CN219562577U - Aircraft outward appearance paint polishing robot - Google Patents
Aircraft outward appearance paint polishing robot Download PDFInfo
- Publication number
- CN219562577U CN219562577U CN202320204768.5U CN202320204768U CN219562577U CN 219562577 U CN219562577 U CN 219562577U CN 202320204768 U CN202320204768 U CN 202320204768U CN 219562577 U CN219562577 U CN 219562577U
- Authority
- CN
- China
- Prior art keywords
- support
- polishing
- robot arm
- sander
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The utility model discloses an aircraft exterior paint polishing robot which comprises an automatic navigation trolley, a visual sensor, a force sensor, a lifting mechanism, a polisher, a dust collector, a manual angle converter and a cooperative robot arm, wherein the lifting mechanism is arranged on the automatic navigation trolley; by manually operating a hand wheel of the manual angle converter, the horizontal installation posture and the vertical installation posture of the cooperative robot arm can be switched. The polishing machine improves the working efficiency, reduces the occupational health hazard, improves the polishing quality, and can adapt to more working scenes.
Description
Technical Field
The utility model relates to a polishing robot, in particular to an aircraft exterior paint polishing robot.
Background
The aircraft usually needs to be sprayed with paint once every six years to ensure the safety, corrosion resistance and aesthetic property of the aircraft. Before painting, the original paint layer on the surface of the airplane needs to be polished and removed.
The current common practice in civil aviation industry is that the manual operation portable pneumatic polishing tool is used for polishing the whole aircraft, and the operation has the defects of low efficiency, uncontrollable quality, high labor intensity, occupational health hazard and the like.
Disclosure of Invention
The first technical problem to be solved by the utility model is to provide an exterior paint polishing robot.
The polishing machine improves the working efficiency, reduces the occupational health hazard, improves the polishing quality, and can adapt to more working scenes.
The technical scheme adopted by the utility model is as follows:
the utility model provides an aircraft outward appearance paint polishing robot which characterized in that: the automatic navigation device comprises an automatic navigation trolley, a visual sensor, a force sensor, a lifting mechanism, a sander, a dust collector, a manual angle converter and a cooperative robot arm, wherein the lifting mechanism is arranged on the automatic navigation trolley;
the automatic navigation trolley is used for driving the polishing robot to move to a set site, and the lifting mechanism is used for adjusting the polishing height; the hand wheel of the manual angle converter is manually operated, so that the horizontal installation posture and the vertical installation posture of the cooperative robot arm can be switched; the visual sensor is used for identifying an identification tag on a polishing area of the airplane, the force sensor is used for acquiring force applied to the sander during polishing, the sander is used for polishing paint on the surface of the airplane, and the dust collector is used for sucking dust generated during polishing of the sander.
Optionally, the manual angle converter includes arm mount pad, support, connecting axle and bolt, and the support is fixed to be established on elevating system's last activity end, and the connecting axle level rotates to be established on the support, and the hand wheel passes through the connecting axle to be connected with the arm mount pad, and the rear end seat and the arm mount pad fixed connection of cooperation arm, and the bolt is used for locking the connecting axle.
Optionally, the connecting shaft is provided with two limiting holes, the two limiting holes are vertical, the support is provided with a fixed hole, and the bolt is used for penetrating one of the limiting holes and being inserted into the fixed hole.
Optionally, the manual angle converter further comprises a speed reducer, and the connecting shaft is connected with the robot arm mounting seat through the speed reducer.
Optionally, the support includes first support and second support, and first support and second support set up relatively, and the speed reducer is established between first support and second support.
Optionally, the side of support is equipped with the stopper, and when cooperation arm was in horizontal installation gesture and vertical installation gesture, the one side of arm mount pad all supported on the stopper.
Optionally, the polishing robot further comprises an automatic sand paper replacing device, the automatic sand paper replacing device is arranged on the automatic navigation trolley, and the automatic sand paper replacing device is used for automatically replacing sand paper on the sander.
Optionally, a first installation surface and a second installation surface are arranged on the automatic navigation trolley, the second installation surface is higher than the first installation surface, the lifting mechanism is arranged on the first installation surface, and the automatic sand paper replacing device is arranged on the second installation surface.
Optionally, the dust catcher includes dust absorption host computer and hose, and the dust absorption host computer is connected to the one end of hose, and the other end is the dust absorption end, is equipped with the dust absorption passageway in the sander, and the side of sander is equipped with dust absorption hole and the connecting pipe head with dust absorption passageway intercommunication, and the dust absorption end is connected with the connecting pipe head.
Compared with the prior art, the utility model has the following beneficial effects:
the automatic polishing machine disclosed by the utility model realizes automatic polishing of paint on the surface of an airplane, improves the working efficiency, improves the polishing quality of a machine, and can be suitable for more working scenes.
In the polishing process, the automatic navigation trolley moves among different stations, polishing of different surfaces is realized under the cooperation of the lifting mechanism and the cooperative robot arm, the stress in the polishing process is acquired through the force sensor, and the polishing position is determined by identifying the identification tag on the airplane polishing area through the visual sensor. When corresponding to different working scenes, the hand wheel of the manual angle converter can be manually operated to switch between the horizontal installation posture and the vertical installation posture of the cooperative robot arm so as to adapt to more working scenes.
According to the utility model, dust generated during polishing of the sander is sucked by the dust collector while automatically polishing, so that occupational health hazard is reduced.
Drawings
FIG. 1 is one of the perspective views of the sharpening robot of the present utility model, with the cooperative robot arm in a horizontal mounting position;
FIG. 2 is a second perspective view of the sanding robot of the present utility model with the cooperative robot arm in a vertically mounted position;
fig. 3 is a schematic view of the structure of the front end position of the cooperative robot arm of the sanding robot of the present utility model;
FIG. 4 is one of the schematic structural views of the manual angle converter of the grinding robot of the present utility model, corresponding to the horizontal mounting posture of the cooperative robot arm;
fig. 5 is a second schematic structural view of the manual angle converter of the polishing robot according to the present utility model, corresponding to the vertical installation posture of the cooperative robot arm.
The meaning of the reference numerals in the figures:
1-an automatic navigation trolley; 2-a lifting mechanism; 3-automatic sand paper replacing device; 4-a manual angle converter; 5-a collaborative robotic; 6-a dust collector; 7-a sander; 8-force sensor; 9-a visual sensor; 10-a first support; 11-a second support; 12-a hand wheel; 13-a robotic arm mount; 14-a bolt; 15-a speed reducer; 16-a second mounting surface; 17-a first mounting surface; 18-hose; 19-a dust collection host; 20-a rear end seat of the cooperative robot arm; a front end of a 21-collaboration robotic arm; 22-connecting the pipe heads; 23-hole fixing; 24-limiting holes; 25-mounting plates; 26-limiting blocks; 27-a connecting shaft; 28-dust collection end.
Detailed Description
The utility model is further described below with reference to examples.
In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Examples:
as shown in fig. 1 to 5, the robot for polishing paint on the exterior of a machine of the present embodiment comprises an automatic navigation cart 1, a vision sensor 9, a force sensor 8, a lifting mechanism 2, a sander 7, a dust collector 6, a manual angle converter 4, a cooperative robot arm 5 and an automatic abrasive paper replacing device 3.
The automatic navigation cart 1 is provided with a first mounting surface 17 and a second mounting surface 16 on the upper surface, and the second mounting surface 16 is higher than the first mounting surface 17. The lifting mechanism 2 is columnar, and a conventional lifting mechanism is adopted, and the lifting mechanism 2 is arranged on the first mounting surface 17. An automatic sandpaper changing device 3 is provided on the second mounting surface 16 for automatic replacement of sandpaper. The manual angle converter 4 is arranged at the upper movable end of the lifting mechanism 2, so that the lifting mechanism 2 drives the lifting mechanism to lift, the rear end seat 20 of the cooperative robot arm 5 is connected with the manual angle converter 4, the front end 21 of the cooperative robot arm 5 is a working end, the sander 7 is arranged at the front end 21 of the cooperative robot arm through the force sensor 8, the vision sensor 9 and the dust collection end 28 of the dust collector are also arranged at the front end 21 of the cooperative robot arm, the vision sensor 9 is positioned at the side edge of the front end 21 of the cooperative robot arm, and the front view angle of the vision sensor 9 is not blocked by the dust collector 7.
In the polishing process, the automatic navigation trolley 1 is used for driving the polishing robot to move to a set site, so that polishing areas at different positions are polished, and the heights of the polishing areas corresponding to different heights are adjusted through the lifting mechanism 2. By manually operating the hand wheel 12 of the manual angle converter 4, the cooperating robot arm 5 can be switched between a horizontal mounting posture and a vertical mounting posture to adapt to more working scenes. As shown in fig. 1, the cooperative robot arm 5 is in a horizontal installation posture, and the rear end seat 20 of the cooperative robot arm 5 is in a horizontal state; as shown in fig. 2, the cooperative robot arm 5 is in a vertically installed posture, and the rear end seat 20 of the cooperative robot arm 5 is in a vertically upward state. Wherein the visual sensor 9 is used to identify an identification tag on the aircraft sanding area to determine the sanding position. The force sensor 8 is used for obtaining the force that the sander 7 receives when polishing, and the force sensor 8 will obtain the force value output for the polishing robot when polishing, and the polishing angle of sander 7 will be adjusted according to the force value to the polishing robot to make sander 7 and the plane of need polishing on the aircraft more laminate, better assurance quality of polishing. In the polishing process, the paint on the surface of the airplane is polished through the polisher 7, and the dust collector 6 is used for sucking dust generated during polishing of the polisher 7, so that occupational health hazard is relieved.
As shown in fig. 4 and 5, the manual angle converter 4 of the present embodiment includes a hand wheel 12, a robot arm mounting seat 13, a support, a connecting shaft 27 and a latch 14, the support is fixedly disposed above the upper movable end of the lifting mechanism 2, the connecting shaft 27 is horizontally rotatably disposed on the support, and the hand wheel 12 is connected with the robot arm mounting seat 13 through the connecting shaft 27, so that the hand wheel 12 can be manually rotated to drive the robot arm mounting seat 13 to rotate. The mounting plate 25 is arranged on the robot arm mounting seat 13, the mounting plate 25 is parallel to the connecting shaft 27, and the rear end seat 20 of the cooperative robot arm is fixedly connected with the mounting plate 25. The part of the connecting shaft 27 protruding from the support is provided with two limiting holes 24, the two limiting holes 24 are vertically crossed, and the front of the support is provided with a fixed hole 23. When the cooperative robot arm 5 is in the vertical installation posture, as shown in fig. 5, one of the limiting holes 24 is aligned with the fixed hole 23, at this time, the bolt 14 is inserted into the fixed hole 23 through the limiting hole 24, and the connecting shaft 27 is locked, and the connecting shaft 27 cannot rotate; when the cooperative robot arm 5 is in the horizontal installation posture, as shown in fig. 4, the other limiting hole 24 is aligned with the fixed hole 23, at this time, the latch 14 may also be inserted into the fixed hole 23 through the limiting hole 24, and the connecting shaft 27 is locked, and the connecting shaft 27 cannot rotate.
The manual angle converter 4 of this embodiment is further provided with a speed reducer 15, the connecting shaft 27 is connected with the robot arm mounting seat 13 through the speed reducer 15, and when the hand wheel 12 rotates, the speed reducer 15 is driven to act through the connecting shaft 27, and the robot arm mounting seat 13 is driven to rotate by the speed reducer 15. Wherein, the support includes first support 10 and second support 11, and first support 10 and second support 11 set up relatively, and first support 10 is located the front and the second support 11 is located the rear, and speed reducer 15 is established between first support 10 and second support 11.
In this embodiment, the limiting block 26 is disposed on the side edge of the second support 11, when the cooperative robot arm is in the horizontal installation posture and the vertical installation posture, one side of the robot arm installation seat 13 abuts against the limiting block, so that the rotation range of the robot arm installation seat 13 is limited, and the robot arm installation seat 13 cannot continue to rotate after rotating in place, and the rotation range of the robot arm installation seat 13 is ninety degrees. As shown in fig. 4, when the cooperative robot arm 5 is in the horizontal mounting posture, one end of the robot arm mount 13 away from the edge of the mounting plate abuts against the stopper 26; as shown in fig. 5, when the cooperative robot arm 5 is in the vertical mounting posture, the other end of the robot arm mount 13 away from the edge of the mounting plate abuts against the stopper 26.
Wherein, automatic change of abrasive paper device 3 is current device, when polishing in-process, when needing to change the abrasive paper of sander 7, cooperation arm 5 will remove sander 7 to automatic change of abrasive paper device 3 in, corresponds the abrasive paper on the sander 7 and carries out automatic change.
The dust collector 6 of this embodiment includes dust collection host 19 and hose 18, and dust collection host 19 is connected to the one end of hose 18, and the other end is dust collection end 28, is equipped with the dust collection passageway in the sander 7, and the side of sander 7 is equipped with dust collection hole and the connecting pipe head 22 with dust collection passageway intercommunication, and dust collection end 28 is connected with connecting pipe head 22, and under the suction that dust collection host 19 produced, the dust that produces during polishing will be inhaled by the dust collection hole, finally gets into dust collection host 19 through dust collection passageway, hose 18. The dust collection main unit 19 of the embodiment is separated from the automatic navigation cart 1, and the hose 18 should be long enough not to affect the movement of the automatic navigation cart 1. In another embodiment, the dust collection host 19 may be connected to the side of the automatic navigation cart, a pulley is disposed below the dust collection host 19, and the dust collection host 19 moves along with the automatic navigation cart 1 when moving.
The application method of the aircraft exterior paint polishing robot comprises the following steps:
step one: the method comprises the steps of scanning the surrounding environment through an automatic navigation trolley 1, and building a map;
step two: defining a site corresponding to a polishing position of the airplane on the map, and attaching an identification tag to the polishing position of the airplane, wherein each site corresponds to the identification tag;
step three: teaching the polishing range of the polishing robot at the first station by a manual teaching mode, and polishing according to the teaching after each polishing position is determined; the system involved in manual teaching is a conventional system;
step four: moving to a corresponding site by the automatic navigation trolley 1, identifying an identification tag at a corresponding position by the visual sensor 9 to determine a polishing position, and automatically polishing according to the teaching;
step five: and step four, repeating the polishing work of the polishing positions corresponding to all the sites.
In the polishing process, the automatic navigation trolley 1 moves among different stations, the height of polishing positions with different heights can be adjusted through the lifting mechanism 2, and the stress in the polishing process is acquired through the force sensor 8. When corresponding to different working scenes, the hand wheel 12 of the manual angle converter 4 can be manually operated to switch the horizontal installation posture and the vertical installation posture of the cooperative robot arm 5.
The above-mentioned embodiments of the present utility model are not intended to limit the scope of the present utility model, and the embodiments of the present utility model are not limited thereto, and all kinds of modifications, substitutions or alterations made to the above-mentioned structures of the present utility model according to the above-mentioned general knowledge and conventional means of the art without departing from the basic technical ideas of the present utility model shall fall within the scope of the present utility model.
Claims (9)
1. The utility model provides an aircraft outward appearance paint polishing robot which characterized in that: the automatic navigation device comprises an automatic navigation trolley, a visual sensor, a force sensor, a lifting mechanism, a sander, a dust collector, a manual angle converter and a cooperative robot arm, wherein the lifting mechanism is arranged on the automatic navigation trolley, the manual angle converter is arranged on an upper movable end of the lifting mechanism, the manual angle converter is provided with a hand wheel, a rear end seat of the cooperative robot arm is connected with the manual angle converter, the sander is arranged at the front end of the cooperative robot arm through the force sensor, and the visual sensor and a dust collection end of the dust collector are also arranged at the front end of the cooperative robot arm;
the automatic navigation trolley is used for driving the polishing robot to move to a set site, and the lifting mechanism is used for adjusting the polishing height; the hand wheel of the manual angle converter is manually operated, so that the horizontal installation posture and the vertical installation posture of the cooperative robot arm can be switched; the visual sensor is used for identifying an identification tag on a polishing area of the aircraft, the force sensor is used for acquiring force applied to the sander during polishing, the sander is used for polishing paint on the surface of the aircraft, and the dust collector is used for sucking dust generated during polishing of the sander.
2. The aircraft exterior paint grinding robot of claim 1, wherein: the manual angle converter comprises a robot arm mounting seat, a support, a connecting shaft and a bolt, wherein the support is fixedly arranged at the upper movable end of the lifting mechanism, the connecting shaft is horizontally rotated and arranged on the support, the hand wheel is connected with the robot arm mounting seat through the connecting shaft, the rear end seat of the cooperative robot arm is fixedly connected with the robot arm mounting seat, and the bolt is used for locking the connecting shaft.
3. The aircraft exterior paint grinding robot of claim 2, wherein: the connecting shaft is provided with two limiting holes, the two limiting holes are vertical, the support is provided with a fixed hole, and the bolt is used for penetrating one of the limiting holes and being inserted into the fixed hole.
4. The aircraft exterior paint grinding robot of claim 2, wherein: the manual angle converter further comprises a speed reducer, and the connecting shaft is connected with the robot arm mounting seat through the speed reducer.
5. The aircraft exterior paint grinding robot of claim 4, wherein: the support comprises a first support and a second support, the first support and the second support are oppositely arranged, and the speed reducer is arranged between the first support and the second support.
6. The aircraft exterior paint grinding robot of claim 2, wherein: the side of support is equipped with the stopper, when cooperation arm is in horizontal installation gesture and vertical installation gesture, the one side of arm mount pad all supports and pushes up on the stopper.
7. The aircraft exterior paint grinding robot of claim 1, wherein: the automatic sand paper replacing device is arranged on the automatic navigation trolley and used for automatically replacing sand paper on the sander.
8. The aircraft exterior paint grinding robot of claim 7, wherein: the automatic navigation trolley is characterized in that a first mounting surface and a second mounting surface are arranged on the automatic navigation trolley, the second mounting surface is higher than the first mounting surface, the lifting mechanism is arranged on the first mounting surface, and the automatic sand paper replacing device is arranged on the second mounting surface.
9. The aircraft exterior paint grinding robot of claim 1, wherein: the dust collector comprises a dust collection host and a hose, one end of the hose is connected with the dust collection host, the other end of the hose is the dust collection end, a dust collection channel is arranged in the sander, a dust collection hole and a connecting pipe head communicated with the dust collection channel are arranged on the side face of the sander, and the dust collection end is connected with the connecting pipe head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320204768.5U CN219562577U (en) | 2023-02-10 | 2023-02-10 | Aircraft outward appearance paint polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320204768.5U CN219562577U (en) | 2023-02-10 | 2023-02-10 | Aircraft outward appearance paint polishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219562577U true CN219562577U (en) | 2023-08-22 |
Family
ID=87648046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320204768.5U Active CN219562577U (en) | 2023-02-10 | 2023-02-10 | Aircraft outward appearance paint polishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219562577U (en) |
-
2023
- 2023-02-10 CN CN202320204768.5U patent/CN219562577U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN219562577U (en) | Aircraft outward appearance paint polishing robot | |
| CN219562578U (en) | Aircraft exterior paint polishing robot with electric conversion installation posture | |
| CN116160340A (en) | Aircraft exterior paint polishing robot and using method thereof | |
| CN108000293A (en) | A kind of auto-manual plank sander of dust removal | |
| CN208601328U (en) | A kind of novel flexible grinding head | |
| CN113770914B (en) | Automatic locking and positioning mechanism for polishing equipment and positioning method thereof | |
| CN111015401A (en) | Building wall surface polishing device and using method | |
| CN114905399A (en) | Polishing device for manufacturing automobile hub | |
| CN103753384A (en) | Rotary workbench | |
| CN210255591U (en) | Multi-station granite plate grinding machine | |
| CN112571209A (en) | Combinable and detachable polishing machine | |
| CN219901447U (en) | Wall surface grinding device for decoration | |
| CN200970701Y (en) | Improved structure of stone crystal surface renewing machine | |
| CN211072980U (en) | A edging equipment for glass processing | |
| CN210818941U (en) | Round corner polishing grinding head mechanism mounted on robot arm | |
| CN111823104A (en) | Automatic polishing burring equipment of robot | |
| CN212169920U (en) | Aircraft skin grinding device | |
| CN219853869U (en) | Hub polishing equipment | |
| CN220718717U (en) | Wall polishing device | |
| CN214265113U (en) | Automobile parts burnishing device | |
| CN216422090U (en) | Hand-held type adobe corner polishing tool | |
| CN211193440U (en) | Surface polishing device for steel pipe machining | |
| CN215999781U (en) | Gantry type automatic grinding device for railway vehicle wheel pair | |
| CN216858785U (en) | Wheel weld scar rolling machine | |
| CN214723273U (en) | Polishing machine for precision machining of curved surface |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |