CN110757319A - Automatic stand paint cleaning and grinding machine with crawling function - Google Patents
Automatic stand paint cleaning and grinding machine with crawling function Download PDFInfo
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- CN110757319A CN110757319A CN201911167072.4A CN201911167072A CN110757319A CN 110757319 A CN110757319 A CN 110757319A CN 201911167072 A CN201911167072 A CN 201911167072A CN 110757319 A CN110757319 A CN 110757319A
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- 238000000227 grinding Methods 0.000 title claims abstract description 68
- 238000004140 cleaning Methods 0.000 title claims abstract description 48
- 239000003973 paint Substances 0.000 title claims abstract description 41
- 230000009193 crawling Effects 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 153
- 230000009194 climbing Effects 0.000 claims abstract description 93
- 238000005498 polishing Methods 0.000 claims abstract description 70
- 238000004080 punching Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 210000005069 ears Anatomy 0.000 claims 1
- 210000003414 extremity Anatomy 0.000 description 39
- 230000033001 locomotion Effects 0.000 description 24
- 238000000034 method Methods 0.000 description 12
- 230000008093 supporting effect Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 210000003141 lower extremity Anatomy 0.000 description 5
- 210000001364 upper extremity Anatomy 0.000 description 5
- 239000002184 metal Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 241000270322 Lepidosauria Species 0.000 description 2
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- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 239000010432 diamond Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001976 improved effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 238000013000 roll bending Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
- 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
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable 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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention belongs to the technical field of grinding machines, and particularly relates to an automatic upright post paint cleaning grinding machine with a crawling function. A climbing mechanism of the upright post paint automatic cleaning polisher with a climbing function is connected with the polishing mechanism; two holding mechanisms arranged above and below the climbing mechanism are connected through a climbing cylinder mechanism; the grinding guide rail of the grinding mechanism is connected with the rail sliding block in a sliding mode. The invention provides an automatic upright post paint cleaning and grinding machine with a crawling function, and aims to solve the problems that manual cleaning efficiency is low, cost is high, grinding quality cannot be guaranteed and the like in the prior art.
Description
Technical Field
The invention belongs to the technical field of grinding machines, and particularly relates to an automatic upright post paint cleaning grinding machine with a crawling function.
Background
The main part bearing structure of building is regarded as to the metal stand that adopts usually to the railway station platform ceiling, and along with the increase of railway station service life, the rust-resistant paint on these support posts can take place to peel off, natural damage such as damage, simultaneously along with the national and local government attach importance to public infrastructure's fire prevention requirement increasingly, the early paint that possesses rust-resistant function has can not satisfy current demand, needs to renew the rust-resistant paint of all stand main parts for the novel coating that possesses the fire prevention function. The specific updating method is that the old antirust paint on the metal upright post is cleaned, and simultaneously the putty powder on the bottom layer is also cleaned, so that the bright and clean metal surface is exposed, and the painting is carried out again.
Because the number of railway stations in China is large, the number of supporting columns of a ceiling is not large, and a manual cleaning method is mainly adopted in the developed polishing and cleaning work of paint on part of the columns. The worker suspends the worker from the ceiling by using a safety rope, holds the angle grinder by the worker, and manually cleans and polishes the paint of the stand column.
The defects of manual cleaning and polishing are obvious, and on one hand, the cleaning work efficiency is low; on the other hand, the personnel safety hidden danger of workers also exists. The cleaning and polishing of the stand columns of the railway station are carried out, and the general construction time period can be only 30 minutes from 1 point in the morning to 4 points in the morning in order to avoid the peak time of the station for daily train entering and exiting. This requires that as many columns as possible be constructed simultaneously for a limited period of time. If adopt the people and sea tactics, can raise the efficiency to a certain extent really, but this will directly lead to the increase by a wide margin of recruitment cost, and the safety risk also will improve at double, and in addition, workman's operation level is uneven, and the quality of clearing up and polishing also is difficult to guarantee.
Therefore, develop an equipment that can carry out automatic clearance to the stand and polish, will improve production efficiency and guarantee construction quality to a great extent.
Disclosure of Invention
The purpose of the invention is as follows:
the invention aims to provide an automatic upright post paint cleaning and grinding machine with a crawling function, and aims to solve the problems that manual cleaning efficiency is low, cost is high, grinding quality cannot be guaranteed and the like in the prior art.
The technical scheme is as follows:
the automatic upright paint cleaning and grinding machine with the crawling function is characterized in that a climbing mechanism is connected with a grinding mechanism; two holding mechanisms arranged above and below the climbing mechanism are connected through a climbing cylinder mechanism; the grinding guide rail of the grinding mechanism is connected with the rail sliding block in a sliding mode.
Furthermore, a sliding block bracket of the track sliding block is connected with the polishing guide rail in a sliding manner, four wheel assemblies are arranged on the side surfaces of two ends of the sliding block bracket, and driving wheels are respectively arranged above two sides of the sliding block bracket; the driving wheel on one side is provided with a traveling mechanism driving motor which is coaxially connected with the driving wheel through a driving wheel shaft; the polishing head arranged between the two driving wheels is driven by a polishing head driving motor.
Further, the polishing head is coaxially connected with the large belt wheel through a large belt wheel rotating shaft; the large belt wheel rotating shaft is connected with the polishing head bracket through an outer spherical surface bearing with a punching rhombus seat; the upper end of the polishing head bracket is connected with a polishing head driving motor through a polishing head driving motor bracket; the driving shaft of the driving motor of the polishing head is connected with a small belt wheel, and the small belt wheel is connected with a large belt wheel through a belt.
Furthermore, two holding mechanisms arranged up and down are connected through a climbing cylinder mechanism arranged on a holding connecting frame, and the holding mechanism at the upper end is connected with a polishing mechanism through a connecting sheet.
Furthermore, a first embracing hand and a second embracing hand of the embracing mechanism are respectively connected with the embracing mechanism through limb joints, a limb joint connecting frame is fixed on the outer side surface of each limb joint, and the outer side of each limb joint connecting frame is connected with the climbing cylinder mechanism; the guide rail sliding block arranged on the inner side surface of the limb joint connecting frame is in sliding connection with the guide rail.
Further, the clamping mechanism comprises a clamping cylinder, a cylinder double-lug ring, a cylinder flange, a cylinder I-shaped joint and a connector; hold the cylinder binaural of mechanism one end and first armful hand fixed connection tightly, the cylinder binaural other end is connected with cylinder I type joint one end, cylinder I type joint other end through the connector with hold the output shaft of cylinder tightly, hold the cylinder tightly and pass through the cylinder flange and be connected with the second armful hand.
Furthermore, the first surrounding hand is connected with the holding tile through the hinge mechanism towards the inner side of the circle center, and the second surrounding hand is connected with the holding tile through the hinge mechanism towards the inner side of the circle center.
Furthermore, the climbing cylinder mechanism is fixed on the holding connecting frame through a cylinder foot seat, the cylinder foot seat is connected with the climbing cylinder through a cylinder double-ear ring, and the upper end of the climbing cylinder is connected with the holding mechanism above the climbing cylinder through a limb joint connecting frame.
Furthermore, two sides of the upper end of the holding connecting frame are respectively connected with the lower ends of the antennae sleeved with springs, and the upper end of the holding connecting frame is provided with a photoelectric sensing switch corresponding to the springs; a guide rail is arranged on the outer side of the holding connecting frame and is in sliding connection with a guide rail sliding block at the upper end of the limb joint connecting frame; one side of the limb joint connecting frame is connected with a limb joint, and the other side of the limb joint connecting frame is connected with the climbing cylinder.
Furthermore, two ends of the limb joint are respectively connected with the first embracing hand and the second embracing hand through joint pins, and the joint pins are connected with the limb joint through locking pieces; two pairs of guide wheels which are arranged oppositely are also arranged at the upper end and the lower end of the limb joint.
The advantages and effects are as follows:
the invention has the following advantages and beneficial effects:
firstly, the structural design is reasonable and compact: the bionic principle is ingeniously applied, the motion process of the reptile climbing stand column is simulated, the climbing motion of the equipment can be completed along the stand column, and the automation of polishing work is realized to the greatest extent. The main structure of the equipment is formed by bending or welding the sectional materials. On the one hand, the processing and manufacturing cost of the equipment is reduced, the cylindrical outer surface of the upright post is fully utilized, the surrounding handle and the guide rail are designed into a semi-annular structure, the stability and reliability of the retaining force are ensured, and the polishing head of the polishing mechanism can be tightly attached to the upright post to polish the paint.
Secondly, the production efficiency is improved, and the labor intensity is reduced: the design purpose of the invention is to replace manual operation, and the equipment has automatic climbing and polishing functions, so that after the equipment is started, manual intervention can be completely eliminated, the polishing and cleaning work of the whole upright post is automatically completed, and the upright post finally returns to the ground, and the production efficiency is high. In addition, because manual polishing is completely replaced, workers do not need to be suspended on the upright post for polishing operation, the construction danger is reduced, and the cleaning and polishing quality is ensured.
Description of the drawings:
fig. 1 is a schematic view of the overall structure of an automatic upright paint cleaning sander mounted on an upright.
Fig. 2 is a schematic diagram of a vertical column paint automatic cleaning sander with an automatic control cabinet.
Fig. 3 is a partially enlarged view of the guide rail and the guide rail slider.
Fig. 4 is a side view of fig. 2.
Fig. 5 is a schematic perspective view of a vertical column paint automatic cleaning polisher with a crawling function.
Figure 6 is a schematic view of a grinding mechanism.
Figure 7 is a mounting hole for a grinding mechanism and a climbing mechanism below.
Fig. 8 is a schematic structural diagram of the holding mechanism located above.
Fig. 9 is an enlarged view of the connecting piece of fig. 8.
Fig. 10 is a schematic view of the structure of the holding mechanism located below.
Fig. 11 is a partially enlarged view of the left side i below the antenna in fig. 10.
Fig. 12 is a partially enlarged view of the lower right side ii of the antenna in fig. 10.
Figure 13 is a partial structure schematic of a limb joint.
Figure 14 is a schematic view of a climbing cylinder mechanism.
FIG. 15 is a schematic diagram of a track slider configuration.
Fig. 16 is an exploded view of a track slider.
Fig. 17 is a schematic structural view of a slider bracket.
Figure 18 is a schematic view of a clasping mechanism.
Figure 19 is a top view of the clasping mechanism.
Fig. 20 is a right side view of the clasping mechanism.
FIG. 21 is a schematic view of the construction of a hugging tile.
Fig. 22 is a side view of the operating control cabinet.
Fig. 23 is a front view of the operation control cabinet.
Description of reference numerals:
1. a climbing mechanism; 2. a clasping mechanism; 201. a limb joint; 202. a first embracing hand; 203. a second embracing hand; 204. tightly holding the air cylinder; 205. a joint pin; 206. a cylinder double-lug ring; 207. a cylinder flange; 208. a cylinder I-shaped joint; 209. a connector; 210. a guide rail; 211. an antenna; limb articulation link 212; 213. a guide rail slider; 221. connecting sheets; 222. a bearing seat; 223. tightly holding the tile; 224. a pin; 225. a cylinder block; 226. a guide wheel; 230. a locking piece; 240. a spring; 241. a photoelectric sensing switch; 270. an automatic operation start button; 271. an automatic operation stop button; 272. the climbing cylinder extends out of the button; 273. a climbing cylinder retraction button; 274. a left grinding start button; 275. a left sanding stop button; 276. an upper limb cylinder enclasping button; 277. the upper limb cylinder releases the button; 278. a right grinding start button; 279. a right sanding stop button; 280. the lower limb cylinder clasps the button; 281. a lower limb cylinder release button; 282. a manual automatic switching selection switch; 283. a scram switch; 3. holding the connecting frame; 4. a climbing cylinder mechanism; 401. a cylinder foot seat; 402. a cylinder double-lug ring; 403. a climbing cylinder; 5. a polishing mechanism; 6. polishing the guide rail; 7. a track slider; 701. a slider bracket; 702. a wheel assembly; 703. a drive wheel; 704. the driving wheel supports the belt seat bearing; 705. a sanding head support; 706. polishing head; 707. an insert bearing with a stamped diamond seat; 708. a small belt pulley; 709. a large belt pulley; 710. a drive motor support; 711. the polishing head drives the motor; 712. the polishing head drives the motor bracket; 713. the traveling mechanism drives the motor; 714. a drive axle; 715. a coupling; 8. a column; 9. an automatic control cabinet; 10. and operating the control cabinet.
The specific implementation mode is as follows:
the invention is further described below with reference to the accompanying drawings:
example 1
As shown in fig. 1, in the automatic upright paint cleaning polisher with the crawling function, a climbing mechanism 1 is connected with a polishing mechanism 5, and two holding mechanisms 2 arranged up and down of the climbing mechanism 1 are connected through a climbing cylinder mechanism 4; and a grinding guide rail 6 of the grinding mechanism 5 is in sliding connection with a track sliding block 7.
The main structure of the grinding machine is manufactured by roll bending of the section bar, and the structural design ensures that the equipment is easy to manufacture and can ensure the structural strength to the maximum extent.
From the design, manufacturing and assembly point of view, the automatic cleaning sander is functionally divided into several modules, namely: climbing mechanism and clearance grinding mechanism. The two modules are divided into a plurality of sub-modules, and the design ensures that the design thought is clear and clear, the processing and the manufacturing are easy, the installation and the debugging are convenient, and the reliability of the equipment is ensured.
In the design of the upper holding mechanism and the lower holding mechanism, a split structure of a joint and a surrounding hand is designed. The joint and the embracing hand are connected with the limb joint 201 through the clasping mechanism, the movement is flexible, and the clasping mechanism 2 can clasp the upright post. The embracing hand is divided into a first embracing hand 202 and a second embracing hand 203, and the design mode can ensure that the upright post is held tightly and the equipment can be smoothly installed and detached.
As shown in fig. 6, a slider bracket 701 of the track slider 7 is slidably connected to the grinding rail 6, four wheel assemblies 702 are disposed on two side surfaces of the slider bracket 701, and driving wheels 703 are respectively mounted above two sides of the slider bracket 701; a traveling mechanism driving motor 713 is arranged on the driving wheel 703 on one side, and the traveling mechanism driving motor 713 is coaxially connected with the driving wheel 703 through a driving wheel shaft 714; the sanding head 706 disposed between the two drive wheels 703 is driven by a sanding head drive motor 711.
The sanding head driving motor 711 and the traveling mechanism driving motor 713 adopt the existing motors, for example, the sanding head driving motor 711 can adopt 80 KTYZ; the travel mechanism driving motor 713 may be 80 KTYZ.
The polishing mechanism is used for polishing the paint on the stand column. The main structure of the grinding machine comprises a grinding guide rail 6 and a track sliding block 7. The grinding guide rail 6 provides a motion track of the track slide block 7; and a moving mechanism and a grinding mechanism are arranged on the track sliding block 7. The moving mechanism provides power for the movement of the track sliding block, and the polishing mechanism is provided with a polishing blade for finishing the cleaning and polishing work of the paint of the stand column.
As shown in fig. 6, the grinding rail 6 is formed as two semicircular rail-mounted parts, which are provided with an unconnected recess facing the climbing cylinder mechanism 4 for mounting and dismounting the rail slider 7. A connecting ring piece is arranged below the polishing track 6 and is used for being connected with a holding mechanism below the polishing track. A slide way matched with the lower part of the sliding block bracket 701 is arranged above the grinding guide rail 6, and an annular connecting sheet arranged below the slide way is matched with the wheel assembly 702 to ensure the stable movement of the rail sliding block 7.
As shown in fig. 15 and 16, the sanding head 706 is coaxially connected with the large pulley 709 through the large pulley rotating shaft; the large belt wheel rotating shaft is connected with a polishing head bracket 705 through a belt punching rhombus seat outer spherical surface bearing 707; the upper end of the sanding head bracket 705 is connected with a sanding head driving motor 711 through a sanding head driving motor bracket 712; the driving shaft of the sanding head driving motor 711 is connected to the small pulley 708, and the small pulley 708 is connected to the large pulley 709 via a belt.
Wherein, the big belt wheel and the small belt wheel are used for reducing the speed and increasing the torque, and increasing the grinding cutting force.
As shown in fig. 15, 16 and 17, the sliding block bracket 701 is an arc-shaped track, the arc shape is matched with the lower grinding guide rail 6, two pairs of bearings which are corresponding to each other front and back are arranged on the inner side surface and the outer side surface of the sliding block bracket 701, used for installing a wheel assembly 702, one end above the sliding block bracket 701 is provided with two opposite L-shaped driving wheel supporting frames, the driving wheel supporting frame is used for mounting the driving wheel 703, a driving wheel supporting frame is arranged on the inner side of the other end of the driving wheel supporting frame, a driving motor support 710 is arranged on the opposite side of the driving wheel supporting frame, a walking mechanism driving motor 713 is mounted on the driving motor support 710, the walking mechanism driving motor 713 is connected with one end of a driving wheel shaft 714 through a coupler 715, the other end of the driving wheel shaft 714 is connected with the L-shaped driving wheel supporting frame through a driving wheel supporting belt seat bearing 704, the driving wheel shaft 714 drives the driving wheel 703 to rotate, and the end is used as a drive. The other end of the belt passes through a drive wheel 703 to act as a driven wheel. A through groove is formed in the slider bracket 701 below the two driving wheels 703, so that the driving wheels 703 are in contact with the upper part of the polishing guide rail 6 to drive the whole rail slider 7 to move on the polishing rail 6.
A grinding head support 705 is arranged between the two driving wheels 703, a grinding head driving motor support 712 is fixed above the grinding head support 705 of the cubic frame structure, a round hole above the grinding head driving motor support 712 is used for installing a grinding head driving motor 711, the grinding head driving motor 711 is connected with a small belt wheel 708, the small belt wheel 708 is connected with a large belt wheel 709 below through a belt, the large belt wheel 709 drives the grinding head 706 to rotate through a large belt wheel rotating shaft, and meanwhile, the large belt wheel rotating shaft is connected with the grinding head support 705 through a belt punching rhombus seat outer spherical bearing 707.
The sanding head 706 is provided with four mutually perpendicular blade seats on which blades are mounted by bolts. The blade can be replaced after being worn.
As shown in fig. 1, two holding mechanisms 2 arranged up and down are connected through a climbing cylinder mechanism 4 installed on a holding connecting frame 3, and the holding mechanism 2 at the upper end is connected with a grinding mechanism 5 through a connecting sheet 221.
As shown in fig. 7 and 9, the holding means 2 is fixedly connected to the grinding rail 6 of the upper grinding means 5 by a connecting piece 221. The lower part of the arc-shaped connecting piece 221 is fixed on the first embracing hand 202 and the second embracing hand 203 on the upper embracing mechanism 2, and the upper part of the connecting piece 211 is connected with a connecting ring piece arranged below the grinding guide rail 6 through screws.
As shown in fig. 8 and 10, the first embracing hand 202 and the second embracing hand 203 of the clasping mechanism 2 are respectively connected with the clasping mechanism through a limb joint 201, a limb joint connecting frame 212 is fixed on the outer side surface of the limb joint 201, and the outer side of the limb joint connecting frame 212 is connected with the climbing cylinder mechanism 4; the guide rail slide block 213 arranged on the inner side surface of the limb joint connecting frame 212 is connected with the guide rail 210 in a sliding way.
The climbing mechanism 1 mainly comprises two holding mechanisms 2 and climbing cylinder mechanisms 4 which are arranged up and down and are the same; climbing up and down is realized through climbing cylinder mechanism 4. As shown in figure 3 of the drawings,
as shown in fig. 18, 19 and 20, the clasping mechanism comprises a clasping cylinder 204, a cylinder double-lug 206, a cylinder flange 207, a cylinder I-shaped joint 208 and a connector 209; embrace cylinder binaural 206 one end and first armful 202 fixed connection of mechanism tightly, cylinder binaural 206 other end and cylinder I type joint 208 one end are connected, cylinder I type joint 208 other end pass through connector 209 and embrace the output shaft of cylinder 204 tightly, embrace cylinder 204 tightly and pass through cylinder flange 207 and be connected with second armful 203.
The clamping cylinder 204, the cylinder double-lug 206, the cylinder flange 207 and the cylinder I-shaped joint 208 are made of standard cylinder elements, for example, the clamping cylinder 204 adopts SE80 multiplied by 100, and the cylinder double-lug 206 adopts F-SE80 CB; the flange 207 in the cylinder adopts F-SI63TCM2-SE 80; the cylinder type I joint 208 employs F-ACQ 80I.
The two ends of the connector 209 are provided with forward and reverse threads, when the connector 209 is detached, the clasping mechanism is a separating body, and at this time, the two clasping hands can be detached to be clasped on the stand column, so that the installation preparation work is realized. When the connector 209 is retightened, the positive and negative threads act to connect the two arms of the clasper in preparation for clasping to climb. The connector 209 is used for sleeving the embracing hand on the upright post, and is convenient to install and disassemble.
As shown in fig. 21, the inner side of the first embracing hand 202 facing the circle center is connected with the holding tile 223 through a hinge mechanism, and the inner side of the second embracing hand 203 facing the circle center is connected with the holding tile 223 through a hinge mechanism.
The inner side of the hinge mechanism is connected with the holding tile 223 through a pin 224, and the outer side of the hinge mechanism is fixedly connected with the inner side of the first holding hand 202 or the second holding hand 203 facing the circle center. The holding tile 223 can be replaced according to the diameter of a specific stand column, and the radian of the replaced holding tile 223 is matched with the diameter of the stand column, so that the stand column is held tightly.
The embracing hand is provided with the holding tile 223 and the limb joint, the shape of the holding tile 223 is fit with the outer surface of the upright post, and under the action of the limb joint 201, the embracing hand can hold the upright post in a holding state, so that the whole equipment does not slide downwards; in the relaxed state, the hugging tile 223 does not rub against the upright post, and the whole mechanism moves smoothly.
The cylinder block 225 is arranged on the embracing hand of the upper and lower limb embracing mechanism and used for installing the embracing cylinder 204. The clasping cylinder 204 is connected with the cylinder seat 225 through the cylinder double-lug ring 206, so that the mechanism can move smoothly and provide enough clasping force.
The limb joint 201 of the holding mechanism functions in the following ways: on one hand, the joint is used as a main body supporting structure of the equipment and plays a role in connecting all moving parts. Specifically, the first embracing hand 202 and the second embracing hand 203 are connected through joint pins 205, and the upper and lower embracing mechanisms and the climbing mechanism are connected through guide rails 210 and guide rail sliding blocks 213. On the other hand, the limb joint 201 is provided with a guide wheel 226, which serves as a moving guide mechanism when the upper and lower clasping mechanisms perform climbing movement, and serves as an auxiliary support when the upper and lower clasping mechanisms are in clasping state.
The upper holding mechanism is provided with a guide rail slide block 213 which is connected with the guide rail 210 of the lower holding mechanism, so that the upper and lower holding mechanisms can smoothly complete climbing action.
The limb joint 201 of the holding mechanism below is designed with a holding connecting frame 3 for fixing the guide rail of the climbing cylinder mechanism and providing a foundation support for the installation of the cylinder foot seat 401 of the climbing cylinder mechanism.
As shown in fig. 21, one end of the first embracing hand 202 is provided with a bearing seat 222, the bearing seat 222 is inserted into the limb joint 201 and connected through a joint pin 205, the other end of the first embracing hand 202 is fixed with a cylinder seat 225, and the cylinder seat 225 is connected with the cylinder binaural 206. One end of the second embracing hand 203 is provided with a bearing seat 222, the bearing seat 222 is inserted into the limb joint 201 and connected through a joint pin 205, the other end of the second embracing hand 203 is fixed with a cylinder flange 207, and the cylinder flange 207 is connected with the enclasping cylinder 204.
The first embracing hand 202 and the second embracing hand 203 are symmetrically arranged with the center of the embracing mechanism 2, hinge mechanisms are arranged on the inner sides of the first embracing hand 202 and the second embracing hand 203 facing the circle center, and the hinge mechanisms are connected with the embracing tile 223 through pins 224 to form a conventional hinge mode.
As shown in fig. 14, the climbing cylinder mechanism 4 is fixed on the clasping connecting frame 3 through a cylinder foot base 401, the cylinder foot base 401 is connected with the climbing cylinder 403 through a cylinder double-ear ring 402, and the upper end of the climbing cylinder 403 is connected with the clasping mechanism 2 above through the limb joint connecting frame 212.
As shown in fig. 3, 5, and 10, the cylinder mount 401 is fixedly connected to four bolt mounting holes at the lower end of the clasping link 3 by four bolts. The cylinder earrings 402 are connected with the cylinder foot seats 401, the upper ends of the cylinder earrings 402 are connected with the lower ends of the climbing cylinders 403, the upper ends of the climbing cylinders 403 are provided with two mounting nuts, the mounting is to take down the nuts above, the upper ends of the climbing cylinders 403 are inserted into the outer sides of the limb joint connecting frames 212, and then the nuts are mounted, so that the climbing cylinders 403 are connected with the limb joint connecting frames 212, and the connection of the upper and lower holding mechanisms is realized. The climbing cylinder 403 is an existing cylinder, and for example, SE125 × 100 may be used.
As shown in fig. 11 and 12, two sides of the upper end of the holding connecting frame 3 are respectively connected with the lower end of the antenna 211 sleeved with the spring 240, and the upper end of the holding connecting frame 3 is provided with a photoelectric sensing switch 241 corresponding to the spring 240; the outer side of the holding connecting frame 3 is provided with a guide rail 210, and the guide rail 210 is connected with a guide rail sliding block 213 at the upper end of a limb joint connecting frame 212 in a sliding way; one side of the limb joint connecting frame 212 is connected with the limb joint 201, and the other side of the limb joint connecting frame 212 is connected with the climbing cylinder 403.
The control principle is as follows: when the polisher climbs upwards, the antenna 211 firstly touches the obstacle, at this time, under the action of the external force of the obstacle, the antenna 211 resists the thrust of the spring 240, and moves downwards passively, as shown in fig. 11 and 12, when the antenna 211 moves downwards and blocks the photoelectric sensing switch 241, the photoelectric sensing switch 241 sends a signal to control the climbing cylinder 403 to change from extending to contracting, and then the polisher moves downwards, at this time, the antenna 211 leaves the obstacle, and under the action of the spring 240, the antenna 211 leaves the blocking of the photoelectric sensing switch 241, and the polisher moves downwards.
As shown in fig. 13, two ends of the limb joint 201 are respectively connected with the first embracing hand 202 and the second embracing hand 203 through joint pins 205, and the joint pins 205 are connected with the limb joint 201 through locking pieces 230; two pairs of oppositely arranged guide wheels 226 are also arranged at the upper end and the lower end of the limb joint 201.
The basic working principle of the automatic upright paint cleaning and grinding machine is designed into the following two working cycles: one working cycle is a climbing cycle, and mainly completes the climbing motion of the automatic cleaning polisher; and the other working cycle is a polishing cycle, and after the stand column climbs in place, the polishing cycle is started to finish cleaning and polishing of the stand column paint.
The specific working process of the climbing cycle is as follows:
as shown in fig. 1, the holding cylinder 204 of the lower holding mechanism is contracted, and the lower first holding hand 202 and the lower second holding hand 203 and the holding tiles 223 thereof hold the upright post; at the moment, the upper clasping mechanism and the clasping cylinder 204 thereof are in a loose state, and on the premise of clasping the lower part, the climbing cylinder 403 extends out, so that the climbing cylinder 403 pushes the upper clasping mechanism to ascend, and upward climbing motion is realized; after the climbing is in place, the upper holding mechanism and the holding cylinder 204 thereof contract, and the holding tile 223 of the upper holding mechanism holds the upright post; after the tightening, the lower tightening cylinder 204 is loosened; after loosening, the climbing cylinder 403 of the climbing cylinder mechanism 4 contracts, and the climbing cylinder 403 drives the lower part to do ascending motion as the upper part is in a holding state and the lower part is in a loosening state; and finally, the lower holding mechanism holds tightly again, the whole equipment completes a climbing cycle, the whole equipment is held tightly and fixed at the current position, and the polishing work cycle is started.
The specific working process of the grinding cycle is as follows:
after the climbing cycle is complete, the equipment is fixed in the current position. The sanding head drive motor 711 and the running mechanism drive motor 713 of the sanding mechanism 5 are started. The polishing head driving motor 711 drives the polishing head 706 to rotate, and finishes the main movement of polishing and cleaning movement, and is used for cleaning paint and putty on the upright post; the running mechanism driving motor 713 drives the driving wheel 703 to rotate, and drives the track slider 7 to make an annular motion along the arc-shaped guide rail under the action of friction force between the driving wheel 703 and the grinding guide rail 6. After the track sliding block 7 moves to the terminal position along the grinding guide rail 6, a strip-shaped upright post paint grinding work is finished, and a grinding work cycle is finished. At this time, the sanding head drive motor 711 and the traveling mechanism drive motor 713 stop running and are ready to enter a climbing work cycle.
Example 2
The structure is the same as that of the embodiment 1, as shown in fig. 2 and 4, the existing control system is additionally arranged, and the control system comprises an automatic control cabinet 9 and an operation control cabinet 10; an automatic control cabinet 9 is fixed on the side surface of the holding connecting frame 3, and the automatic control cabinet 9 is respectively connected with the climbing cylinder 403, the holding cylinder 204, the sanding head driving motor 711 and the traveling mechanism driving motor 713. The automatic control cabinet 9 is connected with the operation control cabinet 10 through a cable.
The operation control cabinet 10 is provided with a plurality of buttons, including an automatic operation start button 270, an automatic operation stop button 271, a climbing cylinder extension button 272, a climbing cylinder retraction button 273, a left sanding start button 274, a left sanding stop button 275, an upper limb cylinder clasping button 276, an upper limb cylinder release button 277, a right sanding start button 278, a right sanding stop button 279, a lower limb cylinder clasping button 280, a lower limb cylinder release button 281, a manual-automatic switching selection switch 282, and an emergency stop switch 283. A simple switch circuit is arranged in the automatic control cabinet 9, and the connection and the disconnection of the switch are realized through a button.
As shown in fig. 22 and 23, the automatic control principle of the antenna 211 is that when the sander climbs upward, the antenna 211 touches the obstacle first, and at this time, the antenna 211 moves downward passively against the thrust of the spring 240 under the action of the external force of the obstacle, as shown in fig. 11 and 12, when the antenna 211 blocks the photoelectric inductive switch 241, the photoelectric inductive switch 241 sends a signal, and the logic circuit in the automatic control cabinet 9 sends a command to control the sander to climb downward. At this time, the antenna 211 leaves the obstacle, and under the action of the spring 240, the antenna 211 leaves the shield of the photoelectric sensing switch 241, so that the automatic control process is completed.
To accomplish the automatic cleaning and polishing work of stand paint, the automatic polishing and cleaning machine is required to have the following two most basic functions: firstly, the cleaning and polishing work can be completed, and the equipment is mainly required to be provided with a blade for cleaning and polishing and a motion control device thereof; secondly, whole equipment will be along the stand and carry out the up-and-down motion, guarantees that clearance polishing mechanism can cover the vast majority surface of stand, realizes real automation.
Based on the two basic requirements, the basic working principle of the automatic upright paint cleaning and grinding machine is designed into the following two working cycles: one working cycle is a climbing cycle, and mainly completes the climbing motion of the automatic cleaning polisher; and the other working cycle is a polishing cycle, and after the stand column climbs in place, the polishing cycle is started to finish cleaning and polishing of the stand column paint.
The specific working process of the climbing cycle is as follows:
under the control of an automatic control program, a holding cylinder 204 of a holding mechanism at the lower part contracts, and a holding hand and a holding tile 223 at the lower part hold the upright post tightly; at this time, the upper clasping mechanism and the clasping cylinder 204 thereof are in a loose state, and on the premise that the lower clasping mechanism clasps, the automatic control program sends out an instruction to extend the climbing cylinder 403, and then the climbing cylinder mechanism 4 pushes the upper clasping mechanism to ascend to realize the climbing motion above; after climbing in place, the upper holding mechanism and the holding cylinder 204 thereof contract, and the upper holding tile 223 holds the upright column tightly; after the tightening, the lower tightening cylinder 204 is loosened; after the lower holding cylinder 204 is loosened, the climbing cylinder 403 of the climbing mechanism is contracted, and because the upper holding mechanism is in a holding state at the moment and the lower holding mechanism is in a loosening state at the moment, the climbing cylinder 403 drives the lower holding mechanism to do ascending motion; and finally, the lower holding mechanism holds tightly again, the whole equipment completes a climbing cycle, the whole equipment is held tightly and fixed at the current position, and the polishing work cycle is started.
The specific working process of the grinding cycle is as follows:
after the climbing cycle is complete, the equipment is fixed in the current position. The sanding head drive motor of the sanding mechanism is started by operating the left sanding start button 274 and the right sanding start button 278 of the control cabinet 10, while the travel drive motor is turned on. The polishing head driving motor drives the polishing head to rotate, finishes the main movement of polishing and cleaning movement and is used for cleaning paint and putty on the upright post; the travel driving motor drives the driving wheel to rotate, and drives the track sliding block 7 to do annular motion along the arc-shaped guide rail under the action of friction force between the driving wheel 703 and the grinding guide rail 6. After the track sliding block 7 moves to the terminal position along the grinding guide rail 6, a strip-shaped upright post paint grinding work is finished, and a grinding work cycle is finished. At this time, the sanding head drive motor 711 is stopped by the left sanding stop button 275 and the right sanding stop button 279, while the travel mechanism drive motor 713 is stopped in preparation for entering the climbing cycle.
Under the automatic control mode of procedure, equipment constantly reciprocates and carries out climbing circulation and the circulation of polishing to constantly climb along the stand, the feeler touch ceiling or barrier of upper end, the sensor signals, and equipment stops the duty cycle of polishing, under automatic control of procedure, carries out the reverse process of climbing circulation, crawls downwards along the stand, until moving to ground. So far, accomplish the automatic clearance work of polishing of the paint of an stand.
The automatic cleaning polisher of the embodiment 2 has high automation degree; the bionic principle is ingeniously applied, the motion process of the reptile climbing stand column is simulated, the climbing motion of the equipment can be completed along the stand column, and the automation of polishing work is realized to the greatest extent. The climbing movement of the whole equipment is driven by the air cylinder, so that on one hand, an air source is easy to obtain on a construction site; on the other hand, the cylinder is adopted to drive to ensure that the holding and climbing are stable and reliable, and the automatic control is easy to realize. In addition, an annular metal antenna is designed at the upper end of the equipment, when the equipment climbs to the top end along the upright post and the antenna touches the ceiling or the barrier, the equipment automatically shifts to the working cycle of creeping downwards, and the whole polishing process is ensured to be free of manual participation.
Claims (10)
1. Automatic stand paint cleaning and grinding machine with crawling function, characterized in that: the climbing mechanism (1) is connected with the polishing mechanism (5); two holding mechanisms (2) which are arranged up and down on the climbing mechanism (1) are connected through a climbing cylinder mechanism (4); a grinding guide rail (6) of the grinding mechanism (5) is connected with a track sliding block (7) in a sliding way.
2. The automatic stand paint cleaning and grinding machine with the crawling function according to claim 1, characterized in that: a sliding block support (701) of the track sliding block (7) is connected with the grinding guide rail (6) in a sliding mode, four wheel assemblies (702) are arranged on the side faces of two ends of the sliding block support (701), and driving wheels (703) are installed above two sides of the sliding block support (701) respectively; a traveling mechanism driving motor (713) is arranged on the driving wheel (703) on one side, and the traveling mechanism driving motor (713) is coaxially connected with the driving wheel (703) through a driving wheel shaft (714); a sanding head (706) disposed between the two drive wheels (703) is driven by a sanding head drive motor (711).
3. The automatic stand paint cleaning and grinding machine with the crawling function according to claim 2, characterized in that: the polishing head (706) is coaxially connected with the large belt wheel (709) through a rotating shaft of the large belt wheel; the large belt wheel rotating shaft is connected with a polishing head bracket (705) through a spherical outside surface bearing (707) with a punching rhombus seat; the upper end of the polishing head bracket (705) is connected with a polishing head driving motor (711) through a polishing head driving motor bracket (712); the driving shaft of the polishing head driving motor (711) is connected with the small belt wheel (708), and the small belt wheel (708) is connected with the large belt wheel (709) through a belt.
4. The automatic stand paint cleaning and grinding machine with the crawling function according to claim 1, characterized in that: the two clasping mechanisms (2) which are arranged up and down are connected through a climbing cylinder mechanism (4) arranged on the clasping connecting frame (3), and the clasping mechanism (2) at the upper end is connected with the polishing mechanism (5) through a connecting piece (221).
5. The automatic cleaning polisher for upright paint with crawling function according to claim 1 or 4, characterized in that: a first embracing hand (202) and a second embracing hand (203) of the embracing mechanism (2) are respectively connected with the embracing mechanism through a limb joint (201), a limb joint connecting frame (212) is fixed on the outer side surface of the limb joint (201), and the outer side of the limb joint connecting frame (212) is connected with the climbing cylinder mechanism (4); the guide rail sliding block (213) arranged on the inner side surface of the limb joint connecting frame (212) is connected with the guide rail (210) in a sliding way.
6. The automatic stand paint cleaning and grinding machine with the crawling function according to claim 5, characterized in that: the clamping mechanism comprises a clamping cylinder (204), a cylinder double-lug ring (206), a cylinder flange (207), a cylinder I-shaped joint (208) and a connector (209);
one end of a cylinder double-lug ring (206) of the enclasping mechanism is fixedly connected with a first enclasping hand (202), the other end of the cylinder double-lug ring (206) is connected with one end of a cylinder I-shaped connector (208), the other end of the cylinder I-shaped connector (208) is connected with an output shaft of the enclasping cylinder (204) through a connector (209), and the enclasping cylinder (204) is connected with a second enclasping hand (203) through a cylinder flange (207).
7. The automatic stand paint cleaning and grinding machine with the crawling function according to claim 5, characterized in that: the first embracing hand (202) is connected with the hugging tile (223) through the hinge mechanism towards the inner side of the circle center, and the second embracing hand (203) is connected with the hugging tile (223) through the hinge mechanism towards the inner side of the circle center.
8. The automatic stand paint cleaning and grinding machine with the crawling function according to claim 1, characterized in that: climbing cylinder mechanism (4) are fixed on embracing the link (3) through cylinder foot stool (401), and cylinder foot stool (401) are connected with climbing cylinder (403) through cylinder both ears ring (402), and the upper end of climbing cylinder (403) is connected through limb joint link (212) with embracing the mechanism (2) of top.
9. The automatic stand paint cleaning and grinding machine with the crawling function according to claim 8, characterized in that: both sides of the upper end of the holding connecting frame (3) are respectively connected with the lower end of an antenna (211) sleeved with a spring (240), and the upper end of the holding connecting frame (3) is provided with a photoelectric sensing switch (241) corresponding to the spring (240);
a guide rail (210) is arranged on the outer side of the holding connecting frame (3), and the guide rail (210) is in sliding connection with a guide rail sliding block (213) at the upper end of the limb joint connecting frame (212); one side of the limb joint connecting frame (212) is connected with the limb joint (201), and the other side of the limb joint connecting frame (212) is connected with the climbing cylinder (403).
10. The automatic stand paint cleaning sander with the crawling function according to claim 9, wherein: two ends of the limb joint (201) are respectively connected with the first embracing hand (202) and the second embracing hand (203) through joint pins (205), and the joint pins (205) are connected with the limb joint (201) through locking pieces (230); two pairs of oppositely arranged guide wheels (226) are also arranged at the upper end and the lower end of the limb joint (201).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911167072.4A CN110757319A (en) | 2019-11-25 | 2019-11-25 | Automatic stand paint cleaning and grinding machine with crawling function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911167072.4A CN110757319A (en) | 2019-11-25 | 2019-11-25 | Automatic stand paint cleaning and grinding machine with crawling function |
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| Publication Number | Publication Date |
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| CN110757319A true CN110757319A (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911167072.4A Pending CN110757319A (en) | 2019-11-25 | 2019-11-25 | Automatic stand paint cleaning and grinding machine with crawling function |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496586A (en) * | 2020-04-26 | 2020-08-07 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111648238A (en) * | 2020-04-23 | 2020-09-11 | 武汉船用机械有限责任公司 | Climbing device |
| CN113510602A (en) * | 2021-09-14 | 2021-10-19 | 南通盛世复合材料科技有限公司 | Artificial marble stand surface finish machine |
| CN114210622A (en) * | 2021-12-15 | 2022-03-22 | 重庆垣戎塑胶有限公司 | Crawling cleaning device for outdoor cylinder |
| CN114408045A (en) * | 2022-03-09 | 2022-04-29 | 沈阳工业大学 | Robot for climbing upright post |
| CN114700296A (en) * | 2022-03-08 | 2022-07-05 | 南京工程学院 | Self-adaptive lamp pole cleaning device |
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2019
- 2019-11-25 CN CN201911167072.4A patent/CN110757319A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111648238A (en) * | 2020-04-23 | 2020-09-11 | 武汉船用机械有限责任公司 | Climbing device |
| CN111648238B (en) * | 2020-04-23 | 2022-08-30 | 武汉船用机械有限责任公司 | Climbing device |
| CN111496586A (en) * | 2020-04-26 | 2020-08-07 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111496586B (en) * | 2020-04-26 | 2021-09-03 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN113510602A (en) * | 2021-09-14 | 2021-10-19 | 南通盛世复合材料科技有限公司 | Artificial marble stand surface finish machine |
| CN114210622A (en) * | 2021-12-15 | 2022-03-22 | 重庆垣戎塑胶有限公司 | Crawling cleaning device for outdoor cylinder |
| CN114700296A (en) * | 2022-03-08 | 2022-07-05 | 南京工程学院 | Self-adaptive lamp pole cleaning device |
| CN114408045A (en) * | 2022-03-09 | 2022-04-29 | 沈阳工业大学 | Robot for climbing upright post |
| CN114408045B (en) * | 2022-03-09 | 2024-05-07 | 沈阳工业大学 | Robot for climbing upright column |
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