CN208147548U - A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing device using the mechanical arm - Google Patents
A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing device using the mechanical arm Download PDFInfo
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- CN208147548U CN208147548U CN201820435047.4U CN201820435047U CN208147548U CN 208147548 U CN208147548 U CN 208147548U CN 201820435047 U CN201820435047 U CN 201820435047U CN 208147548 U CN208147548 U CN 208147548U
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- pneumatic
- dust
- arm component
- self
- oscillating
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Abstract
The utility model discloses a kind of pneumatic mechanical manipulator and using the self-dust-suction sanding and polishing device of the mechanical arm, mechanical arm includes：Positioning component is assembled, which includes the positioning support hingedly cooperated and driving seal case and be connected to positioning support and drive the positioning cylinder of seal case；Pneumatic oscillating-arm component, one end of the pneumatic oscillating-arm component integral installation in above-mentioned driving seal case comprising have double leval jib linkage structure, the straight line cylinder of driving power is provided for double leval jib linkage structure and provides the connecting flange structure of Moveable assembled positioning for double leval jib linkage structure.The utility model is using the pneumatic mechanical manipulator for improving structure, single manipulation can be continuously finished the sanding and polishing process of equipment various shape and the coherent position of curved surface, manipulation is flexible, it can be realized standardized production, production efficiency and equipment surface polishing quality are improved, the polishing for Large-Scale Equipment complexity Irregular Boundary Surface provides sufficient technical guarantee.
Description
Technical field
The utility model relates to a kind of equipments to be surface-treated self-dust absorption type sanding and polishing aero-mechanical device, belong to robot
Sanding and polishing equipment technical field refers in particular to the various polishings using self-dust absorption type sanding and polishing pneumatic mechanical manipulator as core technology
Polissoir universal solution.
Background technique
China is equipment manufacturing big country, with the continuous development of manufacturing technology, set foot in extensive manufacture commercial aircraft,
The large products equipment such as high-speed rail transportation train, naval vessel, giant oil tanker and ocean engineering, product category is various and foreign steamer profile
Shape is complicated.And the manufacture and maintenance of these aforementioned large product equipment surface polishing, polishing and coating in need, wherein beating
Mill, polishing process traditional method are that sander handwork is held by worker, and manual polishing, polishing process are to occupy worker's number
Amount is at most and working hour is longest.This way not only causes severe environmental pollution, but also is easy to cause the finger of operator, hand
Wrist and the muscles of the arm and neural possible permanent damage are unfavorable for standardized production to reduce production efficiency, especially outer to equipment
The polishing surface quality at profile complicated shape position influences more so.Although also there is part to use robot polissoir at present,
It is that these equipment common configurations are more complicated, it is expensive, and also programming and manipulation still have inconvenience.
Utility model content
The purpose of the utility model is to overcome shortcomings and deficiencies in the prior art, a kind of pneumatic mechanical manipulator is provided and is adopted
With the sanding and polishing terminal installation of the mechanical arm, for the utility model using the pneumatic mechanical manipulator for improving structure, single manipulation can
It is continuously finished the sanding and polishing process of equipment various shape and the coherent position of curved surface, structure is simple, without programming, manipulates flexibly,
It can be realized standardized production, improve production efficiency and equipment surface polishing quality, and maximum limit degree Minus lacks environmental pollution
It is injured with to workers ' health, the polishing for Large-Scale Equipment complexity Irregular Boundary Surface provides sufficient technical guarantee.
To achieve the goals above, the utility model is realized according to following technical scheme：
A kind of pneumatic mechanical manipulator comprising have：Positioning component is assembled, which includes determining of hingedly cooperating
Position support and driving seal case and the positioning cylinder for being connected to positioning support and driving seal case；Pneumatic oscillating-arm component, should
One end of the pneumatic oscillating-arm component integral installation in above-mentioned driving seal case comprising have double leval jib linkage structure, connect for four
Bar linkage structure provides the straight line cylinder of driving power and provides the connecting flange of Moveable assembled positioning for double leval jib linkage structure
Structure.
Further, the one end of the positioning support and driving seal case is flexibly connected by hinged seat cooperates, positioning
Cylinder is assembled in positioning support far from the position of hinged seat by connector, and the tail end of positioning cylinder piston rod and driving seal
Cabinet corresponding position is flexibly connected cooperation.
Further, the pneumatic oscillating-arm component includes preceding pneumatic oscillating-arm component and rear pneumatic oscillating-arm component, wherein：Preceding gas
The connecting flange structure of movable pendulum arm component includes the first connecting flange and the second connection method positioned at double leval jib linkage structure both ends
Orchid, the medial surface of each connecting flange passes through flake connector respectively and is flexibly connected cooperation with double leval jib linkage structure, thus by four
Connection-rod linkage structure movement is assembled between two connecting flanges；The straight line cylinder of preceding pneumatic oscillating-arm component is assembled in by attachment base
The plunger end of above-mentioned second connecting flange medial surface, straight line cylinder is driven by driver plate and above-mentioned double leval jib linkage structure
Connection cooperation, so that straight line cylinder drives preceding pneumatic oscillating-arm component movement by double leval jib linkage structure；Pneumatic oscillating-arm component afterwards
Structure is identical as the structure of preceding pneumatic oscillating-arm component, arranged direction is different, the second of one end and preceding pneumatic oscillating-arm component connects
Acting flange is fastenedly connected, and the other end is fastenedly connected with driving seal case one end.
Further, the positioning cylinder and straight line cylinder pass through respectively be built in driving seal case triplet with it is external
Air accumulator air circuit connection.
Further, the outside of the pneumatic oscillating-arm component is additionally provided with bellows protection sleeve.
A kind of self-dust-suction sanding and polishing device using above-mentioned pneumatic mechanical manipulator comprising have pneumatic mechanical manipulator and self-dust-suction
Eccentric sander, the self-dust-suction bias sander are mounted on the one end of pneumatic mechanical manipulator by connecting frame structure.
Further, the self-dust-suction bias sander includes butterfly outer cover, the bias polishing being set in butterfly outer cover
Structure and self-dust-suction structure, wherein：The opening edge edge of the butterfly outer cover is provided with sponge washer；The bias polishing structure include
Air motor in butterfly outer cover, the compression be fixed in butterfly outer cover by air inlet pipe fitting and connect with air motor
Tracheae is mounted on perforated trays surface by perforated trays and reassembling type that an eccentric axle locating rod is connect with air motor
Porous sand paper；The self-dust-suction structure includes vacuum cleaner in butterfly outer cover, by hose coupling is fixed on butterfly
The hose that is connect in outer cover and with vacuum cleaner, the replaceable dust bag for being set to driving seal case one end and
Through being located inside pneumatic mechanical manipulator and the Venturi tube that is connect respectively with hose and dust bag of both ends.
Further, the connecting frame structure includes the polishing rack and use for Moveable assembled self-dust-suction bias sander
Matched between the connecting bracket being fastenedly connected with pneumatic mechanical manipulator, rack of polishing and connecting bracket by float transition flanged joint
It closes.
Further, the self-dust-suction sanding and polishing device further includes having manipulation case, and the manipulation case includes having for manipulating
Afterwards three two-way pneumatic operated valve control lever of pneumatic oscillating-arm component straight line cylinder, for pneumatic oscillating-arm component straight line cylinder before manipulating
The first two hand-operated pneumatic valves, the second two hand-operated pneumatic valves for manipulating positioning cylinder and for manipulating air motor
Two hand-operated pneumatic valves of third.
Compared with prior art, its advantages are the utility model：
1, the utility model is a kind of adaptation various specifications and the pneumatic mechanical manipulator continuously polished of type equipment surface,
Body carries the weight of milling tools, mechanical arm body can be made to be moved forward and backward by slide, avoid the vibration of milling tools to work
The possible permanent damage of the finger of people, wrist and arm nerve and muscle.
2, the utility model uses self-dust-suction bias sander, and overall structure is simple and compact, according to the polishing of equipment surface
Technique requirement, make sander expand its polish range, it is ensured that environment of polishing it is clean and tidy and safe, can it is more flexible and play its from
The advantage of dust-collecting polisher.
3, the pneumatic oscillating-arm of the utility model and self-dust-suction bias sander, can according to equipment polishing require, at most can
With two polishing thermomechanical components, not only shorten process flow, but also guarantee that grinding head and the contact pressure for equipping surface are constant, guarantees equipment
Polishing uniform quality in surface effectively improves production efficiency and equipment surface polishing quality, can be realized standardized production.
4, the utility model can match the bottom of different types according to the polishing requirement of equipment different zones, pneumatic mechanical manipulator
Holder assembly constitutes the sanding and polishing equipment of different purposes.
The utility model is understood in order to clearer, and the tool of the utility model is elaborated below with reference to Detailed description of the invention
Body embodiment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that installation is put on the utility model mechanical arm.
Fig. 2 be the utility model mechanical arm bottom according to structural schematic diagram.
Fig. 3 be the utility model mechanical arm side-sway according to structural schematic diagram.
Fig. 4 is the schematic diagram of internal structure of Fig. 1.
Fig. 5 is the mounting structure schematic diagram of self-dust-suction bias sander in Fig. 1.
Fig. 6 is the schematic diagram of internal structure of self-dust-suction bias sander in Fig. 1.
Fig. 7 is the structural schematic diagram of the utility model manipulation case.
Fig. 8 is the utility model pneumatic principle schematic diagram.
Specific embodiment
As shown in Figures 1 to 3, pneumatic mechanical manipulator described in the utility model comprising have：Assemble positioning component 1, the assembling
Positioning component includes that (Fig. 1 is the group for driving seal case to be swung up for the positioning support that hingedly cooperates and driving seal case
Assembling structure schematic diagram；Fig. 2 is driving assembly structure diagram of the seal case to lower swing；Fig. 3 is to drive seal case to side
The assembly structure diagram that face is swung.) and be connected to positioning support and drive the positioning cylinder of seal case；Pneumatic oscillating-arm group
Part 2, one end of the pneumatic oscillating-arm component integral installation in above-mentioned driving seal case comprising have double leval jib linkage structure,
The straight line cylinder of driving power is provided for double leval jib linkage structure and provides the company of Moveable assembled positioning for double leval jib linkage structure
Acting flange structure.
As shown in Fig. 1,4, for the above swing package assembly mode, the positioning support 11 and driving seal case 12
One end is flexibly connected by hinged seat to be cooperated, and positioning cylinder 13 is assembled in positioning support 11 far from hinged seat by connector
On position, the tail end of 13 piston rod of positioning cylinder is flexibly connected cooperation with driving 23 corresponding position of seal case.
As shown in Fig. 1,4, the pneumatic oscillating-arm component 2 includes preceding pneumatic oscillating-arm component 21 and rear pneumatic oscillating-arm component
22, wherein：The connecting flange structure of preceding pneumatic oscillating-arm component 21 includes the first connection method positioned at double leval jib linkage structure both ends
Orchid 212 and second connecting flange 213, the medial surface of each connecting flange 212,213 pass through respectively flake connector 214,215 with it is upper
It states double leval jib linkage structure 211 and is flexibly connected cooperation, thus by 211 Moveable assembled of double leval jib linkage structure in two connecting flanges
212, between 213；The straight line cylinder 216 of preceding pneumatic oscillating-arm component 21 is assembled in above-mentioned second connecting flange 213 by attachment base
The plunger end of medial surface, straight line cylinder 216 is cooperated by driver plate and the transmission connection of above-mentioned double leval jib linkage structure 211,
Pneumatic oscillating-arm component 21 moves before being driven to straight line cylinder 216 by double leval jib linkage structure 211；Pneumatic oscillating-arm component 22 afterwards
Structure is identical as the structure of preceding pneumatic oscillating-arm component 21, different (rear pneumatic oscillating-arm component has rotated integrally 90 degree to arranged direction
Mounting arrangements.), one end and the second connecting flange 213 of preceding pneumatic oscillating-arm component are fastenedly connected, the other end and driving seal box
12 one end of body is fastenedly connected.
Its 211 parallel motion of double leval jib linkage structure of the flexible drive of the straight line cylinder 216 of preceding pneumatic oscillating-arm component 21, shape
It raises up at preceding 21 end of pneumatic oscillating-arm component, then its double leval jib of the flexible drive of the straight line cylinder 226 of pneumatic oscillating-arm component 22
Linkage structure parallel motion forms pneumatic oscillating-arm component Integral swinging.
Further, the positioning cylinder 13 and straight line cylinder 219,229 are respectively by being built in driving seal case 12
Triplet 3 and external air accumulator (not shown) air circuit connection；The outside of the pneumatic oscillating-arm component 2 is additionally provided with bellows
Sleeve 23 is protected, the both ends of bellows protection sleeve 23 are assembled on connecting flange, avoid pneumatic oscillating-arm component 2 by extraneous powder
Dustiness dye.
As shown in Figs. 4-6, the self-dust-suction sanding and polishing device described in the utility model using above-mentioned mechanical arm comprising
There are pneumatic mechanical manipulator and self-dust-suction bias sander 4 and manipulation case 5, the self-dust-suction bias sander 4 to pass through connecting frame structure
6 are mounted on the one end of pneumatic mechanical manipulator.
Further, the self-dust-suction bias sander 4 includes that butterfly outer cover 41, the bias being set in butterfly outer cover are beaten
Structure and self-dust-suction structure are ground, wherein：The opening edge edge of the butterfly outer cover 41 is provided with sponge washer 42；Bias polishing structure
Include the air motor 43 being located in butterfly outer cover, be fixed in butterfly outer cover by air inlet pipe fitting and connected with air motor
The compression gas pipe 44 that connects, the perforated trays 46 being connect by an eccentric axle locating rod 45 with air motor and reassembling type are mounted on
The porous sand paper 47 on perforated trays surface；The self-dust-suction structure includes vacuum cleaner 48 in butterfly outer cover, passes through
Hose coupling be fixed in butterfly outer cover and connect with vacuum cleaner hose 49, be set to driving seal case one end
The replaceable dust bag 410 of side and through be located at pneumatic mechanical manipulator inside and both ends connect respectively with hose and dust bag
Venturi tube 411.Self-dust-suction bias sander 4 can be realized in bruting process 90% or more dust collection function, guarantee polishing
The safety of environment is clean and tidy.
Further, the connecting frame structure 6 includes the polishing rack 61 for Moveable assembled self-dust-suction bias sander
With the connecting bracket 62 for being fastenedly connected with pneumatic mechanical manipulator, pass through float transition flange between rack of polishing and connecting bracket
63 connection cooperations.
As shown in Fig. 4,6~8, the manipulation case 5 includes three for pneumatic oscillating-arm component straight line cylinder 229 after manipulating
Position two-way pneumatic operated valve control lever 51, for the first two hand-operated pneumatic valves 52 of pneumatic oscillating-arm component straight line cylinder 219 before manipulating,
Two manual gas of third for manipulating the second two hand-operated pneumatic valves 53 of positioning cylinder 13 and for manipulating air motor 43
Dynamic valve 54.Wherein：Three two-way pneumatic operated valve control lever 51 are motionless in middle position control pneumatic oscillating-arm component, and control lever is to left position
It sets control pneumatic oscillating-arm component to swing to the left, position control pneumatic oscillating-arm component is swung to the right control lever to the right, but control lever exists
Self-dust-suction bias sander can work when three positions；Two hand-operated pneumatic valves 54 of third control the work of air motor and stop
Only, pneumatic oscillating-arm element end raises up before the first two hand-operated pneumatic valves 52 control, and the control driving of the second hand-operated pneumatic valve 53 is close
The positioning of joint sealing body vertical direction.
The use principle of the utility model is as described below：Sanding and polishing terminal installation can be mounted on by positioning support can
In mobile base, guarantee that sanding and polishing terminal installation is in suitable position in vertical direction by adjusting movable pedestal；Afterwards
Self-dust-suction bias polishing machine is adjusted close to polished product facility by manipulation positioning cylinder and straight line cylinder, and then self-dust-suction is inclined
The air motor starting of heart polishing machine starts to carry out product facility sanding and polishing, while the dust generated during sanding and polishing
It is collected into dust bag by Venturi tube, realizes in bruting process 90% or more dust collection function.
The utility model is not limited to above-mentioned specific embodiment, if various changes or modifications to the utility model
The spirit and scope of the utility model are not departed from, if these modification and variations belong to the claim of the utility model and are equal
Within technical scope, then the utility model is also intended to encompass these modification and variations.
Claims (9)
1. a kind of pneumatic mechanical manipulator, it is characterised in that include：
Positioning component is assembled, which includes the positioning support hingedly cooperated and driving seal case and connection
In the positioning cylinder of positioning support and driving seal case；
Pneumatic oscillating-arm component, one end of the pneumatic oscillating-arm component integral installation in above-mentioned driving seal case comprising have four
Connection-rod linkage structure, the straight line cylinder that driving power is provided for double leval jib linkage structure and for double leval jib linkage structure provide work
The connecting flange structure of dynamic assembling positioning.
2. a kind of pneumatic mechanical manipulator according to claim 1, it is characterised in that：The positioning support and driving seal case
One end is flexibly connected by hinged seat to be cooperated, and positioning cylinder is assembled in position of the positioning support far from hinged seat by connector
On, the tail end of positioning cylinder piston rod is flexibly connected cooperation with driving seal case corresponding position.
3. a kind of pneumatic mechanical manipulator according to claim 1 or claim 2, it is characterised in that：Before the pneumatic oscillating-arm component includes
Pneumatic oscillating-arm component and rear pneumatic oscillating-arm component, wherein：
The connecting flange structure of preceding pneumatic oscillating-arm component includes the first connecting flange and the positioned at double leval jib linkage structure both ends
Two connecting flanges, the medial surface of each connecting flange pass through flake connector respectively and are flexibly connected cooperation with double leval jib linkage structure,
Thus by double leval jib linkage structure Moveable assembled between two connecting flanges；The straight line cylinder of preceding pneumatic oscillating-arm component passes through connection
Seat is assembled in above-mentioned second connecting flange medial surface, and the plunger end of straight line cylinder is linked by driver plate and above-mentioned double leval jib
Structure driven connection cooperation, so that straight line cylinder drives preceding pneumatic oscillating-arm component movement by double leval jib linkage structure；
The structure of pneumatic oscillating-arm component is identical as the structure of preceding pneumatic oscillating-arm component afterwards, arranged direction is different, one end and preceding gas
Second connecting flange of movable pendulum arm component is fastenedly connected, and the other end is fastenedly connected with driving seal case one end.
4. a kind of pneumatic mechanical manipulator according to claim 3, it is characterised in that：The positioning cylinder and straight line cylinder lead to respectively
Cross the triplet for being built in driving seal case and external air accumulator air circuit connection.
5. a kind of pneumatic mechanical manipulator according to claim 3, it is characterised in that：The outside of the pneumatic oscillating-arm component is also set up
There is bellows to protect sleeve.
6. using the self-dust-suction sanding and polishing device of pneumatic mechanical manipulator described in claim 4, it is characterised in that include above-mentioned gas
Dynamic mechanical arm and self-dust-suction bias sander, the self-dust-suction bias sander are mounted on pneumatic mechanical manipulator by connecting frame structure
One end.
7. self-dust-suction sanding and polishing device according to claim 6, it is characterised in that：The self-dust-suction bias sander includes
Eccentric polishing structure and the self-dust-suction structure for having butterfly outer cover, being set in butterfly outer cover, wherein：The opening edge of the butterfly outer cover
Edge is provided with sponge washer；Bias polishing structure includes air motor in butterfly outer cover, by air inlet pipe fitting
Be fixed in butterfly outer cover and connect with air motor compression gas pipe, connect with air motor by an eccentric axle locating rod
Perforated trays and reassembling type are mounted on the porous sand paper on perforated trays surface；The self-dust-suction structure includes positioned at butterfly outer cover
Interior vacuum cleaner, the hose for being fixed in butterfly outer cover by hose coupling and being connect with vacuum cleaner, setting
In driving seal case one end replaceable dust bag and through be located at pneumatic mechanical manipulator inside and both ends it is soft with dust suction respectively
Manage the Venturi tube connected with dust bag.
8. self-dust-suction sanding and polishing device according to claim 7, it is characterised in that：The connecting frame structure includes to be used for
The polishing rack of Moveable assembled self-dust-suction bias sander and connecting bracket for being fastenedly connected with pneumatic mechanical manipulator, sander
Cooperated between frame and connecting bracket by float transition flanged joint.
9. self-dust-suction sanding and polishing device according to claim 7, it is characterised in that：It further include having manipulation case, the manipulation
Case includes having for three two-way pneumatic operated valve control lever of pneumatic oscillating-arm component straight line cylinder after manipulating, for manipulating preceding Pneumatic swing
It the first two hand-operated pneumatic valves of arm component straight line cylinder, the second two hand-operated pneumatic valves for manipulating positioning cylinder and uses
In two hand-operated pneumatic valves of third of manipulation air motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820435047.4U CN208147548U (en) | 2018-03-29 | 2018-03-29 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing device using the mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820435047.4U CN208147548U (en) | 2018-03-29 | 2018-03-29 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing device using the mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208147548U true CN208147548U (en) | 2018-11-27 |
Family
ID=64380568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820435047.4U Withdrawn - After Issue CN208147548U (en) | 2018-03-29 | 2018-03-29 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing device using the mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208147548U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356656A (en) * | 2018-03-29 | 2018-08-03 | 广东博科数控机械有限公司 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing terminal installation using the mechanical arm |
| CN113523949A (en) * | 2021-09-09 | 2021-10-22 | 江苏科华新材料有限公司 | Burring finish machining device for hole grooves of insulating glass fiber boards |
| CN117817353A (en) * | 2024-03-04 | 2024-04-05 | 成都优拓优联科技有限公司 | Device and method for CNC (computerized numerical control) machining of combustion chamber of aircraft engine |
-
2018
- 2018-03-29 CN CN201820435047.4U patent/CN208147548U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356656A (en) * | 2018-03-29 | 2018-08-03 | 广东博科数控机械有限公司 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing terminal installation using the mechanical arm |
| CN108356656B (en) * | 2018-03-29 | 2023-08-25 | 广东博科数控机械有限公司 | Pneumatic mechanical arm and self-dust-suction polishing terminal device adopting same |
| CN113523949A (en) * | 2021-09-09 | 2021-10-22 | 江苏科华新材料有限公司 | Burring finish machining device for hole grooves of insulating glass fiber boards |
| CN113523949B (en) * | 2021-09-09 | 2021-12-07 | 江苏科华新材料有限公司 | Burring finish machining device for hole grooves of insulating glass fiber boards |
| CN117817353A (en) * | 2024-03-04 | 2024-04-05 | 成都优拓优联科技有限公司 | Device and method for CNC (computerized numerical control) machining of combustion chamber of aircraft engine |
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Granted publication date: 20181127 Effective date of abandoning: 20230825 |
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| AV01 | Patent right actively abandoned |
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| AV01 | Patent right actively abandoned |