CN206717853U - Sand blasting machine people - Google Patents
Sand blasting machine people Download PDFInfo
- Publication number
- CN206717853U CN206717853U CN201621493464.1U CN201621493464U CN206717853U CN 206717853 U CN206717853 U CN 206717853U CN 201621493464 U CN201621493464 U CN 201621493464U CN 206717853 U CN206717853 U CN 206717853U
- Authority
- CN
- China
- Prior art keywords
- gear
- rotary head
- bevel gear
- mechanical arm
- sand blasting
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
It the utility model is related to a kind of sand blasting machine people, including mounting seat, first mechanical arm, gear-box, second mechanical arm, rotary head and jet pipe connector, the first end of the first mechanical arm is rotatably fixed in the mounting seat, the gear-box is rotatably fixed on the second end of the first mechanical arm, the first end of the second mechanical arm is rotatably fixed on the gear-box, the rotary head is rotatably fixed on the second end of the first mechanical arm, the jet pipe connector is located on the rotary head, and being capable of relatively described rotary head swing.Sand blasting machine people is compact-sized, and the size of end effector mechanism is small, can be accurately positioned in narrow space and operation, operation fast and flexible.
Description
Technical field
Automated production equipment technical field is the utility model is related to, more particularly, to a kind of robot.
Background technology
The surface of various equipment or workpiece, for example, container bottom deck assembly before coating paint, surface need through
Cross blasting treatment.Sandblasting work is to use compressed air as power, to form high velocity spray beam by material spray, such as shot-peening glass
Pearl, shot, steel sand, quartz sand, diamond dust, iron sand, sea sand etc., which are ejected at a high speed, need to be handled workpiece surface, make workpiece surface
The mechanical performance of outer surface changes.Due to impact and shear action of the abrasive material to workpiece surface, make what the surface of workpiece was obtained
Certain cleannes and different roughness, make the mechanical performance of workpiece surface be improved, therefore improve the anti-tired of workpiece
Lao Xing, its adhesive force between coating is added, extends the durability of film, be also beneficial to the levelling and decoration of coating,
Impurity, variegated and oxide layer surface are disposed, while are roughened dielectric surface, make substrate surface residual stress and improve base
The effect of material case hardness.
Due to the bottom deck assembly of container be by complexity beam in length and breadth interlock, and located in length and breadth on beam sheet material welding and
Into.Therefore, when the weld seam of the bottom deck assembly to container carries out blasting treatment, operating space is narrow and small, and visual angle and operation are empty
Between be severely limited, have impact on operation quality and operating efficiency.
Traditional artificial sandblasting operation, task difficulty is high, and working strength is more, and bad environments.And construction quality without
Method guarantee.Although some sand blasting machines people can replace artificial progress operation in the prior art, large space scope is only limitted to
Interior operation, it is more difficult to accurate operation is carried out in the case of limited space.
Utility model content
In view of this, the purpose of this utility model is that providing one kind can realize that fast and flexible positions in small space
With the sand blasting machine people of operation.
According to sand blasting machine people provided by the utility model, including mounting seat, first mechanical arm, gear-box, the second machinery
Arm, rotary head and jet pipe connector, the first end of the first mechanical arm are rotatably fixed in the mounting seat, the gear
Case is rotatably fixed on the second end of the first mechanical arm, and the first end of the second mechanical arm is rotatably fixed on the tooth
On roller box, the rotary head is rotatably fixed on the second end of the first mechanical arm, and the jet pipe connector turns located at described
On dynamic head, and being capable of relatively described rotary head swing.
Preferably, the end face of the jet pipe connector is provided with the groove of radially insertion, and the jet pipe connector is located at institute
State in groove, and can be swung along groove.
Preferably, the second mechanical arm includes outer barrel, the first power transmission shaft and second driving shaft, and first power transmission shaft is
Tubular structure, and be sheathed in the outer barrel, the second driving shaft is sheathed in first power transmission shaft.
Preferably, first bevel gear and second bevel gear, the first bevel gear and the second cone are provided with the gear-box
Meshed transmission gear.
Preferably, rotor shaft direction of the first end of the second driving shaft along the second bevel gear passes through the cone tooth
Wheel, and can be rotated relative to the second bevel gear,
Third hand tap gear and the 4th bevel gear of the transmission that is engaged with each other are provided with the rotary head,
Second end of the second driving shaft is fixed in the third hand tap gear.
Preferably, the 3rd power transmission shaft is provided with the rotary head, the 3rd power transmission shaft is rotatably supported in the rotation
In head, and the 4th bevel gear and the jet pipe connector are sequentially passed through along the rotor shaft direction of the 4th bevel gear, and
It is individually fixed on the 4th bevel gear and jet pipe connector.
Preferably, the first end of the outer barrel is fixed on the gear-box, and the rotation is rotatably fixed at the second end
On head,
The first end of first power transmission shaft is fixed in the second bevel gear, and the rotary head is fixed at the second end
On.
Preferably, the gear-box is provided with the 3rd motor and the 4th motor, wherein,
3rd motor is used to drive the second driving shaft, and the 4th motor is used to drive the first cone tooth
Wheel.
Preferably, the rotary head and second mechanical arm are coaxially disposed.
Preferably, tapered portion is provided with the end face edge of the rotary head.
Sand blasting machine people provided by the utility model, there are four joints, four-degree-of-freedom is compact-sized, end effector mechanism
Size it is small.Meanwhile robot uses servo operation, it can be achieved to automatically control, overprogram, possess higher positioning
Precision and stability, can be accurately positioned and operation in narrow space, operation fast and flexible.Design the larger speed of service
Scope can meet blast time beat requirement, can realize automation, greatly improve production efficiency.
Brief description of the drawings
By the description to the utility model embodiment referring to the drawings, of the present utility model above-mentioned and other mesh
, feature and advantage will be apparent from.
Fig. 1 shows the dimensional structure diagram of the sand blasting machine people according to the utility model embodiment.
Fig. 2 shows the front view of the sand blasting machine people according to the utility model embodiment.
Fig. 3 shows the sectional view of the sand blasting machine people according to the utility model embodiment.
Fig. 4 shows the enlarged drawing of A portions cutting plane in Fig. 3.
Fig. 5 shows the enlarged drawing of B portions cutting plane in Fig. 3.
In figure：Mounting seat 1, first mechanical arm 2, gear-box 3, first bevel gear 31, second bevel gear 32, second mechanical arm
4th, outer barrel 41, the first power transmission shaft 42, second driving shaft 43, rotary head 5, groove 51, tapered portion 52, jet pipe connector 6, first subtract
Fast machine 71, the second reductor 72, the 3rd reductor 73, the 4th reductor 74, the first motor 81, second electrode 82, the 3rd motor
83rd, the 4th motor 84, third hand tap gear 91, the 4th bevel gear 92, the 3rd power transmission shaft 93.
Embodiment
Various embodiments of the present utility model are more fully described hereinafter with reference to accompanying drawing.In various figures, identical
Element is represented using same or similar reference.For the sake of clarity, the various pieces in accompanying drawing are not drawn to paint
System.
As Figure 1-3, sand blasting machine people provided by the utility model, for driving high pressure spray sandpipe, to pending
Equipment or workpiece surface carry out blasting treatment.Sand blasting machine people, including mounting seat 1, first mechanical arm 2, gear-box 3,
Two mechanical arms 4, rotary head 5 and jet pipe connector 6.Wherein, the first end of the first mechanical arm 2 is rotatably fixed on the peace
Filling on seat 1, the gear-box 3 is rotatably fixed on the second end of the first mechanical arm 2, and the first of the second mechanical arm 4
End is rotatably fixed on the gear-box 3, and the rotary head 5 is rotatably fixed on the second end of the first mechanical arm 2, institute
Jet pipe connector 6 is stated on the rotary head 5, and can relatively described rotary head 5 swing.
In this embodiment, mounting seat 1 is provided with four screw vias, for sand blasting machine people to be fixed on into outside axle row
Walk in mechanism, and moved under the drive of the walking mechanism.The first installation room is provided with mounting seat 1, the first reductor 71 is pacified
It is indoor loaded on first installation.Wherein, first motor of the power intake of the first reductor 71 with being fixed on the side of mounting seat 1
81 rotating shaft connection, the first end of first mechanical arm 2 are fixed on one end relative with the first motor 81 in mounting seat 1, and with the
The clutch end connection of one reductor 71.The power of first motor 81 output drives first after the deceleration of the first reductor 71
Mechanical arm 2 rotates, and realizes the gyration in first joint.The velocity of rotation scope of gyration is 16 ° -22 °s/sec, is rotated
Scope is positive and negative 70 ° -85 °.Such as velocity of rotation is 19 °s/sec, slewing area is positive and negative 77.5 °.First reductor 71 is elected as
RV reductors.
With reference to figure 4-5, the second end of first mechanical arm 2 is provided with the second installation room, and the second reductor 72 is installed on the second peace
Dress is indoor.Wherein, the rotating shaft of second motor of the power intake of the second reductor 72 with being fixed on the side of first mechanical arm 2 connects
Connect, gear-box 3 is connected through its first side wall with the clutch end of the second reductor 72.Also, the electricity of first gear case 3 and second
Machine it is relative located at the both sides at the end of first mechanical arm 2 second.Second motor output power through the second reductor 72 deceleration after,
Drive gear-box 3 to rotate, realize disarthrial gyration.The velocity of rotation of gyration is 13 ° -19 °s/sec, is rotated
Scope is positive and negative 80 ° -90 °.Such as velocity of rotation is 16 °s/sec, slewing area is positive and negative 85 °.Second reductor 72 is elected as
RV reductors.
The second mechanical arm 4 includes outer barrel 41, the first power transmission shaft 42 and second driving shaft 43, first power transmission shaft 42
For tubular structure, and it is sheathed in the outer barrel 41, the second driving shaft 43 is sheathed in first power transmission shaft 42.Outer barrel
41 first end is fixed in the second sidewall of gear-box 3, and rotary head 5 is rotatably fixed on the second end of outer barrel 41.
The first gear group for being used for driving rotary head 5, the first end and first gear of the first drive shaft are provided with gear-box 3
Group connection, the second end is fixed on the inwall of rotary head 5.The second gear for being used for driving jet pipe connector 6 is provided with rotary head 5
Group, the first end of second driving shaft 43 are worn and in gear-box 3, the second end is connected with second gear group.
Specifically, first gear group includes the first bevel gear 31 and second bevel gear 32 for the transmission that is engaged with each other.
Wherein, the pivot center of the second bevel gear 32 is perpendiculared to one another with the pivot center of the gear-box 3, the first cone
The rotary shaft of gear 31 is located on same axis with the rotary shaft of gear-box 3.The 3rd electricity is fixed with 4th side wall of gear-box 3
Machine 83.3rd motor 83 is connected through the 3rd reductor 73 with first bevel gear 31, for driving first bevel gear 31 to rotate.The
Power is transferred to second bevel gear 32, the first power transmission shaft 42 and rotary head 5 by one bevel gear 31 successively, and driving rotary head 5 drives
Jet pipe connector 6 rotates, so as to time disarthrial gyration.The velocity of rotation of gyration is 90 ° -102 °s/sec,
Slewing area is positive and negative 160 ° -200 °.Such as the velocity of rotation of gyration is 96 °s/sec, slewing area is positive and negative 180 °.The
Three reductors 73 elect harmonic wave speed reducing machine as.
Axis direction of second drive shaft along second bevel gear 32 passes through second bevel gear 32, and can be with respect to the second cone
Gear 32 rotates.The 4th motor 84 for being used for driving second driving shaft 43, the 4th motor are provided with the 4th side wall of gear-box 3
84 rotating shaft is connected through the 4th reductor 74 with the first end of second driving shaft 43.Power is transferred to by the 4th motor 84 successively
Two power transmission shafts 43, third hand tap gear 91, the 4th bevel gear 92, the 3rd power transmission shaft 93 and jet pipe connector 6, drive jet pipe connection
First 6 swing, so as to realize the motion of the 4th joint arm.Swing angle be 70 ° -82 °s/sec, slewing area be positive and negative 160 ° -
200°.Such as swing angle is 76 °s/sec, slewing area is positive and negative 180 °.4th reductor 74 elects harmonic wave speed reducing machine as.At this
In embodiment, the first side wall of gear-box 3 is relative with the 4th side wall, and second sidewall is relative with the 3rd side wall.Second to the 4th electricity
Machine 84 and gear-box 3 concentrate on the joint position of the second mechanical arm 4 of first mechanical arm 2 so that sand blasting machine people is designing
On it is compacter, while be advantageous to reduce the size of end effector mechanism, such as the size of rotary head 5 so that can during operation
More narrow space is stretched into, beneficial to the flexibility of operation.
Second gear group includes the bevel gear 92 of third hand tap gear 91 the 4th for the transmission that is engaged with each other.Wherein, second driving shaft
43 the second end is fixed in third hand tap gear 91, for driving third hand tap gear 91 to rotate.The 3rd is provided with the rotary head 5
Power transmission shaft 93, the 3rd power transmission shaft 93 are rotatably supported in the rotary head 5, and along the 4th bevel gear 92
Rotor shaft direction sequentially passes through the 4th bevel gear 92 and the jet pipe connector 6, and is individually fixed in the 4th bevel gear
92 and jet pipe connector 6 on.The end face of the jet pipe connector 6 is provided with the groove 51 of radially insertion, the jet pipe connector 6
In the groove 51, and it can be swung along groove 51.
Power is transferred to second driving shaft 43, third hand tap gear 91, the 4th bevel gear 92 and by the 4th motor 84 successively
Three power transmission shafts 93, and finally drive jet pipe connector 6 to be swung along groove 51, the multi-angle rotation of high-pressure nozzle is realized, so as to
Adjust spray angle.In this way, just realize the swing in the 4th joint.The speed of service of swing is 70 ° -82 °s/sec, slewing area
For positive and negative 160-200 °.Such as the speed of service of swing is 76 °s/sec, slewing area is positive and negative 180 degree.
The edge of the end face of rotary head 5 is provided with tapered portion 52, such as is arranged to tilt by end edges by chamfering mode
Face, ensure the flowing of material spray during sandblasting work, do not retain sand grains.
First to fourth motor 84 in the embodiment elects servomotor as, in order to be realized by servo-drive system to each
The accurate control of joint motions.Robot uses servo operation, can be achieved to automatically control, overprogram, possesses higher
Positioning precision and stability, blast time beat requirement can be met by designing larger operational speed range, can realize automation,
Greatly improve production efficiency.
When carrying out sandblasting to container bottom board component, container is located at held up on operation track first.By more
Sand blasting machine people, such as 4-6 platforms are fixed in an outside axle walking mechanism, and outside axle walking structure band mobile robot reaches pre-
Determine job position, then sand blasting machine people realizes the coarse localization of job position, pass through regulation by adjusting first mechanical arm 2
Second mechanical arm 4, the pitch regulation of job position positioning is realized, and it is real by rotating rotary head 5 and gimbaled nozzle connector 6
Now job position is accurately positioned.Sand blasting machine people has higher action control precision, can realize at container bottom
Regulation operation pose between the complicated transverse and longitudinal beam chi structure of board component freely, realizes effective processing to weld seam.Can generation
For traditional manual work, people is freed from rugged environment, it is safe and reliable.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Finally it should be noted that：Obviously, above-described embodiment is only intended to clearly illustrate the utility model example,
And the restriction not to embodiment.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And thus
Among the obvious changes or variations amplified out is still in the scope of protection of the utility model.
Claims (10)
1. a kind of sand blasting machine people, it is characterised in that including mounting seat, first mechanical arm, gear-box, second mechanical arm, rotation
Head and jet pipe connector, the first end of the first mechanical arm are rotatably fixed in the mounting seat, and the gear-box can turn
Dynamic the second end for being fixed on the first mechanical arm, the first end of the second mechanical arm are rotatably fixed on the gear-box
On, the rotary head is rotatably fixed on the second end of the first mechanical arm, and the jet pipe connector is located at the rotary head
On, and being capable of relatively described rotary head swing.
2. sand blasting machine people according to claim 1, it is characterised in that the end face of the jet pipe connector is provided with radially
The groove of insertion, the jet pipe connector can be swung in the groove along groove.
3. sand blasting machine people according to claim 1, it is characterised in that the second mechanical arm includes outer barrel, the first biography
Moving axis and second driving shaft, first power transmission shaft is tubular structure, and is sheathed in the outer barrel, the second driving shaft set
In first power transmission shaft.
4. sand blasting machine people according to claim 3, it is characterised in that first bevel gear and the are provided with the gear-box
Two bevel gears, first bevel gear and the second bevel gear engaged transmission.
5. sand blasting machine people according to claim 4, it is characterised in that the first end of the second driving shaft is along described
The rotor shaft direction of second bevel gear passes through the bevel gear, and can be rotated relative to the second bevel gear,
Third hand tap gear and the 4th bevel gear of the transmission that is engaged with each other are provided with the rotary head,
Second end of the second driving shaft is fixed in the third hand tap gear.
6. sand blasting machine people according to claim 5, it is characterised in that be provided with the 3rd power transmission shaft, institute in the rotary head
State the 3rd power transmission shaft to be rotatably supported in the rotary head, and institute is sequentially passed through along the rotor shaft direction of the 4th bevel gear
The 4th bevel gear and the jet pipe connector are stated, and is individually fixed on the 4th bevel gear and jet pipe connector.
7. sand blasting machine people according to claim 4, it is characterised in that the first end of the outer barrel is fixed on the gear
On case, the second end is rotatably fixed on the rotary head,
The first end of first power transmission shaft is fixed in the second bevel gear, and the second end is fixed on the rotary head.
8. sand blasting machine people according to claim 4, it is characterised in that the gear-box is provided with the 3rd motor and the 4th
Motor, wherein,
3rd motor is used to drive the second driving shaft, and the 4th motor is used to drive the first bevel gear.
9. sand blasting machine people according to claim 1, it is characterised in that the rotary head and second mechanical arm are coaxially set
Put.
10. sand blasting machine people according to claim 1, it is characterised in that cone is provided with the end face edge of the rotary head
Shape portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621493464.1U CN206717853U (en) | 2016-12-30 | 2016-12-30 | Sand blasting machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621493464.1U CN206717853U (en) | 2016-12-30 | 2016-12-30 | Sand blasting machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206717853U true CN206717853U (en) | 2017-12-08 |
Family
ID=60499272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621493464.1U Active CN206717853U (en) | 2016-12-30 | 2016-12-30 | Sand blasting machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206717853U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737622A (en) * | 2016-12-30 | 2017-05-31 | 北京星和众工设备技术股份有限公司 | Sand blasting machine people |
| CN110549253A (en) * | 2019-09-16 | 2019-12-10 | 山东卓越精工集团有限公司 | automatic sand blasting device for aluminum profile |
-
2016
- 2016-12-30 CN CN201621493464.1U patent/CN206717853U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737622A (en) * | 2016-12-30 | 2017-05-31 | 北京星和众工设备技术股份有限公司 | Sand blasting machine people |
| CN106737622B (en) * | 2016-12-30 | 2023-12-26 | 北京星和众工设备技术股份有限公司 | Sand blasting robot |
| CN110549253A (en) * | 2019-09-16 | 2019-12-10 | 山东卓越精工集团有限公司 | automatic sand blasting device for aluminum profile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206717853U (en) | Sand blasting machine people | |
| CN212071632U (en) | Sand blasting machine convenient for small material sand blasting | |
| CN107175568A (en) | Numerical control polishing multistation multiple clip rotary table and the lathe with it | |
| CN205521383U (en) | Eight robots of planer -type | |
| CN206732829U (en) | Uniform sand blasting unit | |
| CN206344141U (en) | A kind of metal surface treating machine tool hand | |
| CN207189648U (en) | A kind of manipulator | |
| CN201815958U (en) | Turntable automatic sandblasting machine | |
| CN112809561A (en) | Sand blasting machine | |
| CN108202778A (en) | One kind climbs wall milling robot | |
| CN105149137A (en) | Creeping type large-size workpiece surface painting robot | |
| CN106737622A (en) | Sand blasting machine people | |
| CN206334797U (en) | A kind of reciprocating automatic sand blasting system of hull outer wall | |
| CN106272098A (en) | A kind of continuous abrasive blast equipment of mould | |
| CN205272036U (en) | Five robots of lateral wall formula | |
| CN109434820B (en) | Six-degree-of-freedom industrial robot | |
| CN116652809A (en) | Composite motion valve grinding machine | |
| CN206416056U (en) | A kind of station dial sand-blasting machine | |
| CN216180525U (en) | Multi-shaft polishing robot | |
| CN207841380U (en) | A kind of light-type six degree of freedom mechanical arm | |
| CN205766177U (en) | A kind of robot for steel structure body maintenance | |
| CN215318100U (en) | Rotary sand blasting device capable of recycling sand | |
| CN107433572A (en) | Eight-axis robot for precise track processing | |
| CN205057821U (en) | Ball device is thrown to steel pipe hole | |
| CN113211331A (en) | Rotary table device for sand blasting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |