CN112518773A - A multi-functional industrial robot for intelligent manufacturing - Google Patents
A multi-functional industrial robot for intelligent manufacturing Download PDFInfo
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- CN112518773A CN112518773A CN202011434232.XA CN202011434232A CN112518773A CN 112518773 A CN112518773 A CN 112518773A CN 202011434232 A CN202011434232 A CN 202011434232A CN 112518773 A CN112518773 A CN 112518773A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a multifunctional industrial robot for intelligent manufacturing, which comprises: a rail car; the scissor lift is arranged at the top end of the rail car; the high-precision rotating platform is arranged at the top end of the scissor lift; the multi-axis welding mechanism comprises a multi-axis blowing mechanism, a multi-axis welding mechanism and a multi-axis polishing mechanism, wherein the mechanisms are uniformly distributed at the working end of a high-precision rotating table along the radial direction, the working end of the multi-axis blowing mechanism comprises a blowing nozzle, the working end of the multi-axis welding mechanism comprises a welding head, the working end of the multi-axis polishing mechanism comprises a flexible abutting wheel which has a horizontal axis and can elastically move along the vertical direction and the two side directions, and the multi-axis polishing mechanism further comprises a polishing belt which is sleeved on the flexible abutting wheel and used for polishing; the working end of the industrial camera is obliquely arranged on the mechanism towards the working end of the mechanism, the industrial camera is electrically connected with the controller, and the robot is high in working efficiency and precision.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multifunctional industrial robot for intelligent manufacturing.
Background
With the development of society and science and technology, people are more reluctant to automation, and an automatic production line has unique advantages, such as low labor cost, high production efficiency and easy control. The important components of the automatic production line comprise a robot, the use of the traditional production line robot is mostly limited to the use of a robot arm, and then the part of the robot arm is improved, so that the cost is high, and the robot is not suitable for long-distance operation; welding is used as a common connection mode, and has the advantages of high connection strength, difficult damage and the like. Traditional robot is simple robot arm only, carries out simple welding to the spare part of carrying on the assembly line, and the function is single, and application scope is narrower.
Chinese patent CN201810575989.7 discloses a multifunctional industrial robot for an intelligent manufacturing automation line, which comprises a bottom plate, a welding manipulator fixed on the bottom plate, and a small wheel set arranged below the bottom plate; a welding manipulator which moves linearly along the first guide rail group is arranged on the first rack and the first guide rail group, the welding manipulator comprises a welding platform, a supporting leg is arranged below the welding platform, the supporting leg is arranged on the first guide rail group in a sliding mode, an output shaft of a first motor is coaxially connected with a first gear, the first gear is meshed with the first rack, an installation rod is arranged on one side of the first motor, a supporting wheel is arranged at the bottom of the installation rod, and the supporting wheel is in rolling contact with the bottom plate; the welding platform is provided with a rotary table, a gear ring is sleeved outside the rotary table, the inner side surface of the gear ring is in interference fit with the outer side surface of the rotary table, and the gear ring is meshed with a second gear.
The industrial robot cannot remove the attached crater only through the hammering device, and cannot adapt to a workpiece with a large welding height difference.
Disclosure of Invention
For solving above-mentioned technical problem, provide a multi-functional industrial robot for intelligent manufacturing, this technical scheme has solved work piece automatic weld problem.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a multi-function industrial robot for smart manufacturing comprising: a rail car; the scissor lift is arranged at the top end of the rail car; the working end of the high-precision rotating platform is vertically upwards arranged at the top end of the scissor lift; the multi-axis welding mechanism comprises a multi-axis blowing mechanism, a multi-axis welding mechanism and a multi-axis polishing mechanism, wherein the mechanisms are uniformly distributed at the working end of a high-precision rotating platform along the radial direction, the working end of the multi-axis blowing mechanism comprises a blowing nozzle capable of automatically adjusting the air outlet angle of the multi-axis blowing mechanism, the working end of the multi-axis welding mechanism comprises a welding head capable of automatically adjusting the welding angle of the multi-axis welding mechanism, the working end of the multi-axis polishing mechanism comprises a flexible butting wheel with a horizontal axis and capable of elastically moving along the vertical direction and the two side directions, and the multi-axis polishing mechanism further comprises a polishing; and the working end of the industrial camera is obliquely arranged on the mechanism towards the working end of the mechanism, and the industrial camera is electrically connected with the controller.
Preferably, the multi-axis blowing mechanism further comprises: the first multi-axis shifter is arranged at the working end of the high-precision rotating table; the first elastic connecting frame is arranged at the working end of the first multi-axis mover; the first fixing plate is horizontally arranged at the working end of the first elastic connecting frame, one end of the first rotating plate is hinged with one end of the first fixing plate, and the air blowing nozzle is fixedly arranged at the other end of the first rotating plate; and the first angle adjuster is arranged on one side of the first fixing plate and used for adjusting the angle of the first rotating plate relative to the first fixing plate.
Preferably, the multi-axis welding mechanism further comprises: the second multi-shaft shifter is arranged at the working end of the high-precision rotating table relative to the multi-shaft blowing mechanism; the second elastic connecting frame is arranged at the working end of the second multi-axis mover; the second fixing plate is horizontally arranged at the working end of the second elastic connecting frame, one end of the second rotating plate is hinged with one end of the first fixing plate, and the welding head is fixedly arranged at the other end of the second rotating plate; and the second angle adjuster is arranged on one side of the second fixed plate and is used for adjusting the angle of the second rotating plate relative to the second fixed plate.
Preferably, the multi-axis sanding mechanism further comprises: the third multi-shaft shifter is uniformly distributed at the working end of the high-precision rotating table relative to the multi-shaft blowing mechanism and the multi-shaft welding mechanism; the first connecting plate is arranged at the working end of the third multi-shaft shifter, and a first inclined plate is obliquely arranged outside the first connecting plate; the mounting plate is vertically arranged on the inclined side of the first inclined plate; the output shaft of the first servo motor horizontally penetrates through the mounting plate and is coaxially and fixedly connected with the driving wheel; the gas spring and the tightening wheel are arranged on one side of the mounting plate, and the output shaft of the gas spring is vertically upwards and fixedly arranged on the output shaft of the gas spring; the sliding plate is vertically arranged on one side of the mounting plate in a sliding mode through the guide rail, and a bottom plate located at the bottom of the mounting plate is arranged at the bottom end of the sliding plate; the working end of the double-shaft double-rod cylinder is vertically arranged on one side of the mounting plate downwards, and the working end of the double-shaft double-rod cylinder is fixedly connected with the top end of the sliding plate; the lifting plate is vertically arranged at the bottom of the bottom plate in a sliding mode through the first fixing pin, the first spring is coaxially sleeved on the first fixing pin, and two ends of the first spring are abutted to the top end of the lifting plate and the bottom end of the bottom plate respectively; the tip end of the tripod faces to a first fixed shaft which is provided with a horizontal axis and is used for rotatably mounting a flexible butting wheel, the center position of the top end of the tripod is provided with the first fixed shaft which is coaxial with the first fixed shaft, the first fixed shaft is in rotating fit with the rotating seat, and both sides of the top end of the tripod are also provided with third fixed shafts which are coaxial with the first fixed shaft; two ends of the tension spring are fixedly connected with the third fixed shaft and two sides of the lifting plate respectively; the polishing belt is sleeved on the driving wheel, the tightening wheel and the flexible butting wheel.
Preferably, a distance measuring sensor which is vertical in axis and used for detecting the lifting height of the top end of the scissor lift is further arranged on the scissor lift, and the distance measuring sensor is electrically connected with the controller.
Preferably, first multiaxis shifter is including first ball screw slip table, second ball screw slip table and third ball screw slip table, first ball screw slip table level sets up at high accuracy revolving stage work end, the vertical setting of second ball screw slip table is at first ball screw slip table work end, third ball screw slip table level just sets up at second ball screw slip table work end with first ball screw slip table is perpendicular, and first elastic connection frame sets up at third ball screw slip table work end, and second multiaxis shifter and third multiaxis shifter all are the same with first multiaxis shifter structure completely.
Preferably, the first elastic connecting frame comprises: the second connecting plate is fixedly arranged at the working end of the first multi-shaft shifter, and a second inclined plate is obliquely arranged on one side of the second connecting plate; the mounting bracket is in sliding fit with the second inclined plate through the second fixing pin, and the first fixing plate is fixedly arranged at the top end of the mounting bracket; the second spring is coaxially sleeved on the second fixing pin, and two ends of the second spring are respectively abutted against the opposite sides of the second inclined plate and the mounting bracket; the second elastic connecting frame has the same structure as the first elastic connecting frame.
Preferably, the first angle adjuster includes: the fixed rod is horizontally arranged on one side of the first fixed plate, and a track groove is formed in the top end of the fixed rod; one end of the first connecting rod is hinged with one end of the fixed rod, and the other end of the first connecting rod is in rotating fit with the first rotating plate through a shaft pin; the internal thread sliding block is arranged in the track groove in a sliding mode; one end of the second connecting rod is hinged with the top end of the internal thread sliding block, and the other end of the second connecting rod is hinged with the top end of the first connecting rod; the threaded column is coaxially and rotatably arranged in the track groove and is coaxially screwed with the internal thread sliding block; the output shaft of the second servo motor is coaxially and fixedly connected with one end of the threaded column; the second angle adjuster is identical in structure to the first angle adjuster.
Preferably, the first inclined plate is further provided with a waist-shaped groove which is fixedly connected with the mounting plate in an inclined sliding manner.
Preferably, one side of the mounting plate is also vertically provided with a stop lever used for placing the grinding belt to separate from the flexible butting wheel, the driving wheel and the tightening wheel.
Compared with the prior art, the invention has the beneficial effects that:
the industrial robot can automatically move stations, can automatically blow, weld and polish, and particularly can move at different stations through the rail car during working, so that the industrial robot is convenient to produce; the scissor lift is started, so that the working ends of the multi-shaft blowing mechanism, the multi-shaft welding mechanism and the multi-shaft polishing mechanism which are positioned at the top end of the high-precision rotating platform can be positioned at proper positions of the top of the processed workpiece, and therefore production is facilitated; the first multi-axis shifter is started, so that the welding point is blown by the blowing nozzle positioned at the top of the machined workpiece, dust or other pollutants at the welding point are blown away by high-pressure gas, the welding effect is prevented from being influenced, the output angle of the blowing nozzle can be automatically adjusted by the first angle adjuster, the welding point is uniformly blown, and dead corners are prevented from being left and the welding point is prevented from being not blown; after the blowing is finished, the high-precision rotating platform is started, the multi-axis welding mechanism is made to rotate to the top of the machined workpiece, the welding head and the second multi-axis mover are started, so that the welding point of the machined workpiece is welded, the angle of the welding head can be adjusted through the second angle adjuster, the welding can be uniformly conducted, and the welding missing condition is prevented; after welding is finished, starting the high-precision rotating table, enabling the multi-shaft polishing mechanism to rotate to the top of a processed workpiece, starting the first servo motor and the double-shaft double-rod cylinder, enabling the driving wheel to drive the polishing belt to be in flexible butt joint with the top end of the processed workpiece, and polishing the welding surface of the polishing belt to remove welding scars; in the blowing, welding and polishing processes, the working conditions of the working end of the mechanism can be observed in real time through the industrial camera, so that accurate blowing, welding and polishing are realized, and compared with the prior art, the robot has higher working efficiency and precision.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a side view of the present invention;
FIG. 5 is a perspective view of the multi-axis insufflation mechanism of the present invention;
FIG. 6 is an enlarged view of a portion of FIG. 5 at A;
FIG. 7 is a perspective view of the multi-axis welding mechanism of the present invention;
figures 8 and 10 are perspective views of the multi-axis sharpening mechanism of the present invention at two different viewing angles, respectively;
fig. 9 is a partially enlarged view of fig. 8 at B.
The reference numbers in the figures are:
1-a rail car;
2-scissor lifts; 2 a-a ranging sensor;
3-a high-precision rotating platform;
4-a multi-axis blowing mechanism; 4 a-a blowing nozzle; 4 b-a first multi-axis mover; 4b 1-first ball screw sliding table; 4b 2-second ball screw sliding table; 4b 3-third ball screw sliding table; 4 c-a first elastic connecting frame; 4c 1-second web; 4c 2-a second sloping plate; 4c 3-mounting bracket; 4c4 — a second retaining pin; 4c5 — second spring; 4 d-first fixing plate; 4 e-a first rotation plate; 4 f-a first angle adjuster; 4f 1-fixation bar; 4f 2-track groove; 4f3 — first link; 4f4 — internal thread slider; 4f5 — second link; 4f 6-threaded post; 4f 7-second servomotor;
5-a multi-axis welding mechanism; 5 a-a welding head; 5 b-a second multi-axis mover; 5 c-a second elastic connecting frame; 5 d-a second fixing plate; 5 e-a second rotating plate; 5 f-a second angle adjuster;
6-a multi-axis polishing mechanism; 6 a-flexible abutment wheels; 6 b-a polishing belt; 6 c-a third multi-axis mover; 6 d-first connecting plate; 6d 1-first sloping plate; 6d 2-waist groove; 6 e-mounting the plate; 6e 1-stop lever; 6 f-a first servo motor; 6 g-driving wheel; 6 h-air spring; 6 i-a tensioning wheel; 6 j-sliding plate; 6j 1-bottom plate; 6 k-guide rail; 6 m-double-shaft double-rod cylinder; 6 n-lifter plate; 6n 1-rotating seat; 6 o-first fixation pin; 6 p-first spring; 6 q-tripod; 6q 1-first fixed axis; 6q 2-second fixed shaft; 6q 3-third fixed axis; 6 r-tension spring;
7-industrial camera.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1, a multifunctional industrial robot for smart manufacturing includes:
a rail car 1;
the scissor lift 2 is arranged at the top end of the rail car 1;
the working end of the high-precision rotating platform 3 is vertically upwards arranged at the top end of the scissor lift 2;
the multi-axis polishing machine comprises a multi-axis blowing mechanism 4, a multi-axis welding mechanism 5 and a multi-axis polishing mechanism 6, wherein the mechanisms are uniformly distributed at the working end of a high-precision rotating platform 3 along the radial direction, the working end of the multi-axis blowing mechanism 4 comprises a blowing nozzle 4a capable of automatically adjusting the air outlet angle of the multi-axis blowing mechanism, the working end of the multi-axis welding mechanism 5 comprises a welding head 5a capable of automatically adjusting the welding angle of the multi-axis welding mechanism, the working end of the multi-axis polishing mechanism 6 comprises a flexible butting wheel 6a with a horizontal axis and capable of elastically moving along the vertical direction and the two side directions, and the multi-axis polishing mechanism 6 further comprises a polishing belt 6b which;
an industrial camera 7 having a working end disposed on the mechanism obliquely toward the mechanism working end, the industrial camera 7 being electrically connected to the controller.
During working, the industrial robot can move at different stations through the rail car 1, so that the production is facilitated;
the scissor lift 2 is started, so that the working ends of the multi-shaft blowing mechanism 4, the multi-shaft welding mechanism 5 and the multi-shaft polishing mechanism 6 which are positioned at the top end of the high-precision rotating platform 3 can be positioned at proper positions of the top of a processed workpiece, and therefore production is facilitated, and the working ends of the multi-shaft blowing mechanism 4, the multi-shaft welding mechanism 5 and the multi-shaft polishing mechanism 6 can be provided with the top of the processed workpiece for exchanging positions when the high-precision rotating platform 3 is started, so that blowing, welding and polishing can be performed in sequence;
the multi-shaft blowing mechanism 4 is started, so that a blowing nozzle 4a positioned at the top of a processed workpiece blows air to a welding point, dust or other pollutants at the welding point are blown away by high-pressure air, the welding effect is prevented from being influenced, the angle of the output end of the blowing nozzle 4a can be automatically adjusted, welding points are uniformly blown, and dead corners and no blowing are prevented;
after the blowing is finished, the high-precision rotating platform 3 is started, so that the multi-axis welding mechanism 5 rotates to the top of the machined workpiece, the welding head 5a is started to weld the welding point of the machined workpiece, and the angle of the welding head 5a can be automatically adjusted, so that the welding can be uniformly carried out, and the welding missing condition is prevented;
after welding is finished, the high-precision rotating table 3 is started, the multi-shaft polishing mechanism 6 is rotated to the top of the machined workpiece, the flexible abutting wheel 6a drives the polishing belt 6b to abut against the top end of the machined workpiece flexibly, and therefore the polishing belt 6b polishes the welding surface, and welding scars are removed;
in the processes of blowing, welding and polishing, the working condition of the working end of the mechanism can be observed in real time through the industrial camera 7, so that accurate blowing, welding and polishing are realized.
As shown in fig. 5 and 6, the multi-axis blowing mechanism 4 further includes:
the first multi-axis mover 4b is arranged at the working end of the high-precision rotating table 3;
the first elastic connecting frame 4c is arranged at the working end of the first multi-axis mover 4 b;
the first fixing plate 4d is horizontally arranged at the working end of the first elastic connecting frame 4c, one end of the first rotating plate 4e is hinged with one end of the first fixing plate 4d, and the air blowing nozzle 4a is fixedly arranged at the other end of the first rotating plate 4 e;
and a first angle adjuster 4f provided at one side of the first stationary plate 4d for adjusting an angle of the first rotating plate 4e with respect to the first stationary plate 4 d.
Start first multiaxis shifter 4b, can make the position of blowing nozzle 4a blow along vertical and horizontal direction adjustment, and first dead plate 4d sets up at first multiaxis shifter 4b work end through first elastic connection frame 4c to avoided the direct rigidity of blowing nozzle 4a to contradict at the work piece surface, and through starting first angle regulator 4f, can adjust the relative first dead plate 4d angle of first rotation board 4e, thereby be convenient for make blowing nozzle 4a can blow to the work piece dead angle.
As shown in fig. 7, the multi-axis welding mechanism 5 further includes:
the second multi-shaft shifter 5b is arranged at the working end of the high-precision rotating table 3 relative to the multi-shaft blowing mechanism 4;
the second elastic connecting frame 5c is arranged at the working end of the second multi-axis mover 5 b;
the second fixing plate 5d is horizontally arranged at the working end of the second elastic connecting frame 5c, one end of the second rotating plate 5e is hinged with one end of the first fixing plate 4d, and the welding head 5a is fixedly arranged at the other end of the second rotating plate 5 e;
and a second angle adjuster 5f provided at one side of the second fixed plate 5d for adjusting an angle of the second rotating plate 5e with respect to the second fixed plate 5 d.
Start second multiaxis shifter 5b, can make soldered connection 5a along vertical and horizontal direction adjustment welding position, and second fixed plate 5d sets up at second multiaxis shifter 5b work end through second elastic connection frame 5c to avoided the direct rigid conflict of soldered connection 5a at the work piece surface, and through starting second angle regulator 5f, can adjust the relative second fixed plate 5d angle of second rotor plate 5e, thereby be convenient for make soldered connection 5a adapt to different welding modes.
As shown in fig. 8, 9 and 10, the multi-axis grinding mechanism 6 further includes:
the third multi-shaft shifter 6c is uniformly distributed at the working end of the high-precision rotating table 3 relative to the multi-shaft blowing mechanism 4 and the multi-shaft welding mechanism 5;
a first connecting plate 6d provided at the working end of the third multi-axis mover 6c and having a first inclined plate 6d1 inclined outward;
a mounting plate 6e vertically disposed on an inclined side of the first inclined plate 6d 1;
the output shaft of the first servo motor 6f horizontally penetrates through the mounting plate 6e and is coaxially and fixedly connected with the driving wheel 6 g;
the device comprises a gas spring 6h and a tightening wheel 6i, wherein an output shaft of the gas spring 6h is vertically and upwards fixedly arranged on one side of a mounting plate 6e, and the tightening wheel 6i and a driving wheel 6g are coaxially and rotatably arranged on the output shaft of the gas spring 6 h;
the sliding plate 6j is vertically arranged on one side of the mounting plate 6e in a sliding mode through the guide rail 6k, and the bottom end of the sliding plate 6j is provided with a bottom plate 6j1 located at the bottom of the mounting plate 6 e;
the working end of the double-shaft double-rod cylinder 6m is vertically arranged on one side of the mounting plate 6e downwards, and the working end of the double-shaft double-rod cylinder 6m is fixedly connected with the top end of the sliding plate 6 j;
the lifting plate 6n is vertically arranged at the bottom of the bottom plate 6j1 in a sliding mode through the first fixing pin 6o, the first spring 6p is coaxially sleeved on the first fixing pin 6o, and two ends of the first spring 6p are abutted to the top end of the lifting plate 6n and the bottom end of the bottom plate 6j1 respectively;
a tripod 6q, the tip of which faces to a first fixed shaft 6q1 with a horizontal axis and used for rotatably mounting the flexible butting wheel 6a, the center of the top end of the tripod 6q is provided with a first fixed shaft 6q1 which is coaxial with the first fixed shaft 6q1, the first fixed shaft 6q1 is rotatably matched with a rotating seat 6n1, and both sides of the top end of the tripod 6q are also provided with third fixed shafts 6q3 which are coaxial with the first fixed shaft 6q 1;
two ends of the tension spring 6r are fixedly connected with the third fixed shaft 6q3 and two sides of the lifting plate 6n respectively;
the polishing belt 6b is sleeved on the driving wheel 6g, the tightening wheel 6i and the flexible abutting wheel 6 a.
The first sloping plate 6d1 is used for installing the mounting plate 6e on the first sloping plate 6d1, during polishing, the third multi-axis mover 6c is started to enable the flexible butting wheel 6a to be located at the top of a workpiece, the lifting plate 6n is started to enable the working end of the lifting plate to push the sliding plate 6j to slide on the guide rail 6k, so that the flexible butting wheel 6a drives the polishing belt 6b to be in elastic butting connection with the surface of the workpiece, the first servo motor 6f is started to enable the output shaft of the first servo motor to drive the driving wheel 6g to rotate relative to the mounting plate 6e, the driving wheel 6b is driven to rotate on the driving wheel 6g, the tightening wheel 6i and the flexible butting wheel 6a, welding scars are polished, and the gas spring 6h can enable the tightening wheel 6i to tighten the polishing belt 6b all the time, so that the polishing belt 6b is prevented from being too loose; when the flexible butting wheel 6a is butted, the flexible butting wheel drives the tripod 6q and the lifting plate 6n to overcome the elasticity of the first spring 6p relative to the bottom plate 6j1, the second fixed shaft 6q2 is in running fit with the rotating seat 6n1, the third fixed shaft 6q3 is in elastic connection with two sides of the lifting plate 6n through the tension spring 6r, so that the tripod 6q can elastically rotate relative to the lifting plate 6n, and the flexible butting wheel 6a is rotationally arranged on the first fixed shaft 6q1, so that the grinding belt 6b can elastically butt against the periphery of a crater, and grinding is facilitated; the tripod 6q is used to slidably connect the lifting plate 6n and the bottom plate 6j1, preventing them from being disengaged from each other.
As shown in fig. 2, a distance measuring sensor 2a with a vertical axis and used for detecting the lifting height of the top end of the scissor lift 2 is further arranged on the scissor lift 2, and the distance measuring sensor 2a is electrically connected with the controller.
Can real-time supervision cut fork lift 2 tops rising height through range finding sensor 2a to be convenient for put the most suitable operating height of height adjustment according to the work piece.
As shown in fig. 5, the first multi-axis mover 4b includes a first ball screw sliding table 4b1, a second ball screw sliding table 4b2 and a third ball screw sliding table 4b3, the first ball screw sliding table 4b1 is horizontally disposed at the working end of the high-precision rotary table 3, the second ball screw sliding table 4b2 is vertically disposed at the working end of the first ball screw sliding table 4b1, the third ball screw sliding table 4b3 is horizontally disposed at the working end of the second ball screw sliding table 4b2 perpendicular to the first ball screw sliding table 4b1, the first elastic connecting frame 4c is disposed at the working end of the third ball screw sliding table 4b3, and the second multi-axis mover 5b and the third multi-axis mover 6c are all identical in structure to the first multi-axis mover 4 b.
The first elastic connecting frame 4c can move along the vertical direction and the horizontal direction through the first ball screw sliding table 4b1, the second ball screw sliding table 4b2 and the third ball screw sliding table 4b3, so that the air blowing nozzle 4a can blow air to workpieces at different placing positions conveniently, and the second multi-axis mover 5b and the third multi-axis mover 6c are identical in structure with the first multi-axis mover 4b, so that the welding and polishing of workpieces of different sizes are facilitated.
As shown in fig. 6, the first elastic linking frame 4c includes:
a second connecting plate 4c1 fixedly arranged at the working end of the first multi-shaft shifter 4b, wherein one side of the second connecting plate 4c1 is obliquely provided with a second inclined plate 4c 2;
the mounting bracket 4c3 and the second fixing pin 4c4, the mounting bracket 4c3 is in sliding fit with the second sloping plate 4c2 through the second fixing pin 4c4, the first fixing plate 4d is fixedly arranged at the top end of the mounting bracket 4c 3;
the second spring 4c5 is coaxially sleeved on the second fixing pin 4c4, and two ends of the second spring respectively abut against the opposite sides of the second inclined plate 4c2 and the mounting bracket 4c 3;
the second elastic connecting frame 5c has the same structure as the first elastic connecting frame 4 c.
The first fixing plate 4d is disposed on the mounting bracket 4c3, the mounting bracket 4c3 is slidably engaged with the second inclined plate 4c2 through the mounting bracket 4c3, and the second spring 4c5 is sleeved on the second fixing pin 4c4, so that the rigid force between the second connecting plate 4c1 and the first fixing plate 4d is eliminated, and the blowing nozzle 4a is prevented from rigidly abutting against the workpiece, and the second elastic connecting frame 5c has the same structure as the first elastic connecting frame 4c, so that the second elastic connecting frame 5c can eliminate the rigid abutting force between the working end of the welding head 5a and the workpiece.
As shown in fig. 6, the first angle adjuster 4f includes:
the fixed rod 4f1 is horizontally arranged on one side of the first fixed plate 4d, and the top end of the fixed rod 4f1 is provided with a track groove 4f 2;
a first link 4f3, one end of which is hinged with one end of the fixed link 4f1 and the other end of which is rotatably matched with the first rotating plate 4e through a shaft pin;
an internal thread sliding block 4f4, which is arranged in the track groove 4f2 in a sliding manner;
one end of the second connecting rod 4f5 is hinged with the top end of the internal thread sliding block 4f4, and the other end is hinged with the top end of the first connecting rod 4f 3;
a screw post 4f6 coaxially rotatably provided in the track groove 4f2 and screwed coaxially with the female screw slider 4f 4;
the output shaft of the second servo motor 4f7 is coaxially and fixedly connected with one end of the threaded column 4f 6;
the second angle adjuster 5f is identical in structure to the first angle adjuster 4 f.
When the angle between the first fixing plate 4d and the first rotating plate 4e needs to be adjusted, the second servo motor 4f7 is started, so that the output shaft of the second servo motor drives the threaded column 4f6 to coaxially rotate in the track groove 4f2, the internal threaded sliding block 4f4 is coaxially screwed with the threaded column 4f6, so that the second servo motor axially slides in the track groove 4f2, one end of the second connecting rod 4f5 is hinged with the top end of the internal threaded sliding block 4f4, the other end of the second connecting rod is hinged with the top end of the first connecting rod 4f3, and the first connecting rod 4f3 is hinged with the fixing rod 4f1, so that the first connecting rod 4f3 drives the first rotating plate 4e to rotate a certain angle relative to the first fixing plate 4d, so as to facilitate the adjustment of the blowing direction of the.
As shown in fig. 8, the first sloping plate 6d1 is further provided with a waist-shaped groove 6d2 which is fixedly connected to the mounting plate 6e in a slanting sliding manner.
The mounting plate 6e can be fixed to the first connecting plate 6d by the waist-shaped groove 6d2 in a slanting sliding manner, thereby facilitating the mounting and adjustment.
As shown in fig. 8, a stop lever 6e1 for placing the sanding belt 6b off the flexible abutment wheel 6a, the driving wheel 6g and the tightening wheel 6i is also vertically provided on one side of the mounting plate 6 e.
By means of the blocking lever 6e1, the grinding belt 6b can be prevented from being detached from the flexible abutment wheel 6a, the driving wheel 6g and the tightening wheel 6i in the working condition, thereby facilitating stable grinding thereof.
The working principle of the invention is as follows:
the device realizes the functions of the invention through the following steps, thereby solving the technical problems provided by the invention:
during working, the industrial robot can move at different stations through the rail car 1, so that the production is facilitated;
step two, starting the scissor lift 2 to enable the working ends of the multi-axis blowing mechanism 4, the multi-axis welding mechanism 5 and the multi-axis polishing mechanism 6 which are positioned at the top end of the high-precision rotating platform 3 to be positioned at proper positions of the top of the processed workpiece, so that the production is facilitated, and starting the high-precision rotating platform 3 to enable the working ends of the multi-axis blowing mechanism 4, the multi-axis welding mechanism 5 and the multi-axis polishing mechanism 6 to be provided with the top of the processed workpiece for exchanging positions, so that the blowing, welding and polishing are facilitated in sequence;
step three, starting the first multi-axis shifter 4b to blow the welding point by the blowing nozzle 4a positioned at the top of the processed workpiece, so that dust or other pollutants at the welding point are blown away by high-pressure gas, the welding effect is prevented from being influenced, and the output angle of the blowing nozzle 4a can be automatically adjusted by the first angle adjuster 4f, so that welding points are uniformly blown, and dead corners are prevented from being not blown;
after the blowing is finished, starting the high-precision rotating table 3 to enable the multi-axis welding mechanism 5 to rotate to the top of the machined workpiece, starting the welding head 5a and the second multi-axis mover 5b to weld the welding point of the machined workpiece, and adjusting the angle of the welding head 5a through the second angle adjuster 5f to enable the welding to be uniform and prevent welding missing;
after welding is finished, starting the high-precision rotating table 3, enabling the multi-shaft polishing mechanism 6 to rotate to the top of a processed workpiece, starting the first servo motor 6f and the double-shaft double-rod cylinder 6m, enabling the driving wheel 6g to drive the polishing belt 6b to be in flexible butt joint with the top end of the processed workpiece, and enabling the polishing belt 6b to polish a welding surface so as to remove craters;
and sixthly, in the processes of blowing, welding and polishing, the working condition of the working end of the mechanism can be observed in real time through the industrial camera 7, so that accurate blowing, welding and polishing are realized.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A multi-functional industrial robot for intelligent manufacturing, its characterized in that, including:
a rail car (1);
the scissor lift (2) is arranged at the top end of the rail car (1);
the working end of the high-precision rotating platform (3) is vertically upwards arranged at the top end of the scissor lift (2);
the automatic polishing machine comprises a multi-shaft blowing mechanism (4), a multi-shaft welding mechanism (5) and a multi-shaft polishing mechanism (6), wherein the mechanisms are uniformly distributed at the working end of a high-precision rotating table (3) along the radial direction, the working end of the multi-shaft blowing mechanism (4) comprises a blowing nozzle (4 a) capable of automatically adjusting the air outlet angle of the blowing nozzle, the working end of the multi-shaft welding mechanism (5) comprises a welding head (5 a) capable of automatically adjusting the welding angle of the welding nozzle, the working end of the multi-shaft polishing mechanism (6) comprises a flexible abutting wheel (6 a) with a horizontal axis and capable of elastically moving along the vertical direction and the two side directions, and the multi-shaft polishing mechanism (6) further comprises a polishing belt (6 b) which is sleeved on the flexible abutting;
an industrial camera (7) having a working end disposed on the mechanism obliquely toward the mechanism working end, the industrial camera (7) being electrically connected to the controller.
2. The multifunctional industrial robot for intelligent manufacturing according to claim 1, characterized in that the multi-axis blowing mechanism (4) further comprises:
the first multi-axis mover (4 b) is arranged at the working end of the high-precision rotating table (3);
the first elastic connecting frame (4 c) is arranged at the working end of the first multi-axis mover (4 b);
the air blowing device comprises a first fixing plate (4 d) and a first rotating plate (4 e), wherein the first fixing plate (4 d) is horizontally arranged at the working end of a first elastic connecting frame (4 c), one end of the first rotating plate (4 e) is hinged with one end of the first fixing plate (4 d), and an air blowing nozzle (4 a) is fixedly arranged at the other end of the first rotating plate (4 e);
and a first angle adjuster (4 f) provided at one side of the first stationary plate (4 d) for adjusting an angle of the first rotating plate (4 e) with respect to the first stationary plate (4 d).
3. A multifunctional industrial robot for intelligent manufacturing according to claim 1, characterized in that the multi-axis welding mechanism (5) further comprises:
the second multi-shaft shifter (5 b) is arranged at the working end of the high-precision rotating table (3) relative to the multi-shaft blowing mechanism (4);
the second elastic connecting frame (5 c) is arranged at the working end of the second multi-axis mover (5 b);
the second fixing plate (5 d) is horizontally arranged at the working end of the second elastic connecting frame (5 c), one end of the second rotating plate (5 e) is hinged with one end of the first fixing plate (4 d), and the welding head (5 a) is fixedly arranged at the other end of the second rotating plate (5 e);
and a second angle adjuster (5 f) provided at one side of the second fixed plate (5 d) for adjusting an angle of the second rotating plate (5 e) with respect to the second fixed plate (5 d).
4. A multifunctional industrial robot for smart manufacturing according to claim 1, characterized in that the multi-axis grinding mechanism (6) further comprises:
the third multi-shaft shifter (6 c) is uniformly distributed at the working end of the high-precision rotating table (3) relative to the multi-shaft blowing mechanism (4) and the multi-shaft welding mechanism (5);
a first connecting plate (6 d) which is arranged at the working end of the third multi-shaft mover (6 c) and the outer side of which is obliquely provided with a first oblique plate (6 d 1);
a mounting plate (6 e) vertically disposed on an inclined side of the first inclined plate (6 d 1);
the output shaft of the first servo motor (6 f) horizontally penetrates through the mounting plate (6 e) and is coaxially and fixedly connected with the driving wheel (6 g);
the device comprises an air spring (6 h) and a tightening wheel (6 i), wherein an output shaft of the air spring (6 h) is vertically and upwards fixedly arranged on one side of a mounting plate (6 e), and the tightening wheel (6 i) and a driving wheel (6 g) are coaxially and rotatably arranged on the output shaft of the air spring (6 h);
the sliding plate (6 j) is vertically arranged on one side of the mounting plate (6 e) in a sliding mode through the guide rail (6 k), and a bottom plate (6 j 1) located at the bottom of the mounting plate (6 e) is arranged at the bottom end of the sliding plate (6 j);
the working end of the double-shaft double-rod cylinder (6 m) is vertically arranged downwards on one side of the mounting plate (6 e), and the working end of the double-shaft double-rod cylinder (6 m) is fixedly connected with the top end of the sliding plate (6 j);
the lifting plate (6 n) is vertically arranged at the bottom of the bottom plate (6 j 1) in a sliding mode through the first fixing pin (6 o), the first spring (6 p) is coaxially sleeved on the first fixing pin (6 o), and two ends of the first spring (6 p) are respectively abutted to the top end of the lifting plate (6 n) and the bottom end of the bottom plate (6 j 1);
the tip of the tripod (6 q) faces to a first fixed shaft (6 q 1) which is provided with a horizontal axis and used for rotatably mounting the flexible butting wheel (6 a), a first fixed shaft (6 q 1) which is coaxial with the first fixed shaft (6 q 1) is arranged at the center of the top end of the tripod (6 q), the first fixed shaft (6 q 1) is rotatably matched with the rotating seat (6 n 1), and third fixed shafts (6 q 3) which are coaxial with the first fixed shaft (6 q 1) are further arranged on two sides of the top end of the tripod (6 q);
two ends of the tension spring (6 r) are fixedly connected with two sides of the third fixed shaft (6 q 3) and the lifting plate (6 n) respectively;
the grinding belt (6 b) is sleeved on the driving wheel (6 g), the tightening wheel (6 i) and the flexible abutting wheel (6 a).
5. The multifunctional industrial robot for intelligent manufacturing according to claim 1, characterized in that a distance measuring sensor (2 a) with vertical axis and used for detecting the lifting height of the top end of the scissor lift (2) is further arranged on the scissor lift (2), and the distance measuring sensor (2 a) is electrically connected with the controller.
6. The multi-functional industrial robot for smart manufacturing according to claim 2, wherein the first multi-axis mover (4 b) includes a first ball screw slide (4 b 1), a second ball screw slide (4 b 2), and a third ball screw slide (4 b 3), the first ball screw sliding table (4 b 1) is horizontally arranged at the working end of the high-precision rotating table (3), the second ball screw sliding table (4 b 2) is vertically arranged at the working end of the first ball screw sliding table (4 b 1), the third ball screw sliding table (4 b 3) is horizontal and is perpendicular to the first ball screw sliding table (4 b 1) and arranged at the working end of the second ball screw sliding table (4 b 2), the first elastic connecting frame (4 c) is arranged at the working end of the third ball screw sliding table (4 b 3), and the second multi-shaft mover (5 b) and the third multi-shaft mover (6 c) are identical in structure with the first multi-shaft mover (4 b).
7. A multifunctional industrial robot for smart manufacturing according to claim 2, characterized in that the first resilient connecting frame (4 c) comprises:
the second connecting plate (4 c 1) is fixedly arranged at the working end of the first multi-shaft shifter (4 b), and one side of the second connecting plate (4 c 1) is obliquely provided with a second inclined plate (4 c 2);
the mounting bracket (4 c 3) and the second fixing pin (4 c 4), the mounting bracket (4 c 3) is in sliding fit with the second sloping plate (4 c 2) through the second fixing pin (4 c 4), and the first fixing plate (4 d) is fixedly arranged at the top end of the mounting bracket (4 c 3);
the second spring (4 c 5) is coaxially sleeved on the second fixing pin (4 c 4), and two ends of the second spring are respectively abutted against the opposite sides of the second inclined plate (4 c 2) and the mounting bracket (4 c 3);
the second elastic connecting frame (5 c) and the first elastic connecting frame (4 c) have the same structure.
8. A multifunctional industrial robot for smart manufacturing according to claim 2, characterized in that the first angle regulator (4 f) comprises:
the fixed rod (4 f 1) is horizontally arranged on one side of the first fixed plate (4 d), and a track groove (4 f 2) is arranged at the top end of the fixed rod (4 f 1);
a first connecting rod (4 f 3), one end of which is hinged with one end of the fixed rod (4 f 1), and the other end of which is rotatably matched with the first rotating plate (4 e) through a shaft pin;
the internal thread sliding block (4 f 4) is arranged in the track groove (4 f 2) in a sliding mode;
one end of the second connecting rod (4 f 5) is hinged with the top end of the internal thread sliding block (4 f 4), and the other end of the second connecting rod is hinged with the top end of the first connecting rod (4 f 3);
the threaded column (4 f 6) is coaxially and rotatably arranged in the track groove (4 f 2) and is coaxially screwed with the internal thread sliding block (4 f 4);
the output shaft of the second servo motor (4 f 7) is coaxially and fixedly connected with one end of the threaded column (4 f 6);
the second angle adjuster (5 f) and the first angle adjuster (4 f) have the same structure.
9. The multifunctional industrial robot for intelligent manufacturing according to claim 4, characterized in that the first sloping plate (6 d 1) is further provided with a waist-shaped groove (6 d 2) which is fixedly connected with the mounting plate (6 e) in a sloping sliding manner.
10. A multifunctional industrial robot for intelligent manufacturing according to claim 4 characterized in that one side of the mounting plate (6 e) is also vertically provided with a stop lever (6 e 1) for placing the sanding belt (6 b) off the flexible abutment wheel (6 a), the driving wheel (6 g) and the tightening wheel (6 i).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011434232.XA CN112518773A (en) | 2020-12-10 | 2020-12-10 | A multi-functional industrial robot for intelligent manufacturing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011434232.XA CN112518773A (en) | 2020-12-10 | 2020-12-10 | A multi-functional industrial robot for intelligent manufacturing |
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| CN112518773A true CN112518773A (en) | 2021-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011434232.XA Withdrawn CN112518773A (en) | 2020-12-10 | 2020-12-10 | A multi-functional industrial robot for intelligent manufacturing |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458548A (en) * | 2021-07-02 | 2021-10-01 | 李云震 | Intelligent welding vehicle for steel structure gas shielded welding |
| CN113681112A (en) * | 2021-09-27 | 2021-11-23 | 陈超 | Automobile parts welds and uses high-efficient package assembly |
| CN114453893A (en) * | 2022-04-14 | 2022-05-10 | 陕西大森照明工程有限公司 | Welding set is used in municipal works construction |
-
2020
- 2020-12-10 CN CN202011434232.XA patent/CN112518773A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458548A (en) * | 2021-07-02 | 2021-10-01 | 李云震 | Intelligent welding vehicle for steel structure gas shielded welding |
| CN113458548B (en) * | 2021-07-02 | 2023-08-25 | 山东东方万达建筑工程有限公司 | Intelligent welding vehicle for steel structure gas shielded welding |
| CN113681112A (en) * | 2021-09-27 | 2021-11-23 | 陈超 | Automobile parts welds and uses high-efficient package assembly |
| CN114453893A (en) * | 2022-04-14 | 2022-05-10 | 陕西大森照明工程有限公司 | Welding set is used in municipal works construction |
| CN114453893B (en) * | 2022-04-14 | 2022-07-01 | 陕西大森照明工程有限公司 | Welding set is used in municipal works construction |
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Application publication date: 20210319 |
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