which can be switched, realizes more complicated polishing environment and the choosing of more knife positions
It selects, the mechanical arm of high-freedom degree realizes the selection at infiniband angle, it can be achieved that driving polishing by walking structure and mechanical arm
Device can or size different workpieces larger to size polishing position carry out positioning polishing, executive device is designed for as far as possible most
The grinding wheel of sizes is switched to an operating position by simple mode, and with good stability, accuracy and fast
The opening of speed, rear shell installs dust exhaust apparatus, siphons away the dust generated in bruting process to reduce dust debris to environment and work
The influence of people, overall plan have innovation and practicality.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram that Fig. 1 removal is polished container；
Fig. 3 is the schematic diagram of running gear structure；
Fig. 4 is the schematic diagram of trolley；
Fig. 5 is the schematic diagram inside workpiece polishing mechanism；
Fig. 6 is the schematic diagram of workpiece polishing mechanism gear switching part；
Fig. 7 is the schematic diagram of rack bar.
In figure, 1: traveling wheel；2: mechanical arm；3: mechanical arm pedestal；4: car frame；5: carriage walking gear；6: rack gear
Bar fixed pedestal；7: rack bar；8: fastening screw；9: driving motor；10: traveling wheel connecting shaft；11: being polished workpiece；12: even
Fishplate bar；13: bracket；14: main shaft；15: rear shell；16: front cover；17: belt；18: wheel carrier；19: dust exhaust apparatus；20: grinding wheel；
21: guide post；22: abrasive band；23: first gear；24: guide shaft；25: axis wheel disc；26: second gear；27: third gear；28: the four
Gear；29: the first friction plates；30: the second friction plates；31: internal gear；32: tensioning wheel.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-7, the embodiment of the present invention provides a kind of technical solution: a kind of caliber metal container automatic abrasive belt is beaten
Grind robot, including running gear, mechanical arm 2, polishing execution part and control section；Wherein, running gear is installed on polishing
Container edge, and running gear lies across whole container, and the both ends of mechanical arm 2 connect with running gear and polishing execution part respectively
It connects, running gear includes traveling wheel 1, driving motor 9, connecting shaft 10 and rack bar fixed pedestal 6；The quantity of traveling wheel 1 is four
It is a, 7 both ends of rack bar are fixed on, the card slot on rack bar fixed pedestal 6 is used to fix the rack bar 7 of two same models, even
The container polishing free to rotate to realize different curvature between pedestal 6 and traveling wheel 1 is connect, mechanical arm 2 includes pedestal, the first pass
Section, second joint, third joint, the 4th joint and the 5th joint；Pedestal and the connection of the first arthrodesis, second and third joint phase
Pitching movement can be realized to the first joint, the 4th joint can realize rotary motion with respect to third joint, and the 5th joint is with respect to the 4th
Joint can realize pitching movement, and polishing execution part includes front cover 16, rear shell 15, grinding wheel 20, abrasive band 22, wheel carrier 18, guide post
21, tensioning wheel 32, bracket 13, axis wheel disc 25, belt 17, first gear 23, internal gear 31, the first friction plate 29 and the second friction
Piece 30；The different grinding wheel 20 of three sizes in device is able to carry out switching, is polished workpiece with different contact curvature, wheel carrier
18 play the role of fixed support grinding wheel 20, and guide post 21, for positioning wheel carrier 18, bracket 13 is for fixing wheel carrier and connection
Mechanical arm 2, and axis wheel disc 25 and motor and transmission axis connection, are transferred power in grinding wheel, internal gear 31 by belt 17
It is fixed on wheel carrier 18, and is interconnected and fixed between first gear 23 and the second friction plate 30, is wound on same root guide shaft 24,
Guide shaft 24 is connected with rear shell 15, and the first friction plate 29 and second gear 26 are connected with each other, and are wound on guide shaft 24, can be around guide shaft
24 rotations, three grinding wheels 20 on execution part wheel carrier 18 of polishing possess different radiuses, switch the workflow of grinding wheel 20
Journey are as follows: guide post 21 is driven rear shell 15 moves backward when, when guide post 21 is no longer contacted with wheel carrier 18, wheel carrier 18 can freely turn
Dynamic, main shaft 14 is connected to the motor, and warp beam wheel disc 25 drives grinding wheel 20 that abrasive band 22 is driven to move by belt 17, the second tooth
The outer surface of wheel 26 is engaged with the outer surface of third gear 27, and the outer surface of the outer surface of third gear 27 and the 4th gear 28
Engagement.
Firstly, being illustrated since Fig. 3 running gear, running gear mainly includes traveling wheel 1, driving motor 9, connection
Axis 10 and rack bar fixed pedestal 6, wherein the structure of traveling wheel 1 is I-shaped, this is to be able to preferably be polished
The rim of a bowl of workpiece is walked and is designed, and whole device shares the traveling wheel 1 of 4 same models, is divided into two groups, and every group has a drive
Dynamic motor 9 drives traveling wheel 1 by driving motor 9, and Fig. 3 is wherein one group, is fixed on 7 both ends of rack bar, realizes running gear
Circumferential movement, such as Fig. 1 are done in the edge of work.Card slot on Fig. 3 middle rack bar fixed pedestal 6 is for fixing two same models
The connecting shaft 10 of rack bar 7, connection pedestal 6 and traveling wheel 1 is free to rotate to adapt to different curvature bulge.
Fig. 7 middle rack bar 7 divides for three parts, threaded hole 7-1, rack segments 7-2 and regulating tank section 7-3, wherein one group of row
It walks part threaded hole 7-1 is fixed in 6 card slot of pedestal by fastening screw 8, carriage walking gear 5 passes through in gear segment 7-2
Gear engagement system can move a distance on rack bar 7, and mechanical arm 2 is moved to suitable position, another set walking
Regulating tank section 7-3 is fixed in 6 card slot of pedestal by part by fastening screw 8, is fixed on regulating tank 7-3's by pedestal card slot
Different location reaches running gear suitable for a certain range aperture container to realize the distance between two groups of running gears of adjustment.
Trolley includes car frame 4 and carriage walking gear 5 in Fig. 5, and mechanical arm pedestal 3 is fixed in car frame 4, small
Vehicle walking gear 5 is driven by motor in rack bar rack segments 7-2, and mechanical arm 2 is moved to suitable position, is " U " at traveling wheel 1
Shape slot, ensure that trolley when being moved on rack bar 7 without departing from, derailing.
Mechanical arm 2 using six degree of freedom connect mechanical arm, work flexibly, can operating space it is big, can will be fixed on mechanical arm
The workpiece polishing mechanism of end is moved to suitable position, and grinding wheel is adjusted to any angle polishing, the complexity multiplicity for the curved surface that can polish
Property depend on the flexibility of mechanical arm 2, the mechanical arm of six degree of freedom can meet the requirement of entire milling robot degree of flexibility.
Fig. 5 is workpiece polishing mechanism internal structure chart, and main shaft is connected to the motor, and warp beam wheel disc drives grinding wheel by belt
Abrasive band movement is driven, is contacted under the precise positioning of mechanical arm 2 with polishing workpiece, to polish, in the work of tensioning wheel 32
Under, abrasive band is tightened always, remains the friction certain with grinding wheel 20, to will not skid.
Fig. 6 is that workpiece polishing mechanism gear switches local structural graph, and the switching principle of the structure is: internal gear 31 is fixed on wheel carrier
On 18, it is interconnected and fixed, is wound on same root guide shaft 24 between first gear 23 and the second friction plate 30, and this root guide shaft 24
It is connected with rear cover 15, the first friction plate 29 is connected with each other with second gear 26, is wound on guide shaft 24, and it is unfixed with guide shaft 24,
It can be rotated along guide shaft, the 4th gear 28 is driven with second gear 26 by third gear 27, and second gear 26 is fixed on main shaft
On 14, therefore, in motor work, the first friction plate 29 and the 4th gear 28 when main shaft 14 rotates under the driving of motor
It can rotate, when switching grinding wheel 20, open front cover 16, move rear shell 15 backward, guide shaft 24 is moved together with rear shell, passes through guide shaft
Terminal shaft shoulder belt moves first gear 23 and the second friction plate 30 is mobile, so that two friction plates contact, starting motor adjusts revolving speed, main
Axis 14 starts to rotate, and drives 23 rotating Vortex of first gear by friction between two friction plates, then by first gear 23 with
Engagement between internal gear 31 drives abrasive band wheel carrier 18 to rotate in a circumferential direction, to select the grinding wheel 20 needed, wherein two
Transmission between friction plate plays the role of clutch speed regulation, after choosing grinding wheel 20, closes motor, rear shell 15 is restored
Operating position when workpiece polishing mechanism being wanted to polish is taken turns rack position at this time and is fixed by three limits of guide post 21, and two friction plates no longer connect
Touching, gear no longer rotate, and execution unit will work normally, and the various sizes of switching of grinding wheel 20 is completed, front cover 16 and rear shell 15
It is connected by the hinge of seamed edge junction, the shell rim opposite with bolt structure of rear shell 15 studs with magnet, and front cover 16 is opened
Afterwards, rear shell 15 can move backward, and wheel carrier 5 is enable to rotate, and opening one end of rear shell 15 is provided with a road junction, inhale for installing
Dirt device 19, since entire execution part belongs to an enclosed environment, and the clast of metal and dust are larger when polishing work,
To avoid sundries from influencing, according to the direction of motion of grinding wheel 20, dust exhaust apparatus 19 to be mounted on what clast flew out inside sander
Direction.
Whole device assembly and effect such as Fig. 1, according to 11 caliber size of container to be polished, by fastening screw 8 by rack gear
7-3 sections of fixations of bar are different from the position of running gear, to adjust the distance of two groups of running gears, can reach automatic abrasive belt sander
Device people is run around container with certain speed, and the position of trolley and mechanical arm tail end is controlled by control section, can be by enforcement division
The a certain range of any angle for dividing adjustment, can realize the more of execution part by the free switching between different grinding wheels 20
Functionalization and higher automation.The scalable running gear of entire belt sanding machine people can realize more extensive bore model
It encloses, more size polishing grinding wheels, which can be switched, realizes more complicated polishing environment and the selection of more knife positions, the machine of high-freedom degree
Tool arm realizes the selection at infiniband angle.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of caliber metal container automatic abrasive belt milling robot, it is characterised in that: including running gear, mechanical arm (2),
Polishing execution part and control section；Wherein, the running gear is installed on polishing container edge, and running gear lie across it is whole
A container, the both ends of the mechanical arm (2) are connect with running gear and polishing execution part respectively.
2. a kind of caliber metal container automatic abrasive belt milling robot according to claim 1, it is characterised in that: described
Running gear includes traveling wheel (1), driving motor (9), connecting shaft (10) and rack bar fixed pedestal (6)；The number of traveling wheel (1)
Amount is four, is fixed on rack bar (7) both ends, and the card slot on rack bar fixed pedestal (6) is for fixing two same models
Rack bar (7) connects the container polishing free to rotate to realize different curvature between pedestal (6) and traveling wheel (1).
3. a kind of caliber metal container automatic abrasive belt milling robot according to claim 1, it is characterised in that: described
Mechanical arm (2) includes pedestal, the first joint, second joint, third joint, the 4th joint and the 5th joint；Pedestal and first closes
Section is fixedly connected, second and third joint can realize pitching movement with respect to the first joint, and the 4th joint can realize rotation with respect to third joint
Transhipment is dynamic, and the 5th joint can realize pitching movement with respect to the 4th joint.
4. a kind of caliber metal container automatic abrasive belt milling robot according to claim 1, it is characterised in that: described
Polishing execution part includes front cover (16), rear shell (15), grinding wheel (20), abrasive band (22), wheel carrier (18), guide post (21), tensioning
Take turns (32), bracket (13), axis wheel disc (25), belt (17), first gear (23), internal gear (31), the first friction plate (29) and
Second friction plate (30)；The different grinding wheel (20) of three sizes in device is able to carry out switching, with different contact curvature
Polishing workpiece, the wheel carrier (18) plays the role of fixed support grinding wheel (20), and guide post (21) is used to position wheel carrier (18),
The bracket (13) passes through skin for fixing wheel carrier and connection mechanical arm (2), and axis wheel disc (25) and motor and transmission axis connection
Band (17) transfers power in grinding wheel, and the internal gear (31) is fixed on wheel carrier (18), and first gear (23) and the
Two friction plates are interconnected and fixed between (30), are wound on same root guide shaft (24), and the guide shaft (24) is connected with rear shell (15)
It connects, and the first friction plate (29) and second gear (26) are connected with each other, and are wound on guide shaft (24), can be rotated around guide shaft (24).
5. a kind of caliber metal container automatic abrasive belt milling robot according to claim 1, it is characterised in that: described
Three grinding wheels (20) in polishing execution part wheel carrier (18) possess different radiuses.
6. a kind of caliber metal container automatic abrasive belt milling robot according to claim 1, it is characterised in that: switching
The workflow of the grinding wheel (20) are as follows: rear shell (15) moves backward when drive guide post (21), when guide post (21) no longer with wheel
When frame (18) contacts, wheel carrier (18) can be freely rotated, and main shaft (14) is connected to the motor, and warp beam wheel disc (25) passes through belt
(17) driving grinding wheel (20) drives abrasive band (22) movement.
7. a kind of caliber metal container automatic abrasive belt milling robot according to claim 4, it is characterised in that: described
The outer surface of second gear (26) is engaged with the outer surface of third gear (27), and the outer surface of third gear (27) and the 4th tooth
Take turns the outer surface engagement of (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910694495.5A CN110434729B (en) | 2019-07-30 | 2019-07-30 | Automatic abrasive belt polishing robot for large-caliber metal container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910694495.5A CN110434729B (en) | 2019-07-30 | 2019-07-30 | Automatic abrasive belt polishing robot for large-caliber metal container |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110434729A true CN110434729A (en) | 2019-11-12 |
| CN110434729B CN110434729B (en) | 2024-05-03 |
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ID=68432247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910694495.5A Active CN110434729B (en) | 2019-07-30 | 2019-07-30 | Automatic abrasive belt polishing robot for large-caliber metal container |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977704A (en) * | 2019-11-27 | 2020-04-10 | 宁波韦尔德斯凯勒智能科技有限公司 | Full-automatic grinding equipment for bamboo bowls |
| CN111203773A (en) * | 2020-01-15 | 2020-05-29 | 广东博智林机器人有限公司 | Polishing execution device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977704A (en) * | 2019-11-27 | 2020-04-10 | 宁波韦尔德斯凯勒智能科技有限公司 | Full-automatic grinding equipment for bamboo bowls |
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| WO2022007106A1 (en) * | 2020-07-08 | 2022-01-13 | 南京神源生智能科技有限公司 | Automatic grinding device for circumferential seam of capsule body |
| CN112643447A (en) * | 2020-12-28 | 2021-04-13 | 大连船舶重工集团有限公司 | Automatic grinding device for inner corner welding seam of flange |
| CN113172619A (en) * | 2021-03-31 | 2021-07-27 | 上海工程技术大学 | Rotatable flexible grinding arm |
| CN113172619B (en) * | 2021-03-31 | 2022-05-31 | 上海工程技术大学 | Rotatable flexible grinding arm |
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