CN214187206U - Cleaning device for planing robot - Google Patents
Cleaning device for planing robot Download PDFInfo
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- CN214187206U CN214187206U CN202022932208.0U CN202022932208U CN214187206U CN 214187206 U CN214187206 U CN 214187206U CN 202022932208 U CN202022932208 U CN 202022932208U CN 214187206 U CN214187206 U CN 214187206U
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- planing
- cleaning device
- planer
- guide rail
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Abstract
The utility model relates to a cleaning device, in particular to plane type robot cleaning device. Including industrial robot and set up in industrial robot and carry out terminal clearance module, clearance module includes actuating mechanism, guide rail and planing cutter, and wherein the guide rail sets up in actuating mechanism's top, planing cutter and guide rail sliding connection, and actuating mechanism's output and planing cutter are connected to the drive is planed cutter and is made linear motion. The utility model discloses the plane cutting of adaptation steel sheet can a plurality of planer tools simultaneously, scrapes the cutting tumour, clears away efficiently, and easy operation is convenient.
Description
Technical Field
The utility model relates to a cleaning device, in particular to plane type robot cleaning device.
Background
In recent years, with the rapid development of the engineering machinery industry, the steel industry produces planar steel plates and the cutting rate is increased day by day. Cutting is an important link of continuous production of the flat steel plate, and cutting nodules can be formed on the lower surface of the flame cutting machine in the process of cutting the flat steel plate, so that the cutting nodules not only affect the quality, but also damage equipment.
At present, the cutting burls are usually removed by manually holding a chisel after being off-line, and some cutting burls are tightly adhered to a plane steel plate and need to be cut by a cutting gun. After the flat steel plate is offline, the temperature is up to 550 ℃, and people for removing the burrs operate in the offline area for a long time, so personal injury accidents such as burning, heatstroke and the like are easy to happen. Secondly, the operating personnel operate in a high-temperature environment, and the operating efficiency is greatly reduced. And thirdly, after the planar steel plate is cooled by the slow cooling pit, the cutting burl attached to the cutting surface is hardened, the bonding force with the planar steel plate is increased, and the cutting burl is more difficult to manually clean. And the steel plate needs to be delivered out of a pit in time after the slow cooling time is up, and the flat steel plate cannot be delivered in time due to low efficiency of manually removing the cutting burls, so that burls are removed to become a bottleneck restricting production. On the other hand, if the steel plate is subjected to red conveying, the time required for manual tumor removal is long, the temperature reduction time of the steel plate in a normal temperature environment is prolonged, the formation of the texture structure of the steel plate is influenced, and the quality of the steel plate is reduced.
SUMMERY OF THE UTILITY MODEL
To the problem, an object of the utility model is to provide a dig robot cleaning device to solve artifical clear tumour inefficiency, plane steel sheet temperature drop time in normal atmospheric temperature environment is long, influences the formation of plane steel sheet organizational structure, causes the problem of plane steel sheet quality degradation.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a dig type robot cleaning device, include industrial robot and set up in industrial robot carries out terminal cleaning module, cleaning module includes actuating mechanism, guide rail and planing cutter, and wherein the guide rail sets up in actuating mechanism's top, the planing cutter with guide rail sliding connection, actuating mechanism's output with the planing cutter is connected, and the drive the planing cutter is linear motion.
The planing cutters are arranged in parallel; the moving directions of two adjacent groups of planing cutters are opposite.
The planing tool comprises a tool apron and a plurality of one-way scraper blades arranged on the tool apron, the one-way scraper blades are embedded in planing tool embedding grooves formed in the tool apron, and the bottoms of the one-way scraper blades are connected with the tool apron through damping spring pieces.
The top of one-way scraper blade is equipped with the circular arc section overhead tank that extends to one side, the tip of circular arc section overhead tank is equipped with the planing blade.
The planing tool further comprises a plurality of damping elastic scraping blocks arranged on the tool apron, and the damping elastic scraping blocks and the one-way scraper blades are alternately arranged at intervals.
And unidirectional scraper blades in two adjacent planing cutters are reversely arranged.
The driving mechanism comprises a driving motor speed reducer, a driving box, a driving shaft and a driven shaft which are arranged in the driving box in parallel, the driving motor speed reducer is arranged on the outer side of the driving box, and the output end of the driving motor speed reducer is connected with the driving shaft; the driven shaft is in transmission connection with the driving shaft through a gear transmission mechanism;
the driving shaft is respectively connected with the planing tools at even number positions through a plurality of gear rack mechanisms I;
the driven shaft is connected with the planing tools located at odd positions through a plurality of gear rack mechanisms II.
The gear rack mechanism I comprises an inner rack I and a driving gear, wherein the inner rack I is arranged at the even number position at the bottom of the planing tool and is parallel to the guide rail, and the driving gear is arranged on the driving shaft and is meshed with the inner rack I correspondingly.
The gear rack mechanism II comprises an inner rack II and a driven gear, and the inner rack II is arranged at the bottom of the planing tool at odd positions and is parallel to the guide rail; the driven gear is arranged on the driven shaft and meshed with the corresponding inner rack II.
The utility model has the advantages and beneficial effects that:
the utility model provides a pair of plane robot cleaning device cuts the tumour and clears away efficient, effectual, easy operation convenience.
The utility model provides a pair of plane robot cleaning device adapts to the plane cutting of steel sheet, can a plurality of planer tools simultaneously, scrapes cutting tumor, and is efficient.
The utility model provides a pair of plane type robot cleaning device can be inside to offset partly to the planing force of plane steel sheet, can be inside to offset partly to industrial robot planing force counter-force simultaneously to avoid causing the harm to plane steel sheet and industrial robot.
Drawings
FIG. 1 is a schematic structural view of a planer robot cleaning device of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a cross-sectional view A-A of FIG. 1;
fig. 4 is an exploded view of a cleaning module according to the present invention;
FIG. 5 is an isometric view of a planer robot cleaning device of the present invention;
FIG. 6 is an enlarged view taken at I in FIG. 5;
fig. 7 is an enlarged view of fig. 6 at ii.
In the figure: 1 is industrial robot, 2 is the flame cutting bed, 3 is by flame cutting plane work piece, 4 is the clearance module, 5 is first planing cutter, 6 is the second planing cutter, 7 is the third planing cutter, 8 is the planing cutter embedded groove, 9 is the damping spring leaf, 10 is one-way scraper blade, 11 is the circular arc section overhead tank, 12 is the planing blade, 13 is damping elasticity scraping block, 14 is the driving motor speed reducer, 15 is second inner rack II, 16 is the driving shaft, 17 is inner rack I, 18 is driving gear II, 19 is first inner rack II, 20 is driving gear I, 21 is driven gear I, 22 is driven gear II, 23 is the driven shaft, 24 is driven gear III, 25 is the flame cutting gap, 26 is the guide rail, 27 is the support connecting portion, 28 is the planing cutter, 29 is actuating mechanism, 30 is the drive case, 31 is the blade holder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2 and 5, the utility model provides a pair of planer robot cleaning device, including industrial robot 1 and set up in industrial robot 1 and carry out terminal cleaning module 4, cleaning module 4 includes actuating mechanism 29, guide rail 26 and planing cutter 28, and wherein guide rail 26 sets up in actuating mechanism 29's top, planing cutter 28 and guide rail 26 sliding connection, and actuating mechanism 29's output is connected with planing cutter 28 to drive planing cutter 28 and make linear motion.
In particular, the industrial robot 1 is fixed to the ground at its base, and the execution end of the industrial robot 1 is connected to the cleaning module 4 by means of a support connection 27. The flame cutting table 2 is provided with a flame cutting plane workpiece 3, the flame cutting plane workpiece 3 is provided with a flame cutting gap 25, and the cleaning module 4 realizes planing and cleaning of the lower plane residual cutting burl of the flame cutting gap 25 by linear motion.
In the embodiment of the invention, the supporting connection part 27 can be a constant-force outsourcing part, so that the cleaning module 4 can perform constant-force planing cleaning on the residual cutting nodules on the lower plane of the flame cutting gap 25 on the flame-cut plane workpiece 3. The constant force outsourcing member 27 preferably adopts hydraulic constant force, and plays roles in buffering, shock absorption and position compensation.
In the embodiment of the present invention, the planing tools 28 are provided in multiple groups and arranged in parallel; the motion directions of the two adjacent groups of planing tools 28 are opposite, and reverse planing is performed, so that the forward and reverse planing force parts can be mutually offset, namely, one part can be internally offset for the planing force acting on the plane steel plate, and one part can be internally offset for the reaction force acting on the industrial robot, so that the plane steel plate and the industrial robot 1 are prevented from being damaged.
As shown in fig. 3-4, in the embodiment of the present invention, the driving mechanism 29 includes a driving motor reducer 14, a driving box 30, and a driving shaft 16 and a driven shaft 23 arranged in parallel in the driving box 30, the driving motor reducer 14 is arranged outside the driving box 30, and the output end is connected to one end of the driving shaft 16; the driven shaft 23 is in transmission connection with the driving shaft 16 through a gear transmission mechanism. Specifically, gear drive sets up in the outside of drive case 30, and gear drive includes driving gear I20 and driven gear I21, and driving gear I20 sets up in the other end of driving shaft 16, and driven gear I21 sets up on driven shaft 23 and meshes with driving gear I20.
Further, the driving shaft 16 is connected with the planing tools 28 located at even number positions through a plurality of gear rack mechanisms I; the driven shaft 23 is connected to the respective planing tools 28 located at odd-numbered positions via a plurality of rack-and-pinion mechanisms ii.
In the embodiment of the present invention, the rack-and-pinion mechanism i includes an inner rack i disposed at the bottom of the planing tool 28 located at an even number of positions and parallel to the guide rail 26, and a pinion gear disposed on the driving shaft 16 and engaged with the corresponding inner rack i. The gear rack mechanism II comprises an inner rack II and a driven gear, and the inner rack II is arranged at the bottom of the planing tool 28 positioned at the odd number position and is parallel to the guide rail 26; the driven gear is arranged on the driven shaft 23 and meshed with the corresponding inner rack II.
As shown in fig. 6 to 7, in the embodiment of the present invention, the planing tool 28 includes a tool seat 31 and a plurality of unidirectional scraper blades 10 disposed on the tool seat 31, each unidirectional scraper blade 10 is fitted in a planing tool fitting groove 8 provided on the tool seat 31, and the bottom is connected to the tool seat 31 through a damping spring piece 9.
Specifically, the top of the one-way scraper blade 10 is provided with an arc segment top groove 11 extending to one side, the end of the arc segment top groove 11 is provided with a planing edge 12, and the planing edges 12 of the plurality of one-way scraper blades 10 on the same tool apron 31 are all facing the same direction. The arcuate top groove 11 of each unidirectional doctor blade 10 can withstand the force of contact with the planar workpiece 3 being flame cut.
As shown in fig. 7, in addition to the above-mentioned embodiment, the planing tool 28 further includes a plurality of damped elastic scraping blocks 13 disposed on the tool seat 31, and the damped elastic scraping blocks 13 are alternately disposed at intervals with respect to the one-way doctor blade 10. The damping elastic scraping block 13 is preferably a combination of a steel wire ball and a foaming sponge, and the damping elastic scraping block 13 can clean and polish the surface of the flame-cut planar workpiece 3.
On the basis of the above-described embodiment, the unidirectional doctor blades 10 of two adjacent planing tools 28 are mounted in opposite directions, so that the two adjacent planing tools perform opposite planing operations.
In the embodiment of the present invention, the planing tools 28 are three groups, and include a first planing tool 5, a second planing tool 6, and a third planing tool 7, which are sequentially arranged in parallel, wherein the bottom of the second planing tool 6 is provided with an inner rack i 17, and the bottoms of the first planing tool 5 and the third planing tool 7 are respectively provided with a first inner rack ii 19 and a second inner rack ii 15. The driving shaft 16 is provided with a driving gear II 18 meshed with the inner rack I17, the driven shaft 23 is provided with a driven gear II 22 and a driven gear III 24, the driven gear II 22 is meshed with the first inner rack II 19, and the driven gear III 24 is meshed with the second inner rack II 15.
The driving motor reducer 14 drives the driving shaft 16 to rotate in the positive direction, and the driving shaft 16 drives the second planing tool 6 to do linear motion through the gear rack mechanism I; the driven shaft 23 rotates reversely through the meshing transmission of the driving gear I20 and the driven gear I21, the driven shaft 23 is meshed with the first inner rack II 19 through the driven gear II 22 to drive the first planing tool 5 to do linear motion along the reverse direction, and meanwhile, meshed with the second inner rack II 15 through the driven gear III 24 to drive the third planing tool 7 to do linear motion along the reverse direction, namely, the planing motion directions of the first planing tool 5 and the third planing tool 7 are opposite to that of the second planing tool 6, so that the internal stress generated during planing is offset, and the damage to the flame-cut plane workpiece 3 and the industrial robot 1 caused by the internal stress is avoided.
The utility model provides a pair of plane robot cleaning device cuts the tumour and clears away efficient, effectual, easy operation is convenient, adapts to the plane cutting of steel sheet, can scrape simultaneously cutting tumour by a plurality of planer tools, and work efficiency is high.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a planer robot cleaning device, characterized in that, including industrial robot (1) and set up in industrial robot (1) carries out terminal clearance module (4), clearance module (4) include actuating mechanism (29), guide rail (26) and planing cutter (28), and wherein guide rail (26) set up in the top of actuating mechanism (29), planing cutter (28) with guide rail (26) sliding connection, the output of actuating mechanism (29) with planing cutter (28) are connected, and the drive planing cutter (28) do linear motion.
2. The planer robot cleaning device of claim 1, characterized in that the planing tools (28) are in groups and are arranged in parallel; the directions of movement of two adjacent sets of planing tools (28) are opposite.
3. The planer robot cleaning device according to claim 2, wherein the planing tool (28) comprises a holder (31) and a plurality of unidirectional scraper blades (10) provided on the holder (31), each of the unidirectional scraper blades (10) is fitted in a planing tool fitting groove (8) provided on the holder (31), and is connected at the bottom to the holder (31) through a damping spring piece (9).
4. The planer robot cleaning device of claim 3, wherein the top of the one-way scraper blade (10) is provided with a circular arc segment top groove (11) extending to one side, and the end of the circular arc segment top groove (11) is provided with a planing edge (12).
5. The planer robot cleaning device of claim 3, wherein the planing tool (28) further comprises a plurality of damped resilient scraping blocks (13) disposed on the blade seat (31), the damped resilient scraping blocks (13) being alternately spaced from the one-way scraper blade (10).
6. The planer robotic cleaning device of claim 3, wherein the unidirectional scraper blades (10) of adjacent two of the planing tools (28) are mounted in opposing orientations.
7. The planer robot cleaning device according to claim 2, characterized in that the driving mechanism (29) comprises a driving motor reducer (14), a driving box (30), and a driving shaft (16) and a driven shaft (23) which are arranged in parallel in the driving box (30), the driving motor reducer (14) is arranged outside the driving box (30) and the output end is connected with the driving shaft (16); the driven shaft (23) is in transmission connection with the driving shaft (16) through a gear transmission mechanism;
the driving shaft (16) is respectively connected with the planing tools (28) at even number positions through a plurality of gear rack mechanisms I;
the driven shaft (23) is respectively connected with the planing tools (28) positioned at odd number positions through a plurality of gear rack mechanisms II.
8. The planer robot cleaning device according to claim 7, characterized in that the rack-and-pinion mechanism I comprises an inner rack I provided at the bottom of the planing tool (28) at an even number of positions and parallel to the guide rail (26) and a pinion gear provided on the driving shaft (16) and engaged with the corresponding inner rack I.
9. The planer robot cleaning device according to claim 7, characterized in that the rack-and-pinion mechanism II comprises an inner rack II and a driven gear, the inner rack II is provided at the bottom of the planing tool (28) at odd number positions and is parallel to the guide rail (26); the driven gear is arranged on the driven shaft (23) and meshed with the corresponding inner rack II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022932208.0U CN214187206U (en) | 2020-12-07 | 2020-12-07 | Cleaning device for planing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022932208.0U CN214187206U (en) | 2020-12-07 | 2020-12-07 | Cleaning device for planing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214187206U true CN214187206U (en) | 2021-09-14 |
Family
ID=77650597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022932208.0U Active CN214187206U (en) | 2020-12-07 | 2020-12-07 | Cleaning device for planing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214187206U (en) |
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2020
- 2020-12-07 CN CN202022932208.0U patent/CN214187206U/en active Active
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