CN113442109A - Efficient robot - Google Patents

Efficient robot Download PDF

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Publication number
CN113442109A
CN113442109A CN202110835082.1A CN202110835082A CN113442109A CN 113442109 A CN113442109 A CN 113442109A CN 202110835082 A CN202110835082 A CN 202110835082A CN 113442109 A CN113442109 A CN 113442109A
Authority
CN
China
Prior art keywords
steering
cover
spray head
assembly
working
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110835082.1A
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Chinese (zh)
Inventor
李毅光
徐刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Digcher Cleaning Equipment Co ltd
Original Assignee
Hebei Degaojie Environmental Protection Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hebei Degaojie Environmental Protection Technology Co ltd filed Critical Hebei Degaojie Environmental Protection Technology Co ltd
Priority to CN202110835082.1A priority Critical patent/CN113442109A/en
Publication of CN113442109A publication Critical patent/CN113442109A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • B25J11/0065Polishing or grinding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0019End effectors other than grippers

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A high efficiency robot, comprising: the steering mechanism comprises a travelling mechanism, a working mechanism and a steering mechanism, wherein the working mechanism is arranged below the steering mechanism, and the travelling mechanism is provided with two same travelling mechanisms which are respectively arranged at two ends of the steering mechanism; the controller A is arranged in the walking driving device, and a chamfering magnet is arranged below the walking driving device; the working mechanism is characterized in that a gear assembly, a spray head assembly and a cover body assembly are sequentially connected in front of a rotary servo motor; the steering mechanism is characterized in that steering driving devices are respectively arranged on the left side and the right side of a rectangular supporting frame, linear bearings are arranged between the upper side and the lower side of the rectangular supporting frame, and a floating rotating shaft and an anti-falling lifting lug are arranged outside the steering driving devices; the surface treatment device has the advantages of simple structure, reliable performance, good dense absorption effect and high working efficiency (high aging efficiency and high quality efficiency), more than two surface treatment working heads can be arranged to work simultaneously, the efficiency is greatly improved, the surface treatment device can reach the standard once, and the effect is excellent.

Description

Efficient robot
Technical Field
The invention relates to an automatic operation machine, in particular to a high-efficiency robot. 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.
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 special robot solves the problems, but is not ideal enough, and still has great lifting space in structure, reliability and high efficiency.
Disclosure of Invention
In order to overcome the defects of the prior art and products, the invention provides the efficient robot which is simple in structure, reliable in performance and efficient in work.
In order to achieve the above object, according to an aspect of the present invention, there is provided a high efficiency robot, including: the steering mechanism comprises a travelling mechanism, a working mechanism and a steering mechanism, wherein the working mechanism is arranged below the steering mechanism, and the travelling mechanism is provided with two same travelling mechanisms which are respectively arranged at two ends of the steering mechanism;
the controller A is arranged in the walking driving device, and a chamfering magnet is arranged below the walking driving device; the walking driving device is internally provided with a motor mounting plate, a servo motor is arranged on the motor mounting plate, and a transmission assembly, namely a synchronous belt wheel a, a synchronous belt wheel b, a transmission shaft, a speed reducer, a coupler, a worm and worm gear device and a worm gear, is sequentially connected in front of the servo motor; the differential is connected with the left rubber wheel and the right rubber wheel, and the worm and worm gear device is arranged in the box body;
protective covers are arranged outside the walking servo motor, the synchronous belt and the wheels;
the working mechanism is characterized in that a gear assembly, a spray head assembly and a cover body assembly are sequentially connected in front of a rotary servo motor, a controller B is arranged above the rotary servo motor, the cover body assembly is connected with a spray head cover below a recovery cover, the spray head cover is made of rubber and plastic materials, and a high-pressure water inlet pipeline, an inlet, a vacuum suction pipeline, an outlet and a floating assembly are arranged on the cover body assembly; the gear assembly is arranged in the gear box; the recovery cover is arranged between the rotary servo motor and the spray head assembly and below the gear box, and the high-pressure water inlet pipeline is connected to the spray head assembly;
1-10 sets of spray head components can be arranged; the utility model can be arranged in a single row or in two rows;
the spray head component is provided with 4-20 spray columns and nozzles under the X-shaped cross rod;
the gear assembly, the high-pressure water inlet pipeline, the vacuum suction pipeline and the floating assembly are configured according to the number of the sets of the spray head assemblies;
the floating assembly is characterized in that a rectangular spring is arranged on a screw rod;
the sprayer cover is disc-shaped, and a circle of magic tape is arranged at the cover opening of the sprayer cover;
a protective cover is arranged outside the rotary servo motor;
the steering mechanism is characterized in that steering driving devices are respectively arranged on the left side and the right side of a rectangular supporting frame, linear bearings are arranged between the upper side and the lower side of the rectangular supporting frame, and a floating rotating shaft and an anti-falling lifting lug are arranged outside the steering driving devices; the steering driving device is characterized in that a transmission shaft, a star-shaped speed reducer, a steering output gear and sector teeth are sequentially connected in front of a joint motor, and a controller is integrated in the joint motor;
a protective cover is arranged outside the steering driving device;
the invention has the advantages of simple structure, only walking, steering and working mechanisms, few components, reliable performance, good dense absorption effect, high working efficiency (high aging and high quality), capability of arranging more than two surface treatment working heads to work simultaneously, greatly increased efficiency, one-time standard reaching and excellent effect.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a front view of the traveling mechanism of the present invention.
Fig. 3 is a perspective view of the working mechanism of the present invention.
Fig. 4 is a bottom view of the working mechanism of the present invention.
Fig. 5 is a view of the gear assembly of fig. 3A-a.
Fig. 6 is a schematic view of a showerhead assembly of the present invention.
Fig. 7 is a front view of the steering mechanism of the present invention.
Fig. 8 is a bottom view of the steering mechanism of the present invention.
In the figure:
100 a high efficiency robot;
1 traveling mechanism, 1.1 traveling driving device, 1.2 motor mounting plate, 1.3 traveling servo motor, 1.4 synchronous belt wheel a, 1.5 synchronous belt, 1.6 synchronous belt wheel b, 1.7 transmission shaft, 1.8 speed reducer, 1.9 coupler, 1.10 worm and worm gear device and 1.11 differential; 1.12 two rubber wheels, 1.13 box body, 1.14 chamfer magnet and 1.15 controller A; 1.16 protective covers;
2 working mechanism, 2.1 rotary servo motor, 2.2 gear assembly, 2.3 spray head assembly, 2.31X-shaped cross bar, 2.32 spray column, 2.33 spray nozzle, 2.4 cover assembly, 2.41 recovery cover, 2.42 spray head cover, 2.43 high pressure water inlet pipeline and inlet, 2.44 vacuum suction pipeline and outlet, 2.45 floating assembly, 2.5 controller B, 2.6 gear box; 2.7 a shield;
3 steering mechanisms, 3.1 rectangular supporting frames, 3.2 steering driving devices, 3.21 joint motors, 3.22 transmission shafts, 3.23 star-shaped speed reducers, 3.24 steering output gears and 3.25 sector teeth; 3.3 linear bearings, 3.4 floating rotating shafts and 3.5 anti-falling lifting lugs; 3.6 a protective cover;
Detailed Description
One of the embodiments of the present invention, a model having two side-by-side spray heads, is described below with reference to the accompanying drawings, and it should be understood that the embodiments described herein are only for illustrating and explaining the present invention, and are not intended to limit the present invention.
As shown in fig. 1 to 8, a high-efficiency robot 100 includes: the steering mechanism comprises a travelling mechanism 1, a working mechanism 2 and a steering mechanism 3, wherein the working mechanism is arranged below the steering mechanism, and the travelling mechanisms are respectively arranged at two ends of the steering mechanism;
the walking mechanism 1 consists of a walking driving device 1.1, a controller A1.15 and two rubber wheels 1.12; the walking driving device is internally provided with a motor mounting plate 1.2, the motor mounting plate is provided with a servo motor 1.3, and a synchronous belt pulley a1.4, a synchronous belt 1.5, a synchronous belt pulley b1.6, a transmission shaft 1.7, a speed reducer 1.8, a coupling 1.9, a worm and worm gear device 1.10 and a differential mechanism 1.11 arranged in a worm wheel are sequentially arranged in front of the servo motor; the differential is connected with a left rubber wheel 1.12 and a right rubber wheel 1.12, the worm and worm gear device is arranged in a box body 1.13, a chamfer magnet 1.14 is arranged below the box body, and a controller A1.15 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.
A protective cover 1.16 is arranged outside the walking servo motor, the synchronous belt and the wheel;
the working mechanism 2 consists of a rotary servo motor 2.1, a gear assembly 2.2, a spray head assembly 2.3, a cover body assembly 2.4 and a controller B2.5; the output end of the rotary servo motor is connected with a gear assembly (shown in figure 5), the output end of the gear assembly is connected with a spray head assembly (shown in figures 4 and 6), the gear assembly is arranged in a gear box 2.6, and a controller B is arranged above the rotary servo motor; the device comprises a cover body assembly, a rotary servo motor, a gear box, a recovery cover and a vacuum suction pipeline, wherein the cover body assembly consists of a recovery cover 2.41 and a spray head cover 2.42, the spray head cover is connected below the recovery cover, the recovery cover is arranged between the rotary servo motor and the spray head assembly and below the gear box, the spray head cover is made of rubber and plastic materials, the recovery cover is provided with a high-pressure water inlet pipeline, an inlet 2.43, the vacuum suction pipeline and an outlet 2.44, floating assemblies 2.45 are symmetrically arranged on two sides of the recovery cover, and the high-pressure water inlet pipeline is connected to the spray head assembly;
1-10 sets of spray head components can be arranged; the utility model can be arranged in a single row or in two rows; in the embodiment, two sets of spray head assemblies are used in a transverse row and are perpendicular to the travelling mechanism.
The spray head component is provided with 4-20 spray columns and nozzles 2.32 and 2.33 under an X-shaped cross bar 2.31, and the spray columns and the nozzles are uniformly distributed under the X-shaped cross bar; the invention is provided with a spray column and a nozzle 8 set (see figure 6);
the gear assembly, the high-pressure water inlet pipeline, the vacuum suction pipeline and the floating assembly are configured according to the number of the sets of the spray head assemblies; in the case of two sets of spray head assemblies in the embodiment used in transverse rows, the gear assembly configuration is as shown in FIG. 5; the high-pressure water inlet pipeline is provided with an inlet and two branches, the vacuum suction pipeline is provided with a pipeline and an outlet, and the floating components are symmetrically arranged in two sets (see figure 1);
the floating component is a rectangular spring arranged on a screw rod (shown in figure 1);
because the shower nozzle subassembly is many sets simultaneously used, therefore work efficiency multiplely improves, simultaneously because have the multichannel nozzle on the shower nozzle, rotatory jet-in becomes no dead angle working face, and the effect is good, energy saving and consumption reduction time limit for a project, realizes the win-win of both sides of producing and using.
The sprayer cover is disc-shaped, and a circle of magic tape is arranged at the cover opening of the sprayer cover; the magic tape can be replaced in time when damaged; the spray head cover is ensured not to be worn quickly, and the service life is prolonged.
A protective cover 2.7 is arranged outside the rotary servo motor;
the spray cap is made of rubber and plastic materials, so that not only is enough strength ensured, but also certain flexibility is provided, the spray cap can be attached to a working surface at any time and any place under the floating action of the rectangular spring, the leakage of slag liquid is avoided, and the environment is not polluted;
the steering mechanism 3 comprises a rectangular supporting frame 3.1, a steering driving device 3.2, a linear bearing 3.3, a floating rotating shaft 3.4 and an anti-falling lifting lug 3.5; the left side and the right side of the rectangular supporting frame are respectively provided with a steering driving device, and the steering driving device is connected with a transmission shaft 3.22, a star-shaped speed reducer 3.23, a steering output gear 3.24 and a sector gear 3.25 in sequence in front of a joint motor 3.21; the linear bearing is arranged in the middle of the upper side and the lower side of the rectangular supporting frame; two sets of anti-falling lifting lugs are arranged on the floating rotating shaft and are respectively arranged outside the steering driving device; the steering driving device is internally provided with a controller which is integrated with the joint motor, and the joint motor is convenient to be manufactured together (not shown in the figure) due to small volume;
a protective cover 3.6 is arranged outside the steering driving device;
the screw and the rectangular spring arranged on the linear bearing recovery cover can float freely up and down, so that the seamless fit between the spray head cover and a working surface is ensured; the section of the rectangular spring is rectangular, and compared with the common spring, the rectangular spring has better elasticity and bearing capacity and longer service life.
The floating rotating shaft can adjust and compensate the walking four wheels, so that the walking four wheels can be self-adaptive when the height of the working surface is uneven.
The invention protects all electromechanical and moving parts from being damaged by outdoor operation.
The system 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 system 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 (7)

1. The utility model provides a high-efficient robot which characterized by: the steering mechanism comprises two traveling mechanisms, two working mechanisms and two steering mechanisms, wherein the two working mechanisms are arranged below the steering mechanism and are respectively arranged at two ends of the steering mechanism;
the controller A is arranged in the walking driving device, and a chamfering magnet is arranged below the walking driving device;
the working mechanism is characterized in that a gear assembly, a spray head assembly and a cover body assembly are sequentially connected in front of a rotary servo motor, a controller B is arranged above the rotary servo motor, the cover body assembly is connected with a spray head cover below a recovery cover, the spray head cover is made of rubber and plastic materials, and a high-pressure water inlet pipeline, an inlet, a vacuum suction pipeline, an outlet and a floating assembly are arranged on the cover body assembly;
1-10 sets of spray head components can be arranged; the utility model can be arranged in a single row or in two rows;
the gear assembly, the high-pressure water inlet pipeline, the vacuum suction pipeline and the floating assembly are configured according to the number of the sets of the spray head assemblies;
the steering mechanism is characterized in that steering driving devices are respectively arranged on the left side and the right side of a rectangular supporting frame, linear bearings are arranged between the upper side and the lower side of the rectangular supporting frame, and a floating rotating shaft and an anti-falling lifting lug are arranged outside the steering driving devices.
2. A high efficiency robot as recited in claim 1, wherein: the spray head component is provided with 4-20 spray columns and nozzles under the X-shaped cross rod.
3. A high efficiency robot as recited in claim 1, wherein: the floating component is a rectangular spring arranged on the screw rod.
4. A high efficiency robot as recited in claim 1, wherein: the nozzle cover is disc-shaped, and a circle of magic tape is arranged at the cover opening of the nozzle cover.
5. A high efficiency robot as recited in claim 1, wherein: and protective covers are arranged outside the walking servo motor, the synchronous belt and the wheels.
6. A high efficiency robot as recited in claim 1, wherein: and a protective cover is arranged outside the rotary servo motor.
7. A high efficiency robot as recited in claim 1, wherein: a protective cover is arranged outside the steering driving device.
CN202110835082.1A 2021-07-20 2021-07-20 Efficient robot Pending CN113442109A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110835082.1A CN113442109A (en) 2021-07-20 2021-07-20 Efficient robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110835082.1A CN113442109A (en) 2021-07-20 2021-07-20 Efficient robot

Publications (1)

Publication Number Publication Date
CN113442109A true CN113442109A (en) 2021-09-28

Family

ID=77817186

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110835082.1A Pending CN113442109A (en) 2021-07-20 2021-07-20 Efficient robot

Country Status (1)

Country Link
CN (1) CN113442109A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113953289A (en) * 2021-11-02 2022-01-21 北京德高洁清洁设备有限公司 Tank-entering pumping and draining robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113953289A (en) * 2021-11-02 2022-01-21 北京德高洁清洁设备有限公司 Tank-entering pumping and draining robot

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Addressee: Patents of Beijing Degaojie Cleaning Equipment Co.,Ltd. Contacts

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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