CN210207937U

CN210207937U - Vehicle-mounted platform using laser for automatic cleaning

Info

Publication number: CN210207937U
Application number: CN201921105431.9U
Authority: CN
Inventors: Jun Zhou; 周军; Panling Huang; 皇攀凌; Xinbiao Gao; 高新彪; Di Wu; 吴迪
Original assignee: Shandong Alexander Intelligent Technology Co Ltd
Current assignee: Shandong Alexander Intelligent Technology Co Ltd
Priority date: 2019-07-15
Filing date: 2019-07-15
Publication date: 2020-03-31
Anticipated expiration: 2029-07-15

Abstract

The utility model discloses an use laser self-cleaning's vehicle-mounted platform relates to laser cleaning equipment technical field. This equipment includes the AGV platform, the rear end of AGV platform be provided with laser cleaning machine, the front end of AGV platform is provided with the arm, and laser cleaning head passes through cleaning head mount and arm fixed connection, the AGV platform on lie in and be provided with dust collector, one-way isolation transformer and mechanical control cabinet between arm and the laser cleaning machine, dust collector's dust absorption pipe pass through dust absorption pipe mount with cleaning head mount fixed connection. The equipment system is mainly used for cleaning rusted parts, residual paint and the like on the surface of large equipment by laser. The equipment realizes the movable and multidirectional actions of the laser cleaning equipment and the automation of the cleaning process by installing the mechanical arm, the laser cleaning machine and the dust removing equipment on the mobile platform.

Description

Vehicle-mounted platform using laser for automatic cleaning

Technical Field

The utility model belongs to the technical field of laser cleaning equipment technique and specifically relates to an use laser self-cleaning's vehicle platform.

Background

The laser cleaning is an environment-friendly, efficient, high-precision and high-quality cleaning technology, and has wide application prospect in the fields of rust removal, paint removal and cleaning of large-sized workpieces of aerospace, precision machinery, rail trains and the like. The most original cleaning mode is manual polishing by people, the working environment is severe, and the manual efficiency is low. Laser cleaning equipment that has gradually risen in recent years is also mostly artifical handheld cleaning head and accomplishes cleaning, and is higher to personnel's requirement to need protect operating personnel very much, when operating personnel operates for a long time, can cause cleaning efficiency low, cleaning performance not good, wash not thorough scheduling problem, can not guarantee cleaning quality.

SUMMERY OF THE UTILITY MODEL

To the above problem, the utility model provides an use laser self-cleaning's vehicle-mounted platform, equipment system mainly used laser washs the rusty part on main equipment surface and remains paint etc.. The equipment realizes the movable and multidirectional actions of the laser cleaning equipment and the automation of the cleaning process by installing the mechanical arm, the laser cleaning machine and the dust removing equipment on the mobile platform.

The utility model provides a technical scheme that its technical problem adopted is:

the utility model provides an use laser self-cleaning's on-vehicle platform, includes the AGV platform, the rear end of AGV platform be provided with laser cleaning machine, the front end of AGV platform is provided with the arm, and laser cleaning head passes through cleaning head mount and arm fixed connection, the AGV platform on lie in and be provided with dust collector, one-way isolation transformer and mechanical control cabinet between arm and the laser cleaning machine, dust collector's dust absorption pipe pass through dust absorption pipe mount with cleaning head mount fixed connection.

Further, the AGV platform include automobile body, front wheel, rear wheel, hydraulic pressure station, battery and charger, the front wheel pass through the front wheel mounting bracket with the automobile body rotate to be connected, just the front wheel mounting bracket on be provided with and be used for driving front wheel pivoted driving motor, two the front wheel between be provided with steering mechanism, steering mechanism include both ends respectively with front wheel mounting bracket looks articulated bogie, bogie and automobile body between be provided with and be used for the drive the bogie turns to the hydro-cylinder that removes.

Further, the automobile body include lateral wall, left side wall and right side wall between have set gradually first baffle, second baffle, third baffle and tailboard from the front to the back, the fixed longeron that is provided with in below of first baffle, second baffle and third baffle, just the longeron pass through the muscle roof beam respectively with left side wall and right side wall link to each other, the front wheel set up in the front side of first baffle, third baffle and tailboard between be provided with the rear wheel mounting panel about, second baffle and third baffle between be provided with hydraulic pressure station bracket and battery bracket, hydraulic pressure station fixed set up in hydraulic pressure station bracket on, the battery fixed set up in battery bracket on, the charger set up in first baffle and second baffle between.

Furthermore, the hydraulic station bracket is hinged with the left side wall, and the storage battery bracket is hinged with the right side wall.

Furthermore, a front balancing weight is fixedly arranged between the first partition plate and the second partition plate, and a rear balancing weight is arranged between the third partition plate and the tail plate.

Further, the downside of rear balance weight piece on be provided with and be used for holding the recess of longeron, just rear wheel mounting panel restricted the horizontal hunting of rear balance weight piece, the lower terminal surface of tailboard is located the top of the up end of rear balance weight piece.

Further, the cleaning head fixing frame is a U-shaped plate, a web plate of the cleaning head fixing frame is fixedly connected with the mechanical arm, and the laser cleaning head is arranged inside the cleaning head fixing frame and is respectively fixedly connected with a wing plate of the cleaning head fixing frame.

Further, the dust absorption pipe mount include lower plate and punch holder, the left and right both ends of lower plate are provided with first connecting plate respectively, the upper end of first connecting plate with the pterygoid lamina of cleaning head mount is articulated mutually, the lower extreme of first connecting plate is provided with direction locking screw, be provided with on the pterygoid lamina of cleaning head mount with direction locking screw complex arc spout.

Further, dust collector set up in one-way isolation transformer's top to through the fixed bolster with AGV platform fixed connection.

Further, AGV platform about both ends be provided with the second limiting plate that the cross-section that is used for holding the laser cleaning machine gyro wheel is the U type respectively, just the front end of second limiting plate is provided with the baffle, the rear end of second limiting plate is provided with spacing post.

The utility model has the advantages that:

1. utilize the utility model discloses on-vehicle automatic laser cleaning equipment can realize the automation of laser cleaning process. The AGV platform can navigate automatically or manual remote control navigation, and the arm carries on the laser cleaning head can realize the diversified accurate positioning operation to the operation object, and equipment removes conveniently, and easy operation can replace the manual work to realize high efficiency, high-quality washing operation.

2. Through set up the balancing weight in the automobile body, can make the holistic focus of equipment move down, the operation process is more stable, is difficult to take place dangers such as toppling.

3. Through built-in rotatable hydraulic pressure station and battery, not only the structure of whole equipment is compacter, reduces area, makes things convenient for routine maintenance moreover.

Drawings

FIG. 1 is a schematic perspective view of a laser cleaning apparatus;

FIG. 2 is an enlarged schematic view of portion A of FIG. 1;

FIG. 3 is an enlarged schematic view of portion B of FIG. 1;

FIG. 4 is an enlarged schematic view of a portion C of FIG. 1;

FIG. 5 is an enlarged schematic view of a portion D of FIG. 1;

FIG. 6 is a top view of an AGV platform (hiding the upper side walls);

FIG. 7 is a perspective view of one orientation of the AGV platform (hiding the upper side wall);

FIG. 8 is an enlarged view of section E of FIG. 7;

FIG. 9 is an enlarged view of portion F of FIG. 7;

FIG. 10 is an enlarged schematic view of portion G of FIG. 7;

FIG. 11 is a top view of the AGV platform (hydraulic station tray, battery tray in open position);

FIG. 12 is a perspective view of an alternative orientation of the AGV platform (hiding the upper side walls);

fig. 13 is an enlarged schematic view of a portion H in fig. 12.

In the figure: 1-AGV platform, 111-left side wall, 112-right side wall, 113-longitudinal beam, 114-first clapboard, 115-second clapboard, 116-third clapboard, 117-tail plate, 118-rear wheel mounting plate, 119-rib beam, 12-front wheel, 121-front wheel mounting frame, 122-mudguard, 13-rear wheel, 141-steering frame, 142-steering oil cylinder, 15-hydraulic station, 151-hydraulic station bracket, 16-storage battery, 161-storage battery bracket, 17-driving motor, 181-front balancing weight, 182-rear balancing weight, 19-charger, 21-laser cleaning machine, 211-second limiting plate, 212-baffle, 213-limiting column, 22-laser cleaning head, 3-one-way isolation transformer, 31-a first limiting plate, 4-a dust removal device, 41-a vertical column, 42-a cross beam, 51-a mechanical arm, 52-a mechanical arm control cabinet, 6-a cleaning head fixing frame, 71-a lower clamping plate, 72-an upper clamping plate and 73-a connecting plate.

Detailed Description

The present invention will be further described, but not limited to, by the following examples in conjunction with the accompanying drawings.

For convenience of description, a coordinate system is now defined as shown in fig. 1.

As shown in fig. 1, an automatic laser cleaning vehicle-mounted platform includes an AGV platform 1, and the AGV platform 1 is provided with a laser cleaning device, a dust removing device 4, a unidirectional isolation transformer 3 and a mechanical arm 51. Laser cleaning machine 21 among the laser cleaning device is located AGV platform 1's rear end, arm 51 fixed set up in AGV platform 1's front end, just laser cleaning head 22 among the laser cleaning device through cleaning head mount 6 with arm 51 fixed connection. The AGV platform 1 is provided with a unidirectional isolation transformer 3, a dust removal device 4 and a mechanical arm control cabinet 52 for controlling the actions of the mechanical arm 51, wherein the unidirectional isolation transformer 3, the dust removal device 4 and the mechanical arm control cabinet are fixedly arranged between the mechanical arm 51 and the laser cleaning machine 21. And a dust suction pipe of the dust removing device 4 is fixedly connected with the cleaning head fixing frame 6 through a dust suction pipe fixing frame.

As shown in fig. 2, the cleaning head fixing frame 6 is a U-shaped plate, a web plate of the cleaning head fixing frame 6 is fixedly connected with the mechanical arm 51, and the laser cleaning head 22 is respectively fixedly connected with a wing plate of the cleaning head fixing frame 6. The dust absorption pipe fixing frame is positioned below the cleaning head and comprises a lower clamping plate 71 and an upper clamping plate 72, and the lower clamping plate 71 and the upper clamping plate 72 are connected through screws. The lower clamping plate 71 and the upper clamping plate 72 are respectively provided with arc-shaped bent parts, and the two bent parts jointly form a clamping hole for clamping the dust collection pipe.

Further, in order to adjust the angle of the dust suction pipe conveniently, thereby ensuring a good dust removal effect, as shown in fig. 2, the left and right ends of the lower plate 71 are respectively provided with a first connecting plate 73, the upper end of the first connecting plate 73 is hinged to the wing plate of the cleaning head fixing frame 6, the lower end of the first connecting plate 73 is provided with a guiding locking screw, the wing plate of the cleaning head fixing frame 6 is provided with an arc-shaped chute for accommodating the guiding locking screw, and the arc-shaped chute takes the hinge point of the first connecting plate 73 as the center of a circle.

Here, the laser cleaning device (including the laser cleaning machine 21 and the laser cleaning head 22), the unidirectional isolation transformer 3, the dust removing device 4, the robot arm 51 (including the robot arm control cabinet 52), and the control unit and the control method of the AGV platform 1 (controlling the AGV to move according to a certain path) belong to the prior art, and are not described herein again.

The AGV platform 1 has two control modes of manual control and automatic control, and the movement of the whole equipment is realized. In the actual working process, for the workpiece with a regular shape, the automatic control of the cleaning process can be realized by programming the path of the AGV platform 1. For workpieces with complex and irregular shapes, the handle can be manually operated to control the whole equipment to clean.

Further, in order to make the whole equipment more compact and reduce the size, as shown in fig. 1, the unidirectional isolation transformer 3 is fixedly connected with the AGV platform 1, and the dust removing device 4 is arranged above the unidirectional isolation transformer 3 and is fixedly connected with the AGV platform 1 through a fixing bracket.

As a specific embodiment, as shown in fig. 3, first limiting plates 31 having the same cross-sectional shape as that of angle steel are respectively disposed at four corners of the AGV platform 1 located on the unidirectional isolation transformer 3, and the four first limiting plates 31 limit the degree of freedom of the unidirectional isolation transformer 3 in the horizontal plane. The fixed support comprises upright posts 41 arranged on the outer side of the unidirectional isolation transformer 3, and a cross beam 42 used for supporting the dust removal device 4 is arranged between the adjacent upright posts 41.

Further, as shown in fig. 4 and 5, a slide lock mechanism for limiting the movement of the laser washer 21 is provided between the laser washer 21 and the AGV platform 1. The sliding locking mechanism comprises a second limiting plate 211 which is fixedly arranged on the left side and the right side of the AGV platform 1, the cross section of the second limiting plate is U-shaped, the opening of the second limiting plate is upward, and a baffle 212 is arranged at the front end of the second limiting plate 211 to form a blind end. The rear end of the second limiting plate 211 is provided with a limiting column 213, preferably, the wing plate of the second limiting plate 211 is provided with a plurality of through holes for accommodating the limiting column 213.

The main reason for this is that the laser cleaning machine 21 belongs to a complete set of outsourcing equipment, and if the fixed connection is realized by adopting a traditional fixing mode such as a screw, the finished product laser cleaning machine 21 needs to be modified, which is relatively complicated on one hand; on the other hand, the later use of the laser washer 21 alone is also affected.

Through setting up the slip locking mechanism, during the installation, only need place laser cleaning machine 21 on AGV platform 1, make laser cleaning machine 21's gyro wheel be in second limiting plate 211, then promote laser cleaning machine 21 forward, support until the gyro wheel of laser cleaning machine 21 front end and lean on the baffle 212, then insert spacing post 213, make the gyro wheel of laser cleaning machine 21 rear end support and can on spacing post 213.

The AGV platform 1 is widely used in the related art, but is mainly used in the logistics industry, and is light in weight in actual work. In this patent, because the weight of laser cleaning machine 21 and arm 51 is heavier, traditional AGV platform 1's mechanical structure can't satisfy the requirement of bearing under this patent application environment. To this end, the AGV platform 1 is structurally improved.

The AGV platform 1 includes a car body including an upper side wall, a left side wall 111 and a right side wall 112, wherein the upper side wall, the left side wall 111 and the right side wall 112 together form a U-shaped structure similar to a downward opening.

Here, the upper side wall, the left side wall 111 and the right side wall 112 are not limited to a planar structure in the literal sense, but may also be a frame structure with irregular shape formed by a section bar and a plate together, so as to achieve the avoiding effect on other components.

As shown in fig. 6 and 7, a first partition plate 114, a second partition plate 115, a third partition plate 116 and a tail plate 117 are sequentially arranged from front to back between the left side wall 111 and the right side wall 112, and the tail plate 117 is fixedly connected with the rear end surfaces of the left side wall 111 and the right side wall 112.

As shown in fig. 12, a longitudinal beam 113 arranged along the longitudinal direction is disposed between the left side wall 111 and the right side wall 112 and below the first partition 114, the second partition 115 and the third partition 116, and the longitudinal beam 113 is fixedly connected to the first partition 114, the second partition 115 and the third partition 116 by welding.

Further, in order to improve the rigidity of the vehicle body, as shown in fig. 12, two reinforcing bars 119 are arranged between the longitudinal beam 113 and the left side wall 111, and between the longitudinal beam 113 and the right side wall 112, and the four reinforcing bars 119 together form a structure similar to a diamond.

The front wheel 12 is disposed at a front side of the first bulkhead 114, and is rotatably coupled to an upper sidewall of the vehicle body by a front wheel mount 121. The front wheel 12 is rotatably connected with the front wheel mounting frame 121, and the front wheel mounting frame 121 is provided with a driving motor 17 for driving the front wheel 12 to rotate.

A steering mechanism for driving the front wheels 12 to rotate in a horizontal plane is arranged between the two front wheels 12. As shown in fig. 6 and 8, the steering mechanism includes a bogie 141 and a steering cylinder 142. The two ends of the bogie 141 are respectively hinged with the front wheel mounting frame 121. The steering oil cylinder 142 is arranged along the left-right direction, the cylinder body of the steering oil cylinder 142 is rotatably connected with the vehicle body, and the piston rod of the steering oil cylinder 142 is hinged with the bogie 141.

Further, a fender 122 is disposed on the front wheel mounting bracket 121 at a front side of the front wheel 12.

As shown in fig. 6 and 7, two rear wheel mounting plates 118 are symmetrically arranged between the third partition 116 and the tail plate 117, and the rear wheel 13 is rotatably connected with the rear wheel mounting plates 118 through a hydraulic brake disc (not shown).

Further, a brake release valve (not shown) is arranged on the car body, so that when the storage battery 16 is out of power or fails, the brake is released, and the AGV platform 1 is dragged to be maintained.

Here, the mounting structure among the rear wheel 13, the hydraulic brake disc and the rear wheel mounting plate 118, and the connection and driving relationship among the hydraulic brake disc and the brake release valve are all in the prior art, and are not described in detail herein.

As shown in fig. 6 and 7, a hydraulic station bracket 151 and a battery bracket 161 are provided between the second partition plate 115 and the third partition plate 116. A hydraulic station 15 for powering a steering mechanism and a hydraulic brake disc is fixedly disposed on the hydraulic station bracket 151, and a battery 16 for powering a driving motor 17 is fixedly disposed on the battery bracket 161.

Further, as shown in fig. 9 and 10, the hydraulic station bracket 151 is hinged to the left side wall 111, a through hole for receiving the hydraulic station bracket 151 is formed in the left side wall 111, the battery bracket 161 is hinged to the right side wall 112, and a through hole for receiving the battery bracket 161 is formed in the right side wall 112. As shown in fig. 11, the hydraulic station bracket 151 and the battery bracket 161 may be rotated to the outside of the vehicle body.

Preferably, locks are provided between the hydraulic station bracket 151, the battery bracket 161 and the vehicle body.

As shown in fig. 6, a charger 19 is disposed between the first partition 114 and the second partition 115, and the charger 19 is connected to the storage battery 16 for charging the storage battery 16.

Here, the connection relationship between the charger 19, the storage battery 16, and the drive motor 17 is prior art and will not be described in detail. Similarly, the hydraulic station 15 realizes the action of the steering cylinder 142 and the pipeline connection through a valve set, which also belongs to the prior art and is not described herein again.

Further, as shown in fig. 6 and 7, a front counterweight 181 is disposed above the longitudinal beam 113 between the first partition plate 114 and the second partition plate 115, a lower side surface of the front counterweight 181 abuts against the longitudinal beam 113, and a front end of the front counterweight 181 is fixedly connected to the first partition plate 114. A rear balancing weight 182 is arranged between the third partition plate 116 and the tail plate 117. Preferably, as shown in fig. 13, a groove for accommodating the longitudinal beam 113 is formed on a lower side surface of the rear weight 182, and the rear wheel mounting plate 118 limits the side-to-side swing of the rear weight 182.

Further, in order to facilitate the attachment and detachment of the rear weight 182, as shown in fig. 12, the lower end surface of the tail plate 117 is located above the upper end surface of the rear weight 182, a second connecting plate 73 is provided between the two rear wheel mounting plates 118, and the rear end of the longitudinal beam 113 is fixedly connected to the second connecting plate 73.

Thus, when the rear weight 182 needs to be attached or detached, it is only necessary to push or pull the weight directly from the rear end of the vehicle body.

Claims

1. The utility model provides an use laser self-cleaning's vehicle-mounted platform which characterized in that: including the AGV platform, the rear end of AGV platform be provided with laser cleaning machine, the front end of AGV platform is provided with the arm, and laser cleaning head passes through cleaning head mount and arm fixed connection, the AGV platform on lie in and be provided with dust collector, one-way isolation transformer and mechanical control cabinet between arm and the laser cleaning machine, dust collector's dust absorption pipe pass through dust absorption pipe mount with cleaning head mount fixed connection.

2. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 1, wherein: AGV platform include automobile body, front wheel, rear wheel, hydraulic pressure station, battery and charger, the front wheel pass through the front wheel mounting bracket with the automobile body rotate and connect, just the front wheel mounting bracket on be provided with and be used for driving front wheel pivoted driving motor, two the front wheel between be provided with steering mechanism, steering mechanism include both ends respectively with front wheel mounting bracket looks articulated bogie, bogie and automobile body between be provided with and be used for the drive the steering cylinder that controls about the bogie.

3. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 2, wherein: the automobile body include lateral wall, left side wall and right side wall between first baffle, second baffle, third baffle and tailboard have set gradually from the front to the back, the fixed longeron that is provided with in below of first baffle, second baffle and third baffle, just the longeron pass through the muscle roof beam respectively with left side wall and right side wall link to each other, the front wheel set up in the front side of first baffle, third baffle and tailboard between control and be provided with the rear wheel mounting panel, second baffle and third baffle between be provided with hydraulic pressure station bracket and battery bracket, hydraulic pressure station fixed set up in hydraulic pressure station bracket on, the battery fixed set up in battery bracket on, the charger set up in first baffle and second baffle between.

4. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 3, wherein: the hydraulic pressure station bracket with the left side wall articulated mutually, battery bracket with the right side wall articulated mutually.

5. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 3, wherein: a front balancing weight is fixedly arranged between the first partition plate and the second partition plate, and a rear balancing weight is arranged between the third partition plate and the tail plate.

6. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 5, wherein: the downside of rear balance weight piece on be provided with and be used for holding the recess of longeron, just the rear wheel mounting panel restricted the horizontal hunting of rear balance weight piece, the lower terminal surface of tailboard is located the top of the up end of rear balance weight piece.

7. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 1, wherein: the cleaning head fixing frame is a U-shaped plate, a web plate of the cleaning head fixing frame is fixedly connected with the mechanical arm, and the laser cleaning head is arranged inside the cleaning head fixing frame and is respectively fixedly connected with a wing plate of the cleaning head fixing frame.

8. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 1, wherein: the dust absorption pipe mount include lower plate and punch holder, the left and right both ends of lower plate are provided with first connecting plate respectively, the upper end of first connecting plate with the pterygoid lamina of cleaning head mount is articulated mutually, the lower extreme of first connecting plate is provided with direction locking screw, be provided with on the pterygoid lamina of cleaning head mount with direction locking screw complex arc spout.

9. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 1, wherein: dust collector set up in one-way isolation transformer's top to through the fixed bolster with AGV platform fixed connection.

10. The vehicle-mounted platform capable of being automatically cleaned by laser according to claim 1, wherein: AGV platform about both ends be provided with the second limiting plate that the cross-section that is used for holding the laser cleaning machine gyro wheel is the U type respectively, just the front end of second limiting plate is provided with the baffle, the rear end of second limiting plate is provided with spacing post.