CN113442108A - Key robot of handling - Google Patents
Key robot of handling Download PDFInfo
- Publication number
- CN113442108A CN113442108A CN202110835081.7A CN202110835081A CN113442108A CN 113442108 A CN113442108 A CN 113442108A CN 202110835081 A CN202110835081 A CN 202110835081A CN 113442108 A CN113442108 A CN 113442108A
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- CN
- China
- Prior art keywords
- transverse moving
- spray
- arranged below
- working mechanism
- moving mechanism
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A highlight handling robot comprising: the turnover tail wheel assembly, the travelling mechanism, the turnover mechanism, the working mechanism, the inlet pipeline, the outlet pipeline and the interface are arranged on the tail wheel; the transverse moving mechanism is arranged above the working mechanism, a transmission assembly, a speed reducer, a screw rod nut and a screw rod nut are arranged in front of the motor and fixedly connected with a slide rod through a connecting piece, a linear slide rail is arranged below the slide rod, the slide rod is connected with a transverse moving plate, the transverse moving plate is fixedly connected with an installation plate arranged above the working mechanism, a transverse moving mechanism component is arranged in the box body and fixed above the travelling mechanism, and the transverse moving mechanism is provided with a controller; the spray head assembly arranged below the working mechanism is characterized in that a spray column and a spray nozzle are arranged below the X cross rod, and the spray column, the spray nozzle and the X cross rod form a certain angle and incline in the same direction; the device has the advantages of simple structure, strong pertinence, stronger effect on the grooves and point surfaces of point-shaped corrosion, and excellent effect through the grinding treatment of spin and revolution.
Description
Technical Field
The invention relates to an automatic operation machine, in particular to a robot for key processing. It is mainly used for paint and rust removal and surface treatment operations of the surfaces of ships, storage tanks, pipelines, steel structures and the like, and particularly emphasizes on the groove effect treatment of point-shaped corrosion and the operation of corners and small curved surfaces.
Background
As the outdoor facilities such as ships, storage tanks, pipelines, large-scale steel structures and the like need to be subjected to anticorrosion construction, paint removal, rust removal, polishing, spraying, cutting and the like at regular intervals, the air sand blasting operation polluting the environment is not allowed to be adopted based on the requirement of environmental protection. Although water-sprayed sand has no air pollution, the water-sprayed sand can seriously return rust and generate uncontrollable waste water; under a plurality of environmental conditions, the operation of erecting a scaffold or an overhead working truck wastes time and labor, is even inconvenient to operate, depends on manual safety sling operation, and has high risk and low efficiency; it is understood that the prior art of the dedicated robot solves the above problems, but is still not ideal enough, and the standard effect on the groove treatment of the point rust and the operation of the corners and the small curved surfaces can not be achieved, so that the problem needs to be solved intensively.
Disclosure of Invention
In order to overcome the defects of the prior art and products, the invention provides a robot for key processing, which has the advantages of simple structure, strong pertinence, reliable performance and high working efficiency.
In order to achieve the above object, according to an aspect of the present invention, there is provided a robot for performing a highlight processing, comprising: upset tailwheel subassembly, running gear, tilting mechanism, operating device, advance, export pipeline and interface, characterized by: the transverse moving mechanism is arranged above the working mechanism, a transmission assembly, a speed reducer, a screw rod nut and a screw rod nut are arranged in front of the motor and fixedly connected with a slide rod through a connecting piece, a linear slide rail is arranged below the slide rod, the slide rod is connected with a transverse moving plate, the transverse moving plate is fixedly connected with an installation plate arranged above the working mechanism, a transverse moving mechanism component is arranged in the box body and fixed above the travelling mechanism, and the transverse moving mechanism is provided with a controller;
the spray head assembly arranged below the working mechanism is characterized in that a spray column and a spray nozzle are arranged below the X cross rod, and the spray column, the spray nozzle and the X cross rod form a certain angle and incline in the same direction;
each head of the spray columns and the nozzles under the four corners of the X cross bar is provided with 1-5 groups, one group of spray columns and nozzles in each head can be inclined, or more than one group of spray columns and nozzles can be inclined simultaneously;
a protective cover is arranged outside the transverse moving mechanism;
the invention has the advantages of simple structure, strong pertinence, accurate and in-place operation treatment on the point-like rusted grooves and the corners and the small curved surfaces, stronger effect and reliable performance through the self-rotating and male-rotating grinding treatment, wider point and surface, capability of realizing one-time standard moving treatment and excellent effect.
Drawings
Fig. 1 is a perspective view of the present invention.
FIG. 2 is a diagram of the inverted tail wheel assembly of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is a diagram of the working mechanism of the present invention.
Fig. 5 is a perspective view of the traversing mechanism of the present invention.
Fig. 6 is a bottom view of the grinding disk of the working mechanism.
Fig. 7 is a schematic view of a showerhead assembly of the present invention.
In the figure:
100 a robot for accent processing;
1, turning a tail wheel assembly;
2, a traveling mechanism;
3, turning over the arm;
4, a working mechanism;
5, an inlet pipeline and a connector;
6, an outlet pipeline and a connector;
7 transverse moving mechanisms, 7.1 motors, 7.2 transmission assemblies, 7.3 speed reducers, 7.4 lead screws, 7.5 lead screw nuts, 7.6 connecting pieces, 7.7 sliding rods, 7.8 linear sliding rails, 7.9 transverse moving plates and 7.10 controllers; 7.11 protective covers;
8 shower nozzle subassembly, 8.1X horizontal pole, 8.2 spray columns, 8.3 nozzles.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings, and it should be understood that the embodiments described herein are merely illustrative and explanatory of the invention, and are not restrictive thereof.
As shown in fig. 1 to 7, a robot for highlight processing includes: the turnover tail wheel assembly 1, the running gear 2, the turnover mechanism 3, the working mechanism 4, the inlet pipeline and interface 5, the outlet pipeline and interface 6, the working mechanism is provided with a transverse moving mechanism 7, the transverse moving mechanism is provided with a transmission assembly 7.2 (comprising a synchronous belt wheel a, a synchronous belt wheel b and a transmission shaft), a speed reducer 7.3, a screw rod 7.4 and a screw rod nut 7.5 in the front of a servo motor 7.1, the screw rod nut is fixedly connected with a sliding rod 7.7 through a connecting piece 7.6, a linear sliding rail 7.8 is arranged below the sliding rod, the sliding rod is connected with a transverse moving plate 7.9, the transverse moving plate is fixedly connected with a mounting plate arranged on the working mechanism, the transverse moving mechanism component is arranged in a box body and fixed on the running gear, and the transverse moving mechanism is provided with a controller 7.10;
the spray head assembly 8 arranged below the working mechanism is provided with a spray column 8.2 and a spray nozzle 8.3 below an X cross rod 8.1, and the spray column, the spray nozzle and the X cross rod form a certain angle of homodromous inclination; the inclined nozzle forms spin in the process of spraying high-pressure water;
each head of the spray columns and the nozzles under the four corners of the X cross bar is provided with 1-5 groups, one group of spray columns and nozzles in each head can be inclined, or more than one group of spray columns and nozzles can be inclined simultaneously;
a protective cover 8.4 is arranged outside the transverse moving mechanism;
the turning tail wheel assembly is characterized in that a steering frame and an adsorption wheel assembly are sequentially connected below a joint motor, a controller is integrated on the joint motor, turning arms are symmetrically arranged on two sides of the steering frame, the adsorption wheel assembly is composed of two small wheels, and a chamfering magnet is arranged in the middle of each wheel; when the operation is needed to be close to the edge, the cleaning disc of the working mechanism is placed at the front end, so that the operation dead angle is eliminated; when the small-curvature passing capacity is needed, the cleaning disc is arranged between the front wheel and the rear wheel; the overturning tail wheel assembly realizes overturning and is completed by disassembling and assembling pipelines on the working mechanism.
The walking mechanism consists of a walking driving device, a controller A and two rubber wheels; a motor mounting plate is arranged in the walking driving device, a servo motor is arranged on the motor mounting plate, and a synchronous belt wheel a, a synchronous belt wheel b, a transmission shaft, a speed reducer, a coupling, a worm and worm gear device and a worm gear are sequentially arranged in front of the servo motor; the differential mechanism is connected with the left rubber wheel and the right rubber wheel, the worm and worm gear device is arranged in the box body, a chamfering magnet is arranged below the box body, and a controller A is arranged at the side of the walking servo motor;
a worm and worm gear structure and a differential mechanism are adopted, so that the walking mechanism can walk straight or turn direction stably and reliably;
through accurate calculation, under the condition that sufficient adsorption force exists in the wall climbing process, the chamfering magnet is adopted to avoid collision when the robot walks through the curved surface, and the curved surface passing capacity is improved.
Protective covers are arranged outside the walking servo motor, the synchronous belt and the wheels;
the working mechanism consists of a rotary servo motor, a gear assembly, a spray head assembly, a cover body assembly and a controller B; the output end of the rotary servo motor is connected with a gear pair, the output end of the gear pair is connected with a spray head assembly (see figure 6), and a controller B is arranged on the rotary servo motor; the device comprises a cover body assembly, a vacuum suction pipeline, a nozzle cover, a high-pressure water inlet pipeline, a vacuum suction pipeline, a high-pressure pipeline and a high-pressure pipeline;
the spray cap is made of rubber and plastic materials, so that the spray cap not only ensures sufficient strength, but also has certain flexibility, and can be attached to a working surface at any time and any place when passing through a rugged working surface under the floating action of the rectangular spring, thereby ensuring that slag liquid does not leak and the environment is not polluted;
the invention protects all electromechanical and moving parts from being damaged by outdoor operation.
The working mechanism of the invention realizes rotation (revolution) under the action of the gear pair, and the spray head component generates spin when spraying high-pressure water because the spray nozzle is inclined at a certain angle; aiming at the groove of the point rust corrosion, the strong key treatment of male spin and self-spinning is adopted, and if the point rust corrosion surface is slightly wide, the transverse moving treatment can be carried out, so that the precise, complete and high-quality treatment is ensured. When the screw rod nut of the transverse moving mechanism reaches the stop block at the tail end of the screw rod, the servo motor rotates reversely to realize the transverse moving back and forth.
The spray head assembly can be replaced by a sand blasting, spraying and other detection tool heads, so that various operations are realized.
The invention is matched with a distribution box control system, an ultrahigh pressure water generator, a slag liquid recovery device and a human-computer operation interface, the invention is operated by a remote controller, and a remote control signal receiving controller is arranged on a robot;
although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A highlight handling robot comprising: upset tailwheel subassembly, running gear, tilting mechanism, operating device, advance, export pipeline and interface, characterized by: the transverse moving mechanism is arranged above the working mechanism, a transmission assembly, a speed reducer, a screw rod nut and a screw rod nut are arranged in front of the motor and fixedly connected with a slide rod through a connecting piece, a linear slide rail is arranged below the slide rod, the slide rod is connected with a transverse moving plate, the transverse moving plate is fixedly connected with an installation plate arranged above the working mechanism, a transverse moving mechanism component is arranged in the box body and fixed above the travelling mechanism, and the transverse moving mechanism is provided with a controller;
the spray head component arranged below the working mechanism is provided with a spray column and a spray nozzle which are arranged below the X cross rod, and the spray column, the spray nozzle and the X cross rod form a certain angle and incline in the same direction.
2. A highlight handling robot as recited in claim 1, further comprising: the spray columns and the nozzles are arranged below four corners of the X cross bar, 1-5 groups are arranged at each head, one group of spray columns and nozzles in each head can be inclined, or more than one group of spray columns and nozzles can be inclined simultaneously.
3. A highlight handling robot as recited in claim 1, further comprising: and a protective cover is arranged outside the transverse moving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110835081.7A CN113442108A (en) | 2021-07-20 | 2021-07-20 | Key robot of handling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110835081.7A CN113442108A (en) | 2021-07-20 | 2021-07-20 | Key robot of handling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113442108A true CN113442108A (en) | 2021-09-28 |
Family
ID=77817355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110835081.7A Pending CN113442108A (en) | 2021-07-20 | 2021-07-20 | Key robot of handling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113442108A (en) |
-
2021
- 2021-07-20 CN CN202110835081.7A patent/CN113442108A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230601 Address after: Room a-5996, building 3, No. 20, Yong'an Road, Shilong Economic Development Zone, Mentougou District, Beijing 102300 Applicant after: BEIJING DIGCHER CLEANING EQUIPMENT CO.,LTD. Address before: 065300 in kemeiyi hospital, west of Fuxi road and north of Gongye 2nd Road, high tech Industrial Development Zone, Dachang Hui Autonomous County, Langfang City, Hebei Province Applicant before: Hebei degaojie Environmental Protection Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right |