CN112677160A - Intelligent robot for sewage tank treatment and working method thereof - Google Patents

Abstract

The invention discloses an intelligent robot for treating a sewage tank and a working method thereof, wherein a first working table is provided with a first mechanical arm, a drilling machine is arranged at the top end of the first mechanical arm, a second working table is provided with a second mechanical arm, a glue dispenser is arranged at the top end of the second mechanical arm, a third working table is provided with a third mechanical arm, an assembling machine is arranged at the top end of the third mechanical arm, a fourth working table is provided with a fourth mechanical arm, a spray gun is arranged at the top end of the fourth mechanical arm, the first working table, the second working table, the third working table and the fourth working table are sequentially arranged on the long edge of a base, two groups of guide rails are arranged on the base, the guide rails are in rolling connection with a conveying vehicle, the conveying vehicle is fixedly connected with a rotating table, a plurality of pairs of holders are arranged on the rotating table, each working station can adapt to sewage tanks with different sizes, the labor intensity of workers is reduced, and, the overall working efficiency is improved.

Description

Intelligent robot for sewage tank treatment and working method thereof

Technical Field

The invention relates to the field of intelligent processing, in particular to an intelligent robot for treating a sewage tank and a working method thereof.

Background

Along with the development and the promotion of industrial automation and industrial 4.0, more and more industrial mechanical arm equipment is applied to an actual production flow line, in the production process of a traditional sewage tank, workers on the production line are required to perform operations such as manual assembly, manual polishing and manual paint spraying on the sewage tank on different stations, the working strength is high, the effect is not uniform, the rejection rate is unstable, danger is easy to occur, and the operators are easily damaged by harmful substances in the paint spraying process, so that the production of the sewage tank is very required to be mechanically and automatically set.

At present, most machines basically have only one operation step, cannot be effectively matched with each other, cannot realize smooth connection of production flows, and therefore the working efficiency is low and intelligent improvement is needed.

Some automatic machines are not compact in structure, so that the machines cannot be well adapted to sewage tanks of different sizes, the yield in the production process is unstable, stations of most mechanical equipment cannot be flexibly arranged, the equipment waste is caused, and the production cost is increased.

Disclosure of Invention

The invention aims to solve the problems and the defects, and provides an intelligent robot for treating a sewage tank and a working method thereof.

The purpose of the invention can be realized by the following technical scheme:

an intelligent robot for treating a sewage tank comprises a first station, a second station, a third station, a fourth station, a base, a guide rail, a conveying vehicle, a rotating table, a clamp holder and screws, wherein the first station comprises a first workbench, a first mechanical arm and a drilling machine, the first mechanical arm is arranged on the first workbench, the drilling machine is arranged at the top end of the first mechanical arm through a plurality of groups of screws, the second station comprises a second workbench, a second mechanical arm and a glue dispenser, the second workbench is provided with the second mechanical arm, the glue dispenser is arranged at the top end of the second mechanical arm through a plurality of groups of screws, the third station comprises a third workbench, a third mechanical arm and an assembling machine, the assembling machine is arranged at the top end of the third mechanical arm through a plurality of groups of screws, the fourth station comprises a fourth workbench, a fourth mechanical arm and a spray gun, the fourth mechanical arm is arranged on the fourth workbench, the spray gun is installed on the top of fourth arm through a plurality of groups screw, and first workstation, second workstation, third workstation and fourth workstation are installed in the long limit of base in proper order, install two sets of guide rails on the base, and guide rail and conveying car roll connection are fixedly connected with revolving stage on the conveying car, install a plurality of pairs of holders on the revolving stage.

Preferably, the conveying vehicle includes conveying platform, first motor and truckle, and a plurality of first motors of group are axisymmetric distribution and install in the bottom of conveying platform, and the truckle is corresponding to be installed in the drive shaft of every first motor of group, truckle and guide rail roll connection.

Preferably, the rotating table comprises a second motor and a supporting plate, the second motor is mounted at the top of the conveying vehicle, and the supporting plate is mounted at the upper part of the second motor.

Preferably, the clamper comprises a first electric push rod, a connecting rod and a supporting strip, a plurality of pairs of the clampers are distributed in a central symmetry manner and are arranged on the circumference of the rotating platform, the connecting rod is arranged on a driving shaft of the first electric push rod, and the supporting strip is arranged on the connecting rod.

Preferably, the drilling machine includes the supporting seat, the gag lever post, a spring, the sleeve, spacing piece, the third motor, lag and drill bit, the supporting seat passes through the screw and installs the top at first arm, the top at the supporting seat is installed to a plurality of groups gag lever post symmetries, the sleeve corresponds the cover and establishes on the gag lever post, and fixed connection is close to the one end of supporting seat at the lag, the top at the gag lever post is fixed to the spacing piece, the third motor is installed on the supporting seat top and is located between the gag lever post, drill bit fixed mounting is at the driving shaft tip of third motor, the lag cover is outside at the third motor, the spring housing is on the third motor, its one end is connected on the supporting seat, the other end is connected on the lag.

Preferably, the point gum machine includes second electric putter, the support frame, the slide bar, the sliding block, the box is glued to the storage, the limiting plate glues the head with the point, the support frame is installed on the top of second arm through a plurality of screw groups, second electric putter installs the one end that is close to the second arm at the support frame, slide bar one end fixed connection is in second electric putter's drive shaft, the other end passes the shell fixed connection sliding block that the box was glued in the storage, the sliding block is installed in storing up gluey box, and glue box inner wall sliding connection with the storage, the limiting plate is installed the one end of keeping away from the second arm at the support frame, and glue box fixed connection with the storage, it has the round hole to open on the limiting plate, the.

Preferably, the assembly machine includes the fourth motor, the connection piece, a supporting cylinder, third electric putter, the connecting axle, the link, axis of rotation and clamping bar, the fourth motor passes through the screw to be installed on the top of third arm, the connection piece is installed at the drive shaft tip of fourth motor, a supporting cylinder is installed on the connection piece, the one end that a supporting cylinder kept away from the fourth motor has a plurality of protruding portions, the axis of rotation is installed on the protruding portion of a supporting cylinder, the clamping bar passes through the axis of rotation and supports a section of thick bamboo rotation connection, third electric putter installs in a supporting cylinder, the drive shaft tip at third electric putter is installed to the connecting axle, the link is installed at the tip at the connecting axle, the tip and the clamping bar of link.

Preferably, the spray gun comprises a chassis, an air pump, a first paint storage cylinder, a first nozzle, a shielding piece, a fifth motor, a second nozzle, a rotating shaft and a second paint storage cylinder, wherein the chassis is mounted at the top end of a fourth mechanical arm through screws, the air pump is mounted on one side of the chassis close to the fourth mechanical arm, the air pump is communicated with the first paint storage cylinder and the second paint storage cylinder, the first paint storage cylinder is communicated with the first nozzle, the second paint storage cylinder is communicated with the second nozzle, the first paint storage cylinder and the second paint storage cylinder are symmetrically mounted, the fifth motor is mounted between the first paint storage cylinder and the second paint storage cylinder and fixedly connected with the chassis, the rotating shaft is mounted on a driving shaft of the fifth motor, the shielding piece is mounted at the end part of the rotating shaft and is slidably connected with the first nozzle and the second nozzle.

A working method of an intelligent robot for treating a sewage tank comprises the following specific steps:

the method comprises the following steps: the first motor works to drive the caster wheels to roll on the guide rails, so that the conveying vehicle is stopped at a first station, an unprocessed sewage tank is placed on the supporting plate, and the first electric push rod pushes the supporting bars to clamp the sewage tank, so that the sewage tank is kept stable;

step two: after the sewage tank is kept stable, the second motor works to drive the supporting plate to rotate, so that the position of the sewage tank is adjusted, meanwhile, the first mechanical arm works to adjust the position of the drilling machine, then, the drilling machine opens holes in the whole body and the inner part of the sewage tank, and the second motor is suspended after the machining is finished;

step three: the first motor works to drive the trundles to roll on the guide rails, so that the conveying vehicle stops at a second station, then the second motor works to drive the supporting plate to rotate, so that the position of the sewage tank is adjusted, meanwhile, the second mechanical arm works to adjust the position of the glue dispenser, then the glue dispenser coats glue on the whole body and the inside of the sewage tank, and the second motor is stopped after the glue dispenser finishes the operation;

step four: the first motor works to drive the trundles to roll on the guide rails, so that the conveying vehicle stops at a third station, then the second motor works to drive the supporting plate to rotate, so that the position of the sewage tank is adjusted, meanwhile, the third mechanical arm works to adjust the position of the assembling machine, then the assembling machine takes up all parts and is installed on the sewage tank, and the second motor is suspended after the assembly is completed;

step five: the first motor works to drive the trundles to roll on the guide rails, so that the conveying vehicle stops at a fourth station, then the second motor works to drive the supporting plate to rotate, the position of the sewage tank is adjusted, meanwhile, the fourth mechanical arm works to adjust the position of the spray gun, then the spray gun sprays paint on the whole body and all parts inside the sewage tank, and the second motor is suspended after the paint spraying is finished;

step six: the first electric push rod works to drive the supporting bar to loosen the clamping of the sewage tank, the processed sewage tank is taken down from the supporting plate, and then the first motor works to drive the trundles to roll, so that the conveying vehicle returns to the first station;

step seven: and repeating the first step to the sixth step, wherein the unprocessed sewage tank can be processed on the intelligent robot in turn.

The invention has the beneficial effects that:

firstly, in the actual production of sewage case, drive conveying vehicle and revolving stage send into first station, second station, third station and fourth station in proper order with the sewage case that needs processing and process, and each group of arm cooperates the revolving stage in proper order to carry out steps such as trompil, paint glue, installation spare part and spraying paint to the sewage case, does not have the interrupt between every step of processing, and smooth and easy linking.

And secondly, the workers do not need to hold or manually adjust each device to carry out each processing step, only need to put the sewage tank to be processed on the rotating platform, and take down the processed sewage tank from the rotating platform, so that the labor intensity is greatly reduced, the labor cost is reduced, and the working efficiency is improved.

And thirdly, through the matching of the mechanical arm and the rotating table, the intelligent robot can comprehensively process the sewage tank, and the processing dead angle is avoided.

And fourthly, the drilling machine, the glue dispenser, the assembling machine and the spray gun are fixedly arranged, the consistency of each sewage tank in the processing effect is enhanced, and the stability problems of uneven effect, unstable yield and the like caused by manual processing of workers or inconsistency of processing equipment are avoided.

Fifthly, danger easily appears in manual processing at each station, and operating personnel receives the potential injury of harmful substance very easily at the in-process that sprays paint, and this intelligent robot has accomplished mechanization and automation to the production procedure, and the whole controllable of course of working avoids contacting poisonous and harmful substance, has greatly improved the factor of safety of production process.

Sixth, this intelligent robot's volume is less, compact structure, and every station can both adapt to the sewage case of unidimensional not, can also change the equipment that every arm is connected and adapt to different process flows, has avoided the waste of equipment, has optimized production flow, has reduced manufacturing cost.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a front view of the overall structure of the present invention;

FIG. 2 is a top view of the overall structure of the present invention;

FIG. 3 is a side view of the overall structure of the present invention;

FIG. 4 is a front view of the transfer cart and turntable of the present invention;

FIG. 5 is a top view of the stationary clamp of the present invention;

FIG. 6 is a top view of the arm of the present invention in a straightened state;

FIG. 7 is a side view of the arm of the present invention in a flexed condition;

FIG. 8 is a side view of the drill rig of the present invention;

FIG. 9 is a side view of the dispenser of the present invention;

FIG. 10 is a side view of the assembly machine of the present invention;

FIG. 11 is a side view of the spray gun of the present invention;

FIG. 12 is a schematic front view of the nozzle and shield of the spray gun of the present invention;

FIG. 13 is a schematic view of the clockwise rotation of the shutter of the spray gun of the present invention;

in the figure: 1. a first table; 2. a second table; 3. a third working table; 4. a fourth table; 5. a base; 6. a guide rail; 7. a transfer vehicle; 8. a rotating table; 9. a holder; 11. a first robot arm; 12. a second mechanical arm; 13. a third mechanical arm; 14. a fourth mechanical arm; 15. a drilling machine; 16. a glue dispenser; 17. an assembly machine; 18. a spray gun; 21. a screw; 31. a supporting seat; 32. a limiting rod; 33. a spring; 34. a sleeve; 35. a limiting sheet; 36. a third motor; 37. a protective sleeve; 38. a drill bit; 41. a second electric push rod; 42. a support frame; 43. a slide bar; 44. a slider; 45. a glue storage box; 46. a limiting plate; 47. dispensing a glue head; 51. a fourth motor; 52. connecting sheets; 53. a support cylinder; 54. a third electric push rod; 55. a connecting shaft; 56. a connecting frame; 57. a rotating shaft; 58. a clamping bar; 61. an air pump; 62. a chassis; 63. a first paint storage cylinder; 64. a first nozzle; 65. a shielding sheet; 66. a fifth motor; 67. a second nozzle; 68. a rotating shaft; 69. a second paint storage cylinder; 71. a transfer table; 72. a first motor; 73. a caster wheel; 81. a second motor; 82. a support plate; 91. a first electric push rod; 92. a connecting rod; 93. a support strip.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Please refer to fig. 1-13:

an intelligent robot for treating a sewage tank comprises a first station, a second station, a third station, a fourth station, a base 5, a guide rail 6, a transfer trolley 7, a rotating platform 8, a clamp 9 and screws 21, wherein the first station comprises a first workbench 1, a first mechanical arm 11 and a drilling machine 15, the first workbench 1 is provided with the first mechanical arm 11, the drilling machine 15 is arranged at the top end of the first mechanical arm 11 through a plurality of groups of screws 21, the second station comprises a second workbench 2 and a second mechanical arm 12, the second workbench 2 is provided with the second mechanical arm 12, a dispensing machine 16 is arranged at the top end of the second mechanical arm 12 through a plurality of groups of screws 21, the third station comprises a third workbench 3, a third mechanical arm 13 and an assembling machine 17, the third workbench 3 is provided with the third mechanical arm 13, the assembling machine 17 is arranged at the top end of the third mechanical arm 13 through a plurality of groups of screws 21, the fourth station comprises a fourth working table 4, a fourth mechanical arm 14 and a spray gun 18, the fourth mechanical arm 14 is installed on the fourth working table 4, the spray gun 18 is installed at the top end of the fourth mechanical arm 14 through a plurality of groups of screws 21, the first working table 1, the second working table 2, the third working table 3 and the fourth working table 4 are sequentially installed on the long side of the base 5, two groups of guide rails 6 are installed on the base 5, the guide rails 6 are in rolling connection with the transfer trolley 7, the transfer trolley 7 is fixedly connected with a rotating table 8, a plurality of pairs of holders 9 are installed on the rotating table 8, the first motor 72 works to drive the trundles 73 to roll on the guide rails 6, so that the transfer trolley 7 pushes the rotating table 8 to transfer the sewage tank to be processed, when the transfer trolley 7 enters the first station, the first mechanical arm 11 pushes the drilling machine 15 to drill and ream holes on the sewage tank, when the transfer trolley 7 enters the second station, the second mechanical arm 12 pushes the dispenser 16 to paint glue at, when the conveying vehicle 7 enters the third station, the third mechanical arm 13 pushes the assembling machine 17 to install other parts on the sewage tank, when the conveying vehicle 7 is paused at the fourth station, the fourth mechanical arm 14 pushes the spray gun 18 to spray paint on the sewage tank, and by matching with the clockwise rotation of the rotating table 8, each group of mechanical arms respectively push the drilling machine 15, the glue dispenser 16, the assembling machine 17 and the spray gun 18, so that the sewage tank to be processed is processed without dead angles from top to bottom and from outside to inside, the processed sewage tank is obtained and taken down from the rotating table 8, and the conveying vehicle 7 is reset again, so that the processing process is continuously carried out, and the working efficiency is greatly improved.

Conveying car 7 is including conveying platform 71, first motor 72 and truckle 73, conveying platform 71 installs a plurality ofly to first motor 72 and truckle 73 in the bottom, first motor 72 is the symmetric distribution, truckle 73 corresponds installs on the drive shaft of every a set of first motor 72, truckle 73 and 6 roll connections of guide rail, truckle 73 is the concave wheel of inside sunken in middle part, can be stable with 6 roll connections of guide rail, through the drive to first motor 72, thereby realize the controllable start-pause's of conveying car 7 motion, get into first to fourth station in proper order, conveying platform 71 upper surface keeps the level, make the sewage case keep stable, thereby make this kind of intelligent robot for sewage case processing continuously stably process the sewage case, the effectual rejection rate that reduces.

The rotating platform 8 comprises a second motor 81 and a supporting plate 82, the second motor 81 is installed at the top of the conveying vehicle 7, the supporting plate 82 is installed at the top of the second motor 81, the second motor 81 keeps periodic clockwise rotation movement under the arrangement, when the conveying vehicle 7 is suspended at each station, the second motor 81 starts to stably rotate clockwise, when the conveying vehicle 7 moves, the second motor 81 stops rotating, at each station, through the rotation of the second motor 81, the top end of each mechanical arm can extend to the periphery of the sewage tank, the outer surface of the sewage tank is processed without dead angles, the upper surface of the supporting plate 82 is kept horizontal in rotation, the sewage tank is kept stable, and the yield of the processing process is improved.

The holder 9 includes first electric putter 91, connecting rod 92 and support bar 93, a plurality of are central symmetric distribution to holder 9, and install on the circumference of revolving stage 8, connecting rod 92 is installed on the drive shaft of first electric putter 91, support bar 93 is installed on connecting rod 92, when transfer car 7 is located first station, first electric putter 91 promotes connecting rod 92, make a plurality of groups of support bars 93 carry out the centre gripping to the sewage case, thereby make the sewage case remain stable state in the course of working, when transfer car 7 is located fourth station and revolving stage 8 stops rotating, first electric putter 91 stimulates connecting rod 92, make support bar 93 no longer carry out the centre gripping to the sewage case, thereby make the sewage case can be taken away from on revolving stage 8.

The drilling machine 15 comprises a supporting seat 31, a limiting rod 32, a spring 33, a sleeve 34, a limiting sheet 35, a third motor 36, a protective sleeve 37 and a drill bit 38, wherein the supporting seat 31 is installed at the top end of the first mechanical arm 11 through a screw 21, a plurality of groups of limiting rods 32 are symmetrically installed at the top end of the supporting seat 31, the sleeve 34 is correspondingly sleeved on the limiting rod 32, is in sliding connection with the limiting rod 32 and is fixedly connected to the protective sleeve 37, the limiting sheet 35 is fixed at the top end of the limiting rod 32, the third motor 36 is installed at the top end of the supporting seat 31 and is positioned between the limiting rods 32, the drill bit 38 is fixedly installed at the end part of a driving shaft of the third motor 36, the protective sleeve 37 is sleeved outside the third motor 36, one end of the protective sleeve 37, which is close to the supporting seat 31, is fixedly connected to the sleeve 34, the spring 33 is sleeved on the third motor 36, one end of which, when the top end of the first mechanical arm 11 extends forwards, the protective sleeve 37 firstly touches the processed sewage tank, and then the drill 38 processes the sewage tank, so that the stability during processing can be ensured, and the generated powder can be prevented from damaging other equipment or workers.

The glue dispenser 16 comprises a second electric push rod 41, a support frame 42, a sliding rod 43, a sliding block 44, a glue storage box 45, a limit plate 46 and a glue dispensing head 47, wherein the support frame 42 is mounted at the top end of the second mechanical arm 12 through a plurality of groups of screws 21, the second electric push rod 41 is mounted at one end of the support frame 42 close to the second mechanical arm 12, one end of the sliding rod 43 is fixedly connected to a driving shaft of the second electric push rod 41, the other end of the sliding rod passes through a shell of the glue storage box 45 and is fixedly connected with the sliding block 44, the sliding block 44 is mounted in the glue storage box 45 and is slidably connected with the inner wall of the glue storage box 45, the limit plate 46 is mounted at one end of the support frame 42 far away from the second mechanical arm 12 and is fixedly connected with the glue storage box 45, a circular hole is formed in the limit plate 46, the glue dispensing head 47 passes through the circular hole and is mounted on the glue storage box 45 and is matched with the second mechanical arm, the glue dispenser 16 can uniformly apply glue by accurately controlling the second electric push rod 41.

The assembling machine 17 comprises a fourth motor 51, a connecting piece 52, a supporting cylinder 53, a third electric push rod 54, a connecting shaft 55, a connecting frame 56, a rotating shaft 57 and a clamping rod 58, wherein the fourth motor 51 is installed at the top end of the third mechanical arm 13 through a screw 21, the connecting piece 52 is installed at the end part of a driving shaft of the fourth motor 51, the supporting cylinder 53 is installed on the connecting piece 52, one end of the supporting cylinder 53 far away from the fourth motor 51 is provided with a plurality of protruding parts, the rotating shaft 57 is installed on the protruding parts of the fourth motor 51, the clamping rod 58 is rotatably connected with the supporting cylinder 53 through the rotating shaft 57, the third electric push rod 54 is installed in the supporting cylinder 53, the connecting shaft 55 is installed at the end part of the driving shaft of the third electric push rod 54, the connecting frame 56 is installed at the end part of the connecting shaft 55, the end part of the connecting frame 56 is rotatably connected with the clamping, the clamping rod 58 can swing back and forth, so that the assembly machine 17 clamps parts to be installed on the sewage tank, and the fourth motor 51 drives the supporting cylinder 53 to rotate the clamping rod 58, so that the parts clamped by the clamping rod 58 are installed on the sewage tank.

The spray gun 18 comprises a base frame 62, an air pump 61, a first paint storage cylinder 63, a first nozzle 64, a shielding sheet 65, a fifth motor 66, a second nozzle 67, a rotating shaft 68 and a second paint storage cylinder 69, wherein the base frame 62 is arranged at the top end of the fourth mechanical arm 14 through a screw 21, the air pump 61 is arranged at one side of the base frame 62 close to the fourth mechanical arm 14, the air pump 61 is communicated with the first paint storage cylinder 63 and the second paint storage cylinder 69, the first paint storage cylinder 63 is communicated with the first nozzle 64, the second paint storage cylinder 69 is communicated with the second nozzle 67, the first paint storage cylinder 63 and the second paint storage cylinder 69 are symmetrically arranged, the fifth motor 66 is arranged between the first paint storage cylinder 63 and the second paint storage cylinder 69 and fixedly connected with the base frame 62, the rotating shaft 68 is arranged on a driving shaft of the fifth motor 66, the shielding sheet 65 is arranged at the end part of the rotating shaft 68, the shielding sheet 65 is in sliding connection with the first nozzle 64 and the second nozzle 67, the air pump 61 pressurizes paint in the first paint storage cylinder 63 or the second paint storage cylinder, the paint is sprayed out through the first nozzle 64 or the second nozzle 67, the first nozzle 64 has a function of atomizing the sprayed paint into liquid drops, the second nozzle 67 has a function of spraying the paint in strands, and when the fifth motor 66 drives the rotating shaft 68 to rotate the shielding piece 65, the shielding piece 65 can simultaneously shield the first nozzle 64 and the second nozzle 67 so as to close the spray gun 18, or shield only one of the nozzles, so that the paint in different types and states can be selectively sprayed on the surface of the sewage tank.

A working method of an intelligent robot for treating a sewage tank comprises the following specific steps:

the method comprises the following steps: the first motor 72 works to drive the caster 73 to roll on the guide rail 6, so that the transfer vehicle 7 stops at the first station, and then the unprocessed sewage tank is placed on the supporting plate 82, and the first electric push rod 91 pushes the supporting bar 93 to clamp the sewage tank, so that the sewage tank is kept stable;

step two: after the sewage tank is stable, the second motor 81 works to drive the supporting plate 82 to rotate, so that the position of the sewage tank is adjusted, meanwhile, the first mechanical arm 11 works to adjust the position of the drilling machine 15, then, the drilling machine 15 drills holes on the whole body and the inside of the sewage tank, and the second motor 81 is stopped after the machining is finished;

step three: the first motor 72 works to drive the caster wheels 73 to roll on the guide rails 6, so that the conveying vehicle 7 stops at the second station, then the second motor 81 works to drive the supporting plate 82 to rotate, so that the position of the sewage tank is adjusted, meanwhile, the second mechanical arm 12 works to adjust the position of the glue dispenser 16, then the glue dispenser 16 coats glue on the whole body and the inside of the sewage tank, and the second motor 81 is stopped after the glue dispenser finishes;

step four: the first motor 72 works to drive the caster 73 to roll on the guide rail 6, so that the conveying vehicle 7 stops at the third station, then the second motor 81 works to drive the supporting plate 82 to rotate, so that the position of the sewage tank is adjusted, meanwhile, the third mechanical arm 13 works to adjust the position of the assembling machine 17, then the assembling machine 17 takes up all parts and installs the parts on the sewage tank, and the second motor 81 is stopped after the completion;

step five: the first motor 72 works to drive the caster 73 to roll on the guide rail 6, so that the conveying vehicle 7 stops at the fourth station, then the second motor 81 works to drive the supporting plate 82 to rotate, the position of the sewage tank is adjusted, meanwhile, the fourth mechanical arm 14 works to adjust the position of the spray gun 18, then the spray gun 18 sprays paint on the whole body and the inside of the sewage tank, and the second motor 81 is stopped after the paint is sprayed;

step six: the first electric push rod 91 works to drive the supporting bar 93 to loosen the clamping of the sewage tank, the processed sewage tank is taken down from the supporting plate 82, and then the first motor 72 works to drive the caster 73 to roll, so that the conveying vehicle 7 returns to the first station;

step seven: and repeating the first step to the sixth step, wherein the unprocessed sewage tank can be processed on the intelligent robot in turn.

When the intelligent robot for processing the sewage tank is used, firstly, a drilling machine 15, a glue dispenser 16, an assembling machine 17 and a spray gun 18 are sequentially arranged at the top ends of a first mechanical arm 11, a second mechanical arm 12, a third mechanical arm 13 and a fourth mechanical arm 14 by a worker, then, corresponding arrangement is carried out on the components, after the intelligent robot for processing the sewage tank starts to operate, the worker places the sewage tank to be processed on a rotating platform 8, controls a conveying vehicle 7 and the rotating platform 8 to sequentially convey the sewage tank to be processed to first to fourth stations for processing, the first mechanical arm 11 cooperates with the drilling machine 15 to open a hole in the sewage tank in the first station, the second mechanical arm 12 cooperates with the glue dispenser 16 to coat glue on the opened hole and other parts to be processed in the second station, the third mechanical arm 13 cooperates with the assembling machine 17 to install parts required by the sewage tank on the sewage tank, on the fourth station, the fourth mechanical arm 14 is matched with the spray gun 18 to evenly spray various paints on the sewage tank, after the paint spraying of the fourth station is finished, the processed sewage tank is taken down from the rotating platform 8, each step of the processing flow is smoothly connected through the starting-pausing-starting circular motion of the conveying vehicle 7, all components are matched with each other, when the conveying vehicle 7 enters each station, the conveying vehicle 7 pauses, and then the clockwise rotation-pausing motion of the rotating platform 8 is realized, so that the intelligent robot for processing the sewage tank processes the whole outer surface of the sewage tank, the drilling machine 15, the glue dispenser 16, the assembling machine 17 and the spray gun 18 extend into the sewage tank for processing through the swinging of all groups of mechanical arms, the incomplete processing caused by dead corners is avoided, and the drilling machine 15, the glue dispenser 16, the assembling machine 17 and the spray gun 18 are controllable in the whole process, every sewage case that gets into this station carries out the same processing work, has kept the uniformity in the processing effect, has avoided stability problems such as the effect is inhomogeneous, yields are unstable that lead to because of staff's manual work or the nonconformity of processing equipment.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims (9)

1. The utility model provides an intelligent robot is used in sewage case processing, its characterized in that includes first station, second station, third station, fourth station, base (5), guide rail (6), conveying vehicle (7), revolving stage (8), holder (9) and screw (21), first station includes first workstation (1), first arm (11) and drilling machine (15), install first arm (11) on first workstation (1), install the top at first arm (11) through a plurality of groups screw (21) in drilling machine (15), the second station includes second workstation (2), second arm (12) and point gum machine (16), second arm (12) are installed to second workstation (2), point gum machine (16) are installed on the top of second arm (12) through a plurality of groups screw (21), the third station comprises a third workbench (3), a third mechanical arm (13) and an assembling machine (17), the third mechanical arm (13) is installed on the third workbench (3), the assembling machine (17) is installed at the top end of the third mechanical arm (13) through a plurality of groups of screws (21), the fourth station comprises a fourth workbench (4), a fourth mechanical arm (14) and a spray gun (18), the fourth mechanical arm (14) is installed on the fourth workbench (4), the spray gun (18) is installed at the top end of the fourth mechanical arm (14) through a plurality of groups of screws (21), the first workbench (1), the second workbench (2), the third workbench (3) and the fourth workbench (4) are sequentially installed on the long edge of the base (5), two groups of guide rails (6) are installed on the base (5), and the guide rails (6) are in rolling connection with the conveying vehicle (7), fixedly connected with revolving stage (8) on conveying car (7), install a plurality of pairs of holder (9) on revolving stage (8).

2. The intelligent robot for sewage tank treatment according to claim 1, wherein the conveying vehicle (7) comprises a conveying platform (71), a first motor (72) and casters (73), a plurality of groups of the first motors (72) are axially symmetrically distributed and mounted at the bottom of the conveying platform (71), the casters (73) are correspondingly mounted on the driving shafts of each group of the first motors (72), and the casters (73) are in rolling connection with the guide rail (6).

3. The intelligent robot for wastewater tank treatment according to claim 1, wherein the rotating platform (8) comprises a second motor (81) and a support plate (82), the second motor (81) is installed on the top of the conveying vehicle (7), the support plate (82) is installed on the top of the second motor (81), and a plurality of pairs of holders (9) are installed on the top of the support plate (82).

4. The intelligent robot for sewage tank treatment according to claim 1, wherein the gripper (9) comprises a first electric push rod (91), a connecting rod (92) and a supporting strip (93), a plurality of pairs of the grippers (9) are arranged in a central symmetry manner and are arranged on the circumference of the rotating table (8), the connecting rod (92) is arranged on the driving shaft of the first electric push rod (91), and the supporting strip (93) is arranged on the connecting rod (92).

5. The intelligent robot for sewage tank treatment according to claim 1, wherein the drilling machine (15) comprises a support base (31), a limiting rod (32), a spring (33), a sleeve (34), a limiting sheet (35), a third motor (36), a protective sleeve (37) and a drill bit (38), the support base (31) is mounted at the top end of the first mechanical arm (11) through a screw (21), a plurality of sets of the limiting rods (32) are symmetrically mounted at the top end of the support base (31), the sleeve (34) is correspondingly sleeved on the limiting rod (32), the limiting sheet (35) is fixed at the top end of the limiting rod (32), the third motor (36) is mounted at the top end of the support base (31) and located between the limiting rods (32), the drill bit (38) is fixedly mounted at the end of a driving shaft of the third motor (36), and the protective sleeve (37) is slidably sleeved outside the third motor (36), the spring (33) is sleeved on the third motor (36), one end of the spring is connected to the supporting seat (31), the other end of the spring is connected to the protecting sleeve (37), and a plurality of notches are formed in the circumference of the top end of the protecting sleeve (37).

6. The intelligent robot for sewage tank treatment according to claim 1, wherein the glue dispenser (16) comprises a second electric push rod (41), a support frame (42), a sliding rod (43), a sliding block (44), a glue storage box (45), a limit plate (46) and a glue dispensing head (47), the support frame (42) is mounted at the top end of the second mechanical arm (12) through a plurality of sets of screws (21), the second electric push rod (41) is mounted at one end of the support frame (42) close to the second mechanical arm (12), one end of the sliding rod (43) is fixedly connected to a driving shaft of the second electric push rod (41), the other end of the sliding rod passes through a shell of the glue storage box (45) and is fixedly connected with the sliding block (44), the sliding block (44) is mounted in the glue storage box (45) and is slidably connected with the inner wall of the glue storage box (45), the limit plate (46) is mounted at one end of the support frame (42) far away from the second mechanical arm (12), and is fixedly connected with the glue storage box (45), a round hole is arranged on the limiting plate (46), and the glue dispensing head (47) passes through the round hole to be arranged on the glue storage box (45).

7. The intelligent robot for wastewater tank treatment according to claim 1, wherein the assembling machine (17) comprises a fourth motor (51), a connecting piece (52), a supporting cylinder (53), a third electric push rod (54), a connecting shaft (55), a connecting frame (56), a rotating shaft (57) and a clamping rod (58), the fourth motor (51) is mounted at the top end of the third mechanical arm (13) through a screw (21), the connecting piece (52) is mounted at the end part of the driving shaft of the fourth motor (51), the supporting cylinder (53) is mounted on the connecting piece (52), one end of the supporting cylinder (53) far away from the fourth motor (51) is provided with a plurality of protrusions, the rotating shaft (57) is mounted on the protrusions of the supporting cylinder (53), the clamping rod (58) is rotatably connected with the supporting cylinder (53) through the rotating shaft (57), and the third electric push rod (54) is mounted in the supporting cylinder (53), the connecting shaft (55) is arranged at the end part of a driving shaft of the third electric push rod (54), the connecting frame (56) is arranged at the end part of the connecting shaft (55), and the end part of the connecting frame (56) is rotationally connected with the clamping rod (58).

8. The intelligent robot for sewage tank treatment according to claim 1, wherein the spray gun (18) comprises a chassis (62), an air pump (61), a first paint storage cylinder (63), a first nozzle (64), a shielding sheet (65), a fifth motor (66), a second nozzle (67), a rotating shaft (68) and a second paint storage cylinder (69), the chassis (62) is mounted at the top end of the fourth mechanical arm (14) through a screw (21), the air pump (61) is mounted at one side of the chassis (62) close to the fourth mechanical arm (14), the air pump (61) is communicated with the first paint storage cylinder (63) and the second paint storage cylinder (69), the first paint storage cylinder (63) is communicated with the first nozzle (64), the second paint storage cylinder (69) is communicated with the second nozzle (67), and the first paint storage cylinder (63) and the second paint storage cylinder (69) are symmetrically mounted, fifth motor (66) are installed and are stored up between paint cartridge (63) and second paint cartridge (69) to with chassis (62) fixed connection, pivot (68) are installed to the drive shaft of fifth motor (66), shielding piece (65) are installed to the tip of pivot (68), shielding piece (65) and first nozzle (64) and second nozzle (67) sliding connection.

9. A working method of an intelligent robot for treating a sewage tank is characterized by comprising the following specific steps:

the method comprises the following steps: the first motor (72) works to drive the caster wheel (73) to roll on the guide rail (6), so that the conveying vehicle (7) is stopped at a first station, an unprocessed sewage tank is placed on the supporting plate (82), and the first electric push rod (91) pushes the supporting strip (93) to clamp the sewage tank, so that the sewage tank is kept stable;

step two: after the sewage tank is kept stable, the second motor (81) works to drive the supporting plate (82) to rotate, so that the position of the sewage tank is adjusted, meanwhile, the first mechanical arm (11) works to adjust the position of the drilling machine (15), then, the drilling machine (15) opens holes in the whole body and the interior of the sewage tank, and the second motor (81) is stopped after the machining is finished;

step three: the first motor (72) works to drive the caster wheel (73) to roll on the guide rail (6), so that the conveying vehicle (7) stops at a second station, then the second motor (81) works to drive the supporting plate (82) to rotate, the position of the sewage tank is adjusted, meanwhile, the second mechanical arm (12) works to adjust the position of the glue dispenser (16), then the glue dispenser (16) coats glue on the periphery and inside of the sewage tank, and the second motor (81) is stopped after the glue dispenser works;

step four: the first motor (72) works to drive the caster wheel (73) to roll on the guide rail (6), so that the conveying vehicle (7) stops at a third station, then the second motor (81) works to drive the supporting plate (82) to rotate, the position of the sewage tank is adjusted, meanwhile, the third mechanical arm (13) works to adjust the position of the assembling machine (17), then the assembling machine (17) takes up all parts and is installed on the sewage tank, and the second motor (81) is stopped after the assembly is finished;

step five: the first motor (72) works to drive the caster wheel (73) to roll on the guide rail (6), so that the conveying vehicle (7) stops at a fourth station, then the second motor (81) works to drive the supporting plate (82) to rotate, the position of the sewage tank is adjusted, meanwhile, the fourth mechanical arm (14) works to adjust the position of the spray gun (18), then the spray gun (18) sprays paint on the periphery and the inside of the sewage tank, and the second motor (81) is stopped after the paint spraying is finished;

step six: the first electric push rod (91) works to drive the supporting bar (93) to loosen the clamping of the sewage tank, the processed sewage tank is taken down from the supporting plate (82), and then the first motor (72) works to drive the caster wheel (73) to roll, so that the conveying vehicle (7) returns to the first station;

step seven: and repeating the first step to the sixth step, so that the unprocessed sewage tank can be processed on the intelligent robot in turn.

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