CN205272036U

CN205272036U - Five robots of lateral wall formula

Info

Publication number: CN205272036U
Application number: CN201521056978.6U
Authority: CN
Inventors: 彭建国
Original assignee: 彭建国
Current assignee: Beijing Dongfang Howail Industry Equipment Co., Ltd.
Priority date: 2015-12-17
Filing date: 2015-12-17
Publication date: 2016-06-01
Anticipated expiration: 2025-12-17

Abstract

The utility model relates to a five robots of lateral wall formula, robot install in one side of sandblast room or spray booth, and the robot disposes five axles, X axle that the branch maybe be used for moving to sandblast room or the vertical space of spray booth, the Z axle that is used for moving along room body direction of height, along the big joint S axle of vertical direction wobbling, along the little joint T axle of vertical direction wobbling, be used for rotary motion's wrist W axle, the each shaft is by independent motor drive, the utility model provides the high strike and wearing and tearing protective capacities, the life -span of greatly having improved robot of the robot to gravel. It has improved efficiency to increase the productivity, the high quality, the ideal surface cleanness and slightly release, the health and safety nature improvement of safety - showing.

Description

A kind of lateral wall type wu-zhi-shan pig

Technical field

This utility model belongs to standby manufacturing sandblasting, field of coating, welding field, is specifically related to a kind of lateral wall type wu-zhi-shan pig.

Background technology

The working environment of artificial sandblasting is extremely dangerous arduous, and is harmful to health, and operator to bear noise, the invasion of dust, and health is also very easily overworked. If process large equipment, in addition it is also necessary to using ladder and workbench, work also becomes abnormally dangerous. Operator need puts on heavy suffocative protective cover to hide the infringement of the grinding agent that flight speed per second is 200 meters. Often there is accident and relevant industrial injury in artificial sandblasting. Producing and also often therefore postpone, be ready to be engaged in this not only required great effort but also the people of dangerous work is fewer and feweri, office worker's transfer is very frequent. Sand blasting machine people just can solve above-mentioned all of exercise question. Manually operate machine people time, operator is sitting in the control compartment of the hommization having air conditioner facility (such as configuration), uses stick to control robot. When robot clears up workpiece automatically, operator only need to carry out supervisory-controlled robot between the control of sand blasting room. Automatic sand blasting machine people's system is applicable to the comprehensive sandblasting of various large-scale workpieces. Such as rail vehicle, container, transformer-cabinet, wind power equipment, large-size cylinder body, large-scale steel structure members, heavy foundry goods etc. Existing robot designs for general industry field, precision is significantly high, but it is inapplicable in sandblasting environment, because producing a large amount of dust and the steel sand splashed everywhere during sandblasting operation, robot body is continued to hit by steel sand, produce the effect of mechanical grinding, soon robot body is damaged, and the dust that in sand blasting room, sandblasting produces fills the air everywhere, dust produces the phenomenon such as abrasion, short circuit after oozing robot human body or parts, just because of the defect under these special environments, cause that present robot only a few can be applied at sandblasting paint industry.

Utility model content

In order to solve robot problem easy to wear in sandblasting environment, and solve large-scale workpiece comprehensive automatic sand blasting painting operation, this utility model provides a kind of lateral wall type sandblasting, paint robot.

The technical scheme that this utility model adopts is: a kind of lateral wall type wu-zhi-shan pig, robot is arranged on the side of sand blasting room or paint spray booth, robot is configured with five axles, namely for the X-axis moved to sand blasting room or paint spray booth longitudinal space, for the Z axis moved along chamber body short transverse, the S axle vertically swung, the T axle vertically swung, W axle for rotary motion, each axle is driven by independent motor respectively; Being fixed with two parallel tracks in chamber body, X-axis drives two tracks along being parallel to each other to move by the first motor; A Z axis generally mobile entity is fixed on the walking track of X-axis, and mobile entity drives oscilaltion campaign by the second motor under the guide effect of rectangle frame; One end of S axle is provided with hold-down support, is fixed on Z axis mobile entity, rotates under the effect of the 3rd motor; T axle and the S axle other end connect to being driven by the 4th motor vertically swing by rotating axle, and W axle is connected by the 5th motor driving rotary motion by rotation axle with the T axle other end.

Further, two parallel tracks are located on the column of a side wall of sand blasting room or paint spray booth, and lateral wall type wu-zhi-shan pig is fixed on parallel orbit.

The beneficial effects of the utility model are: this utility model improves robot body to the strike of gravel and wear protection ability, greatly improves the life-span of robot. Increase production capacity and improve efficiency; High-quality, desirable surface cleanness and extra coarse degree; Safety-significant health and safety improves; Mechanical arm modular is intelligent, detachable to be used separately as mechanical hand; Leading automatic sand blasting and automatic spraying technology are suitable for various severe working environment and various product structure, product covers the early stage derusting by sandblasting of the key components and partss such as automobile, engineering machinery, lathe, large-scale petrochemical device, boats and ships and mechanical basic part, applied widely.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model.

Fig. 2 is that this utility model uses state diagram.

In figure: 1, X-axis; 2.Z axle; 3.S axle; 4.T axle; 5, W axle.

Detailed description of the invention

As shown in Figure 1, this utility model provides a kind of lateral wall type wu-zhi-shan pig, robot is arranged on the side of sand blasting room or paint spray booth, robot is configured with five axles, namely for the X-axis 1 moved to sand blasting room or paint spray booth longitudinal space, for the Z axis 2 moved along chamber body short transverse, the big joint S axle 3 vertically swung, the Minor articulus T axle 4 vertically swung, wrist W axle 5 for rotary motion, each axle is driven by independent motor; Two parallel tracks are fixed on the column of chamber body side wall, and X-axis 1 drives two tracks along being parallel to each other to move by the first motor; A Z axis 2 generally mobile entity is fixed on the walking track of X-axis 1, and mobile entity drives oscilaltion campaign by the second motor under the guide effect of rectangle frame; One end of S axle 3 is provided with hold-down support, is fixed on Z axis mobile entity, rotates under the effect of the 3rd motor; T axle 4 and S axle 3 other end connect and are driven T axle 4 vertically to swing by rotating axle by the 4th motor, and W axle 5 is connected by the 5th motor driving W axle 5 rotary motion by rotation axle with the T axle other end.

As in figure 2 it is shown, when using, the side of sand blasting room or paint spray booth is provided with two parallel walking tracks, lateral wall type wu-zhi-shan pig body is fixed on walking track. 5 degree of freedom are as follows respectively: the longitudinal space that X-axis 1 is sand blasting room or paint spray booth moves, and Z axis 2 is the movement of the short transverse of sand blasting room or paint spray booth, and S axle 3 is the rotary motion of big joint, and T axle 4 is Minor articulus rotary motion, and W axle 5 is the rotary motion of wrist. X-axis is walked along side wall rails, and Z axis walks up and down; S, T, W axle moves with X-axis and Z axis, and S axle is fixed on robot support, and for the swing vertically of S axle, T axle 4 is fixed on S axle 3 end, for the swing vertically of T axle; W axle is fixed on T shaft end, and W axle is the wrist azimuthal rotational motion along wrist axis. Robot is carried out action programming according to size and the profile of workpiece by operator, robot body is walked by the program performing to prestore, is lifted or rotary motion, each axle stroke is determined by program in advance, thus realizing the sandblasting to workpiece or spray painting operation. Wu-zhi-shan pig parameter design parameter is as shown in table 1.

The parameter of each axle of table 1. wu-zhi-shan pig

Sequence number	Spindle Name	S function	Motion model garden	Movement velocity
					Axle 1	X-axis	Ask to indulge along operation and ask movement	Operation room length-1.3m	50-300mm/s
Axle 2	Z axis	Vertically move along operation room	Operation room height-1.8m	50-160mm/s
					Axle 3	S axle	Big joint rotating shaft	160��	1-3r/min
Axle 4	T axle	Minor articulus rotating shaft	240��	1-4r/min
					Axle 5	W axle	Spray gun swings	��180��	5-20r/min

This utility model is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present utility model; no matter but in its shape or structure, do any change; every have same or like with the application like technical scheme, all fall within protection domain of the present utility model.

Claims

1. a lateral wall type wu-zhi-shan pig, robot is arranged on the side of sand blasting room or paint spray booth, it is characterized in that: robot is configured with five axles, namely for the X-axis (1) moved to sand blasting room or paint spray booth longitudinal space, the Z axis (2) for moving along chamber body short transverse, the S axle (3) vertically swung, the T axle (4) vertically swung, W axle (5) for rotary motion, each axle is driven by independent motor respectively; Being fixed with two parallel tracks in chamber body, X-axis (1) drives two tracks along being parallel to each other to move by the first motor; Z axis (2) generally mobile entity is fixed on the walking track of X-axis (1), and mobile entity drives oscilaltion campaign by the second motor under the guide effect of rectangle frame; One end of S axle (3) is provided with hold-down support, is fixed on Z axis mobile entity, rotates under the effect of the 3rd motor; T axle (4) and S axle (3) other end connect to being driven by the 4th motor vertically swing by rotating axle, and W axle (5) is connected by the 5th motor driving rotary motion by rotation axle with T axle (4) other end.

2. lateral wall type wu-zhi-shan pig as claimed in claim 1 a kind of, it is characterised in that: two parallel tracks are located on the column of a side wall of sand blasting room or paint spray booth, and lateral wall type wu-zhi-shan pig is fixed on parallel orbit.