CN216781412U - Combined type pneumatic mechanical arm and polishing equipment - Google Patents
Combined type pneumatic mechanical arm and polishing equipment Download PDFInfo
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- CN216781412U CN216781412U CN202220337800.2U CN202220337800U CN216781412U CN 216781412 U CN216781412 U CN 216781412U CN 202220337800 U CN202220337800 U CN 202220337800U CN 216781412 U CN216781412 U CN 216781412U
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Abstract
The utility model discloses a combined type pneumatic mechanical arm and polishing equipment, which comprises: it includes: the primary arm comprises a primary driving assembly and a primary swing frame, and the primary driving assembly is connected with the primary swing frame and used for driving the primary swing frame to swing up and down; a secondary arm comprising a secondary drive assembly and a secondary swing frame; the secondary driving component is connected with the secondary swing frame and used for driving the secondary swing frame to swing left and right; the secondary driving component is arranged on the primary swing frame. This pneumatic arm of combined type and burnishing and polishing equipment has realized the luffing motion of one-level arm through one-level drive assembly and one-level swing span, and then has realized the horizontal hunting of second grade arm through second grade drive assembly and second grade swing span, and the second grade arm is connected on one-level swing span to realize the upper and lower, left and right swing of arm, overcome among the prior art defect that arm pneumatic action time delay and motion are unstable.
Description
Technical Field
The utility model relates to the technical field of polishing equipment, in particular to a combined type pneumatic mechanical arm and polishing equipment.
Background
In the manufacturing industry of polishing equipment, a pneumatic mechanical arm polishing machine is mainly applied to polishing operation of parts such as airplane wings, outer surfaces of airframes, outer surfaces of ships, outer surfaces of compartments of rail transit vehicles and the like. The outer surface of the part to be polished consists of a horizontal lower plane, vertical (left and right) side surfaces, a horizontal upper top surface and the like.
The utility model discloses a chinese utility model patent that publication number is CN 208147548U discloses a pneumatic arm and adopts this arm from dust absorption burnishing and polishing device, and it can accomplish plane under the single level, or perpendicular list (left or right) side or the burnishing and polishing operation mode of top surface on the level, but this equipment need four kinds of not isostructure's pneumatic arm burnishing and polishing machine when accomplishing the surface of a part and polish, complex operation, and is inefficient, and comprehensive cost is high.
The swing arms of the existing pneumatic mechanical arm polishing and polishing machine are driven by a cylinder link mechanism, so that the inertia force generated by the reciprocating motion of the swing arms is difficult to balance, and the swing arms cause the phenomena of large vibration, dynamic load, unstable motion and pneumatic action delay at a high speed, thereby causing uneven polished outer surfaces. It can be seen that the prior art has yet to be optimally integrated and enhanced.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to a composite pneumatic robot and a polishing apparatus, which are used to solve at least one of the above problems.
According to a first aspect of the present invention there is provided a compound pneumatic manipulator comprising:
the primary arm comprises a primary driving assembly and a primary swing frame, and the primary driving assembly is connected with the primary swing frame and used for driving the primary swing frame to swing up and down;
a secondary arm comprising a secondary drive assembly and a secondary swing frame; the secondary driving component is connected with the secondary swing frame and used for driving the secondary swing frame to swing left and right;
the secondary driving component is arranged on the primary swing frame.
In some specific embodiments, the primary drive assembly comprises:
a primary arm rotating shaft and a first rotating wheel;
the first-stage swing frame and the first rotating wheel are coaxially arranged on the first-stage arm rotating shaft, and the first rotating wheel rotates to drive the first-stage swing frame to swing.
Further, the primary drive assembly further comprises;
the second rotating wheel is matched with the first rotating wheel, and a driving belt is wound on the first rotating wheel and the second rotating wheel;
and the movable end of the primary cylinder is connected with the transmission belt.
Further, the primary drive assembly further comprises;
the first rotating wheel, the second rotating wheel and the first-stage cylinder are arranged on the first-stage arm supporting frame.
In some specific embodiments, the secondary drive assembly comprises:
a secondary arm rotating shaft;
one end of the secondary support frame is rotatably connected with the secondary arm rotating shaft, and the other end of the secondary support frame is connected with the secondary swing frame;
when the secondary swing frame swings under the driving action, the secondary support frame rotates around the secondary arm rotating shaft.
Further, the secondary drive assembly further comprises:
one end of the secondary cylinder is hinged with the secondary swing frame, and the other end of the secondary cylinder is hinged with the primary swing frame or the supporting plate;
and under the driving action of the secondary air cylinder, the secondary swing frame swings.
Furthermore, a fixed seat is further arranged on the primary swing frame or the supporting plate, and the secondary supporting frame is connected with the fixed seat through a secondary arm rotating shaft.
According to a second aspect of the present invention, there is provided a compound pneumatic manipulator comprising:
the primary arm comprises a secondary driving component and a secondary swing frame, and the secondary driving component is connected with the secondary swing frame and used for driving the secondary swing frame to swing left and right;
a secondary arm comprising a primary drive assembly and a primary swing frame; the primary driving assembly is connected with the primary swing frame and used for driving the primary swing frame to swing up and down;
the primary driving assembly is arranged on the secondary swing frame.
According to a third aspect of the present invention, there is provided an abrasive polishing apparatus comprising:
a mobile base;
the lifting frame is arranged on the movable base;
the overturning frame is arranged on the lifting frame;
the composite pneumatic mechanical arm comprises a floating box, a tail end polishing head and the composite pneumatic mechanical arm, wherein the floating box and the tail end polishing head are arranged on a turnover frame;
the tail end polishing head is connected with the secondary arm, and the floating box is used for providing a floating box with constant polishing buoyancy.
Further, the apparatus further comprises: the rotating frame is arranged on the turnover frame, and the floating box, the tail end polishing head and the combined type pneumatic mechanical arm are arranged on the rotating frame.
Compared with the prior art, the utility model has the beneficial effects that:
according to the combined type pneumatic mechanical arm and the grinding and polishing equipment using the mechanical arm, the up-and-down swing of the primary arm is realized through the primary driving assembly and the primary swing frame, the left-and-right swing of the secondary arm is further realized through the secondary driving assembly and the secondary swing frame, and the secondary arm is connected to the primary swing frame, so that the up-and-down, left-and-right swing of the mechanical arm is realized.
Furthermore, the mechanical structure combining the transmission of the cylinder transmission wheel and the transmission of the cylinder connecting rod overcomes the defects of pneumatic action delay and unstable motion of a mechanical arm in the prior art.
Further, when this arm was set up on burnishing and polishing wheel equipment, through the direction of adjusting the head of polishing who is connected with the arm, can realize treating the polishing of the level lower plane and the top surface of polishing work piece.
Furthermore, the turnover frame is used for turning over the whole mechanical arm, so that the vertical side face of the workpiece to be polished can be polished.
Furthermore, through the setting of rotating turret, can rotate the arm in order to adjust the polishing scope.
For a better understanding and practice, the utility model is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a composite pneumatic robotic arm according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a grinding and polishing apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a grinding and polishing apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a grinding and polishing apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a grinding and polishing apparatus according to an embodiment of the present invention.
Detailed Description
To better illustrate the present invention, the present invention is described in further detail below with reference to FIGS. 1-5.
The embodiment of the utility model provides a combined type pneumatic mechanical arm 2, which comprises:
the primary arm 21 comprises a primary driving component and a primary swing frame 210, wherein the primary driving component is connected with the primary swing frame and used for driving the primary swing frame to swing up and down;
a secondary arm 22 including a secondary drive assembly and a secondary swing frame 220; the secondary driving component is connected with the secondary swing frame and used for driving the secondary swing frame to swing left and right;
the secondary driving component is arranged on the primary swing frame. The first-stage arm 21 is a cylinder transmission wheel transmission structure, and the second-stage arm 22 is a cylinder connecting rod transmission structure.
Wherein, as shown in fig. 1, the primary driving assembly comprises: a primary arm rotating shaft 211, a first runner 212, a second runner 213, a transmission belt 214, and a primary cylinder 215;
the first-stage swing frame and the first rotating wheel are coaxially arranged on the first-stage arm rotating shaft, and the first rotating wheel rotates to drive the first-stage swing frame to swing.
The second rotating wheel is matched with the first rotating wheel, and the driving belt is wound on the first rotating wheel and the second rotating wheel; and the movable end of the primary cylinder is connected with the transmission belt.
The primary drive assembly further comprises; the first-stage arm support frame 216, the first runner, the second runner, and the first-stage cylinder are arranged on the first-stage arm support frame. As shown in fig. 1, the composite pneumatic manipulator further includes a support plate 23, and the primary arm support is disposed on the support plate.
Preferably, in the embodiment of the present application, the first rotating wheel and the second rotating wheel are sprockets, and the transmission belt is a chain; preferably, the first sprocket has a size greater than the second sprocket. In some other embodiments, the first and second pulleys may be synchronous pulleys, and the transmission belt is a synchronous belt.
Taking the first and second rotating wheels as chain wheels and the transmission belt as a chain as an example, when the movable end of the primary cylinder stretches, the chain wheel is driven to rotate by the chain, and then the primary swing frame coaxially arranged with the first chain wheel is driven to swing up and down. As shown in fig. 1, and the swing frame swings up and down, moving from the first attitude to the second attitude.
Wherein the secondary drive assembly comprises: a secondary arm rotating shaft 221, a secondary support frame 222 and a secondary cylinder 223;
one end of the secondary support frame is rotatably connected with the secondary arm rotating shaft, and the other end of the secondary support frame is connected with the secondary swing frame 220;
when the secondary swing frame swings under the driving action, the secondary support frame rotates around the secondary arm rotating shaft.
One end of the secondary air cylinder is hinged with the secondary swing frame, and the other end of the secondary air cylinder is hinged with the primary swing frame; and under the driving action of the secondary air cylinder, the secondary swing frame swings.
Still set up fixing base 224 on the one-level swing span, the second grade support frame pass through the second grade arm axis of rotation with the fixing base is connected.
Under the telescopic driving action of the secondary air cylinder, the secondary swing frame swings left and right, and the secondary support frame rotates around the secondary arm rotating shaft at the moment.
As shown in fig. 2, the present application also provides an abrasive polishing apparatus comprising:
a mobile base 8; the lifting frame 7 is arranged on the movable base; the roll-over stand 6 is arranged on the lifting stand; the combined type pneumatic mechanical arm comprises a floating box 3 arranged on a roll-over stand, a tail end polishing head 1 and the combined type pneumatic mechanical arm 2 provided by the embodiment of the application.
The tail end polishing head is connected with the secondary arm, and the floating box is used for providing a floating box with constant polishing buoyancy.
The apparatus further comprises: a rotating frame 4 arranged on the roll-over stand and an operation box 5. The floating box, the tail end polishing head and the combined type pneumatic mechanical arm are arranged on the rotating frame.
The burnishing and polishing equipment of this application embodiment when needs adjust the burnishing and polishing height, through 9 work of lift cylinder of crane make whole arm rise or descend to adapt to the not demand of polishing of co-altitude.
Furthermore, after the mechanical arm reaches a certain height, the polishing head can be driven to swing up and down through the up-and-down swing of the primary arm, and polishing work within a certain height range is completed. And then can also realize the polishing work within a certain width range through the horizontal swinging of the secondary arm. And then the combination of one-level arm and second grade arm realizes freely adjusting at the angle of polishing of certain height and width within range.
Further, the whole mechanical arm can be driven to lift or descend within a certain angle range through a floating cylinder 10 connected with the floating box. As shown in fig. 3, the float chamber and the robot arm are lifted at an angle by the float cylinder compared to the robot arm of fig. 2.
Further, in order to adapt to different workpiece angles, the grinding wheel on the tail end grinding head can rotate at a constant pressure within a certain angle range so as to adapt to different workpiece surfaces, such as curved surfaces and the like. As in fig. 2 and 3, the grinding wheel angles of the end sanding heads are different.
Further, when the grinding range of the grinding and polishing needs to be adjusted in a large range, the mechanical arm can be rotated to the position where the grinding and polishing needs to be carried out through the adjusting rotating frame, and therefore the grinding and polishing in different ranges can be achieved.
When the horizontal upper top surface or the lower plane of a workpiece to be polished needs to be polished, the polishing head is enabled to move upwards or downwards to polish the horizontal upper top surface or the horizontal lower plane by adjusting the direction of the polishing head. As shown in fig. 4.
When the vertical side surface of a workpiece to be polished is needed to be polished, the turnover frame is turned over through the turning cylinder 11, so that the mechanical arm arranged on the turnover frame is turned over integrally, as shown in fig. 5.
Compared with the prior art, the utility model has the beneficial effects that:
according to the combined type pneumatic mechanical arm and the grinding and polishing equipment using the mechanical arm, the up-and-down swing of the primary arm is realized through the primary driving assembly and the primary swing frame, the left-and-right swing of the secondary arm is further realized through the secondary driving assembly and the secondary swing frame, and the secondary arm is connected to the primary swing frame, so that the up-and-down, left-and-right swing of the mechanical arm is realized.
Furthermore, the mechanical structure combining the transmission of the cylinder transmission wheel and the transmission of the cylinder connecting rod overcomes the defects of pneumatic action delay and unstable motion of a mechanical arm in the prior art.
Further, when the mechanical arm is arranged on the polishing wheel equipment, the polishing of the horizontal lower plane and the upper top surface of a workpiece to be polished can be realized by adjusting the direction of the polishing head connected with the mechanical arm.
Furthermore, the turnover frame is used for turning over the whole mechanical arm, so that the vertical side face of the workpiece to be polished can be polished.
Furthermore, through the setting of rotating turret, can rotate the arm in order to adjust the polishing scope.
In other embodiments, the composite pneumatic robotic arm of the present application may also be: the first-stage arm swings left and right, and the second-stage arm swings up and down.
Concretely, a hybrid pneumatic robot arm includes:
the primary arm comprises a secondary driving component and a secondary swing frame, and the secondary driving component is connected with the secondary swing frame and used for driving the secondary swing frame to swing left and right;
a secondary arm comprising a primary drive assembly and a primary swing frame; the primary driving assembly is connected with the primary swing frame and used for driving the primary swing frame to swing up and down;
the primary driving assembly is arranged on the secondary swing frame. The primary arm is of a cylinder connecting rod transmission structure, and the secondary arm is of a cylinder transmission wheel transmission structure.
The primary driving component and the secondary driving component are as described above, and are not described herein again.
When the primary arm is a left-right swing arm and the secondary arm is an up-down swing arm, the primary arm is driven by the air cylinder connecting rod, and the secondary arm is driven by the air cylinder driving wheel. The difference from the above embodiment is:
one end of the secondary air cylinder is hinged with the secondary swing frame, and the other end of the secondary air cylinder is hinged with the supporting plate; and under the driving action of the secondary air cylinder, the secondary swing frame swings left and right.
The support plate is further provided with a fixed seat, and the secondary support frame is connected with the fixed seat through a secondary arm rotating shaft.
It should be noted that the combined type pneumatic mechanical arm of the application adopts a mechanical structure combining the transmission of the cylinder transmission wheel and the transmission of the cylinder connecting rod, and in other embodiments, the mechanical structure combining the transmission of the cylinder transmission wheel and the transmission of the cylinder transmission wheel can also be adopted.
In addition, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the scope of the present invention.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the use of "first" and "second" is merely for convenience in describing the utility model and to simplify the description, and unless otherwise stated the above words are not intended to have a special meaning.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (10)
1. Combined type pneumatic arm, its characterized in that includes:
the primary arm comprises a primary driving assembly and a primary swing frame, and the primary driving assembly is connected with the primary swing frame and used for driving the primary swing frame to swing up and down;
a secondary arm comprising a secondary drive assembly and a secondary swing frame; the secondary driving component is connected with the secondary swing frame and used for driving the secondary swing frame to swing left and right;
the secondary driving component is arranged on the primary swing frame.
2. The composite pneumatic robotic arm of claim 1, wherein said primary drive assembly comprises:
a primary arm rotating shaft and a first rotating wheel;
the first-stage swing frame and the first rotating wheel are coaxially arranged on the first-stage arm rotating shaft, and the first rotating wheel rotates to drive the first-stage swing frame to swing.
3. The composite pneumatic robotic arm of claim 2, wherein said primary drive assembly further comprises:
the second rotating wheel is matched with the first rotating wheel, and a driving belt is wound on the first rotating wheel and the second rotating wheel; and the movable end of the primary cylinder is connected with the transmission belt.
4. The composite pneumatic robotic arm of claim 3, wherein said primary drive assembly further comprises:
the first rotating wheel, the second rotating wheel and the first-stage cylinder are arranged on the first-stage arm supporting frame.
5. The composite pneumatic robotic arm of claim 1, wherein the secondary drive assembly comprises:
a secondary arm rotating shaft;
one end of the secondary support frame is rotatably connected with the secondary arm rotating shaft, and the other end of the secondary support frame is connected with the secondary swing frame;
when the secondary swing frame swings under the driving action, the secondary support frame rotates around the secondary arm rotating shaft.
6. The composite pneumatic robotic arm of claim 5, wherein said secondary drive assembly further comprises:
one end of the secondary cylinder is hinged with the secondary swing frame, and the other end of the secondary cylinder is hinged with the primary swing frame or the supporting plate;
and under the driving action of the secondary air cylinder, the secondary swing frame swings.
7. The composite pneumatic robotic arm of claim 6, wherein:
the first-stage swing frame or the supporting plate is further provided with a fixed seat, and the second-stage supporting frame is connected with the fixed seat through a second-stage arm rotating shaft.
8. Combined type pneumatic mechanical arm, its characterized in that includes:
the primary arm comprises a secondary driving component and a secondary swing frame, and the secondary driving component is connected with the secondary swing frame and used for driving the secondary swing frame to swing left and right;
a secondary arm comprising a primary drive assembly and a primary swing frame; the primary driving assembly is connected with the primary swing frame and used for driving the primary swing frame to swing up and down;
the primary driving assembly is arranged on the secondary swing frame.
9. An abrasive polishing apparatus, characterized in that the apparatus comprises:
a mobile base;
the lifting frame is arranged on the movable base;
the overturning frame is arranged on the lifting frame;
a float box, a tail end grinding head, the composite pneumatic mechanical arm of any one of claims 1-8, and the like, which are arranged on the roll-over stand;
the tail end polishing head is connected with the secondary arm, and the floating box is used for providing a floating box with constant polishing buoyancy.
10. The sanding polishing apparatus of claim 9, further comprising:
the rotary frame is arranged on the turnover frame, and the floating box, the tail end polishing head and the combined type pneumatic mechanical arm are arranged on the rotary frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220337800.2U CN216781412U (en) | 2022-02-18 | 2022-02-18 | Combined type pneumatic mechanical arm and polishing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220337800.2U CN216781412U (en) | 2022-02-18 | 2022-02-18 | Combined type pneumatic mechanical arm and polishing equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216781412U true CN216781412U (en) | 2022-06-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220337800.2U Active CN216781412U (en) | 2022-02-18 | 2022-02-18 | Combined type pneumatic mechanical arm and polishing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216781412U (en) |
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- 2022-02-18 CN CN202220337800.2U patent/CN216781412U/en active Active
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