CN220970177U - Quantitative dust collector of external slide rail of robot - Google Patents
Quantitative dust collector of external slide rail of robot Download PDFInfo
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- CN220970177U CN220970177U CN202322865471.6U CN202322865471U CN220970177U CN 220970177 U CN220970177 U CN 220970177U CN 202322865471 U CN202322865471 U CN 202322865471U CN 220970177 U CN220970177 U CN 220970177U
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- air
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- robot
- slide rail
- jet heads
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- 239000000428 dust Substances 0.000 title claims abstract description 52
- 238000007664 blowing Methods 0.000 claims description 14
- 238000005303 weighing Methods 0.000 claims description 10
- 230000005291 magnetic effect Effects 0.000 claims description 5
- 239000007921 spray Substances 0.000 claims description 5
- 230000003584 silencer Effects 0.000 claims description 3
- 238000011002 quantification Methods 0.000 claims 1
- 239000002923 metal particle Substances 0.000 abstract description 16
- 238000005520 cutting process Methods 0.000 abstract description 9
- 238000004364 calculation method Methods 0.000 description 7
- 230000008439 repair process Effects 0.000 description 6
- 238000009826 distribution Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 238000013139 quantization Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 235000011837 pasties Nutrition 0.000 description 1
- -1 pipeline diameters Substances 0.000 description 1
- 229920000915 polyvinyl chloride Polymers 0.000 description 1
- 239000004800 polyvinyl chloride Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 229920001187 thermosetting polymer Polymers 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Cleaning In General (AREA)
Abstract
A quantitative dust removing device for an external sliding rail of a robot belongs to the technical field of automatic cutting operation for railway wagon overhaul. The problem of current three-dimensional slide rail of robot dust resistance poor, and current dust removal mode can not accomplish accurate dust removal, leads to metal particles and dust to get into the slide rail and increases the probability of slider wearing and tearing is solved. The utility model comprises the following steps: an air compressor, a pneumatic triplet, a valve seat and a jet head; the air outlet of air compressor passes through the air duct and connects the air inlet of pneumatic triplet, the air inlet of disk seat is connected through the air duct to the air outlet of pneumatic triplet, be provided with four gas outlets on the disk seat, four gas outlets are respectively through the air duct with four air inlet UNICOM of jet. The dust removing device is suitable for removing dust from the external sliding rail of the robot.
Description
Technical Field
The utility model belongs to the technical field of automatic cutting operation for overhauling railway freight cars.
Background
The railway freight car is mainly developed around the aspects of factory repair, section repair, temporary repair, on-trial running state repair and the like in the overhaul, and targeted maintenance is carried out according to carrying conditions, service life and the like, wherein the factory repair refers to the comprehensive overhaul of the freight car after entering a workshop, and the excision and repair work of the car body subjected to external impact and corrosion for a long time mainly on side walls, end walls, bottom plates and the like is carried out, wherein the advantages of high adaptability, low cost and the like of flame cutting are utilized as a main mode of waste car body cutting, and the waste car body cutting operation by utilizing a robot flexible cutting workstation is already a main attack object in the railway freight car overhaul field along with popularization of intelligent manufacturing. However, due to the fact that metal particles and dust caused by flame cutting are extremely large in quantity, the dust is extremely easy to enter a robot body, a motor, a control cabinet and an external shaft movement system, the robot body, the motor, the control cabinet and the external shaft movement system can be wrapped by utilizing a sealed dustproof clothes, a sliding block and a sliding rail in the external shaft movement system move frequently, the three-dimensional sliding rail can reach more than 20 meters at most, in addition, a sliding plate gap of a three-dimensional external shaft in a cross manipulator mode is large in the movement process, a traditional organ shield cannot be completely protected, once the metal particles and dust enter, the cleaning difficulty is greatly increased, and the probability of sliding block abrasion is increased.
Disclosure of utility model
The utility model aims to solve the problems that the existing three-dimensional sliding rail of a robot is poor in dust-proof performance, the existing dust-removing mode cannot achieve accurate dust removal, and metal particles and dust enter the sliding rail to increase the probability of abrasion of a sliding block.
The utility model relates to a quantitative dust removing device for an external slide rail of a robot, which comprises the following components: an air compressor, a pneumatic triplet, a valve seat and a jet head;
The air outlet of air compressor passes through the air duct and connects the air inlet of pneumatic triplet, the air inlet of disk seat is connected through the air duct to the air outlet of pneumatic triplet, be provided with four gas outlets on the disk seat, four gas outlets are respectively through the air duct with four air inlet UNICOM of jet.
Further, in the present utility model, the four jet heads include three Y-shaped dual jet heads and one single jet head.
Further, in the utility model, the air inlet and the air outlet of the pneumatic triple piece, the air inlet and the air outlet of the valve seat and the air inlets of the four air jet heads are all connected with the first quick connector.
Further, the utility model also comprises a second quick connector and a muffler;
The second quick connector is sequentially connected with air inlets of the four air jet heads through air guide pipes; the air inlets of the four air jet heads are also connected with a silencer through an air duct.
Further, the utility model also comprises four electromagnetic valves, and the four electromagnetic valves are arranged at the air inlets of the four jet heads.
Further, the utility model further comprises a strong magnetic mounting disc, wherein the strong magnetic mounting disc is used for adsorbing the jet head on the surface of the sliding block of the sliding rail.
Further, the utility model further comprises an SMC digital flowmeter which is arranged on the air pipe adjacent to the spray head and used for collecting the blowing flow of the spray head.
Further, the utility model also comprises a PLC controller, a weighing device and a dust collecting box;
The dust collection box is used for collecting dust in the three-dimensional sliding rail working environment, the weighing device is used for weighing the dust collection box, and the PLC is used for setting the blowing flow of the jet head according to the weight of the dust collection box.
The pneumatic dust removal is not in a single blowing mode, the weight of the metal particles in unit area in unit time is measured through the accurate weighing device, the air quantity corresponding to the metal particles with different weights is matched, and a large quantity of air quantity is regulated and controlled in real time in an automatic mode, so that the pneumatic dust removal is more advanced in design concept and control mode, better in quantization degree, capable of avoiding energy waste and achieving accurate quantization. The expert database calculation mode for establishing quantitative blowing under the flame cutting working condition is provided through the theoretical calculation mode, and compared with the traditional experience judgment, the expert database calculation mode has more data support and is more accurate.
Drawings
Fig. 1 is a schematic structural diagram of a quantitative dust removing device for an external slide rail of a robot.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.
The first embodiment is as follows: referring to fig. 1, a quantitative dust collector for external slide rails of a robot according to the present embodiment is specifically described, and the quantitative dust collector for external slide rails of a robot includes: an air compressor 1, a pneumatic triplet 4, a valve seat 7 and a jet head 15;
The air outlet of air compressor 1 passes through the air duct and connects the air inlet of pneumatic triplet 4, the air inlet of disk seat 7 is connected through the air duct to the air outlet of pneumatic triplet 4, be provided with four gas outlets on the disk seat 7, four gas outlets are respectively through the air duct with four air inlets UNICOM of jet head 15.
Further, in the present embodiment, the four jet heads 15 include three Y-shaped double jet heads and one single jet head.
Further, in this embodiment, the air inlet and the air outlet of the pneumatic triplet 4, the air inlet and the air outlet of the valve seat 7, and the air inlet of the four air jet heads 15 are all connected with the first quick connector 12.
Further, in the present embodiment, the second quick connector 8 and the muffler 9 are further included;
The second quick connector 8 is sequentially connected with air inlets of the four air jet heads 15 through air ducts; the air inlets of the four air jet heads 15 are also connected with the muffler 9 through air ducts.
Further, in the present embodiment, four solenoid valves 11 are further included, and the four solenoid valves 11 are provided at the air inlets of the four jet heads 15.
Further, in this embodiment, a ferromagnetic mounting plate is further included, and the ferromagnetic mounting plate is used for adsorbing the jet head 15 on the surface of the sliding block of the sliding rail.
Further, in this embodiment, the system further includes an SMC digital flowmeter, where the SMC digital flowmeter is mounted on the air pipe adjacent to the shower nozzle, and is used to collect the blowing flow of the shower nozzle 15.
Further, in the embodiment, the device also comprises a PLC controller, a weighing device and a dust collecting box;
The dust collection box is used for collecting dust in the three-dimensional sliding rail working environment, the weighing device is used for weighing the dust collection box, and the PLC is used for setting the blowing flow of the jet head 15 according to the weight of the dust collection box.
Specific examples:
1. Establishing an expert database based on the flame cutting working condition and the hardware equipment condition:
(1) Performing simulation test: under normal working conditions, the special dust box (Dust collecting box) is utilized: the sizes of the metal particles are 100×100×20mm, the metal particles are respectively fixed above the X-axis sliding block, the Y-axis sliding block and the Z-axis sliding block and are respectively D X、DY、DZ, under the normal working condition, the average effective working time per day is 6h through a 3-day test without any dustproof measure, the weight of the metal particles measured on the sliding blocks is respectively represented by M X、MY、MZ, and the average weight of the metal particles attached to the track surface per hour in a unit area is measured to be U X、UY、UZ: the wind pressure W X1、WY1、WZ1 is determined according to the earlier experiment; and establishing a corresponding relation.
| XYZ different external shaft sliding block | Metal particles on XYZ different external shaft slide block (mg) |
| DX | MX |
| DY | MY |
| DZ | MZ |
(2) Based on the experimental data, expanding the upper and lower ranges according to the experimental quantity, calculating based on a formula to form an expert database, wherein the value of wind pressure is required to fully calculate specific problems such as pipeline materials, pipeline diameters, air nozzle sectional areas, air blowing angles, distance between the air nozzle and the surface of a steel rail, pressure drop at an elbow and the like, thereby obtainingWherein i represents the i-th sampling point position, and xi, yi and zi are the i-th point positions on the X, Y, Z axes respectively.
The reduction condition of the air pressure of the compressed air in the pipeline is calculated by adopting a homogeneous phase method, so that the integral attenuation value and the pipeline arrangement length are calculated, and the pressure drop and the local pressure drop value at the elbow are caused by the friction of the straight pipe part only in the actual working condition, so that the calculation formula is simplified, and the units are MPa;
(3) Wind pressure calculation is carried out based on the model of the air compressor and the material of the pipeline:
(4) The wind pressure is known, and the distance and attenuation data of the blowing head are calculated; the wind pressure that the shower nozzle comes out directly influences the clearance condition of surface dust when reaching the clearance surface, if the velocity of flow of export is less, compressed air is the laminar flow state, the velocity of flow increase of each other not mixing, and the streamline is wavy swing, leads to cleaning effect variation and atress uneven, is turbulent, therefore not being explained the flow and being better more, through the calculation of the reynolds number, confirm the numerical comparison of viscous force and inertial force to regulation and control flow field distribution condition.
When calculating the decay data, the effect of its air resistance is non-negligible, and the air resistance often plays the determining action, and the compressed air overall morphology of shower nozzle is the circular cone and sprays, and fan-shaped expansion angle θ directly decides the area size of acting, and the biggest just air resistance of decay resistance this moment, consequently need calculate the size of air resistance:
Since this is a cone, the resistance values at each instant are different, calculated as calculus, and the resistance in the length of the distance L from the showerhead to the workpiece surface is summed up to the resistance experienced as a whole.
The concrete value of the final database, the inclination angle of the nozzle and the distance from the surface of the sliding rail can be determined through calculation, the corresponding relation between wind pressure and the metal particles U Xi、UYi、UZi is established, the EXCEL form is formed and uploaded to the PLC for retrieval one by one, and the database is formed for calling.
2. Nozzle correspondence and control principle
The external polyvinyl chloride thermosetting plastic scraping plate reduces the damage to the slideway, is arranged at the front end of the sliding block in a bracket mode, and removes large particles and hard particles;
The nozzle is adsorbed on the surface of the sliding block by utilizing the strong magnetic mounting disc, the mounting mode is simple and efficient, the adjustment is convenient at any time, and the potential safety hazards caused by long-term operation such as drilling and tapping under the condition of high-altitude operation are particularly solved;
Nozzle distribution: the four corners of the X-axis sliding seat are uniformly distributed with blowing single-pass; the Y direction utilizes a blowing tee joint to blow an upper slide way and a lower slide way simultaneously, and the front slide seat and the rear slide seat of the Y direction are respectively in a group; because the Z direction moves vertically downwards, a group of air blowing tee joints are arranged above the Z direction sliding seat, and 7 groups of nozzles and 3 groups of electromagnetic valves are distributed on the outer shaft of each robot; the solenoid valves are individually controlled by plc.
The control logic is as follows: once the corresponding external shaft moves, the electromagnetic valve corresponding to the external shaft is opened to blow. The shaft moves, the electromagnetic valve of the shaft is controlled to be opened through the PLC, 2s is prefabricated, and blowing is carried out, namely, the guide rail is blown at the moment before operation, so that metal particles are prevented from entering the sliding block, and the metal particles are prevented from being damaged.
Nozzle distribution of the jet heads the nozzle distribution of the jet heads is in accordance with the X-axis direction: n X1、NX2、NX3、NX4, nozzles of the Y-axis direction jet head: nozzle of N Y1、NY2, Z axis direction jet head: n Z, solenoid valves S X、SY、SZ respectively represent control of nozzle solenoid valves in the direction X, Y, Z, wherein,
| Electromagnetic valve | Correspondence between nozzle naming |
| SX | NX1、NX2、NX3 |
| SY | NX4、NY1 |
| SZ | NZ |
A drying device is arranged in the middle of the air pipe, so that the dust removal effect of the nozzle is prevented from being hindered by a 'silt' pasty object formed by mixing the water vapor with metal particles through a pipeline.
3. Accurate dust removal control
The accurate dust removal is realized, so that the waste of energy sources is reduced to the greatest extent, and a solution can be provided for the arrangement of the air compressor in a narrow space;
a digital scale pan is arranged below the dust collection box, the precision is 0.1g, and the dust amount is detected at any time;
Setting a collection period and a collection frequency by using a PLC, measuring the weight of the metal particles at each time point in a whole point reporting mode, forming a report, and uploading the report to a management system;
The PLC adjusts the compressed air flow in a targeted way by utilizing a smc digital display flow sensor based on expert system according to the data in the report form to form quantitative dust removal control of the equipment,
Although the utility model herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present utility model. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present utility model as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (8)
1. The utility model provides a robot outside slide rail quantification dust collector which characterized in that includes: an air compressor (1), a pneumatic triple piece (4), a valve seat (7) and a jet head (15);
The air outlet of air compressor (1) passes through the air duct and connects the air inlet of pneumatic triplet (4), the air inlet of disk seat (7) is connected through the air duct to the gas outlet of pneumatic triplet (4), be provided with four gas outlets on disk seat (7), four gas outlets are respectively through the air duct with the air inlet UNICOM of four air jet heads (15), three axles of the outside slide rail of robot are faced respectively to four air jet heads (15).
2. A robot external slide rail quantitative dust collector according to claim 1, characterized in that the four jet heads (15) comprise three Y-shaped double jet heads and one single jet head.
3. The quantitative dust removing device for the external sliding rail of the robot according to claim 1, wherein the air inlet and the air outlet of the pneumatic triple piece (4) are respectively connected with a first quick connector (12), and the air inlet and the air outlet of the valve seat (7) and the air inlets of the four air jet heads (15).
4. The quantitative dust removing device for the external slide rail of the robot according to claim 1, further comprising a second quick connector (8) and a silencer (9);
The second quick connector (8) is sequentially connected with air inlets of the four air jet heads (15) through air ducts; the air inlets of the four air jet heads (15) are also connected with a silencer (9) through air ducts.
5. The quantitative dust removing device for the external slide rail of the robot according to claim 4, further comprising four electromagnetic valves (11), wherein the four electromagnetic valves (11) are arranged at air inlets of the four air jet heads (15).
6. The quantitative dust removing device for the external sliding rail of the robot according to claim 1, further comprising a strong magnetic mounting plate, wherein the strong magnetic mounting plate is used for adsorbing the jet head (15) on the surface of the sliding block of the sliding rail.
7. The quantitative dust removal device for the external sliding rail of the robot according to claim 6, further comprising an SMC digital display flowmeter, wherein the SMC digital display flowmeter is mounted on an air pipe close to the spray head and is used for collecting blowing flow of the spray head (15).
8. The quantitative dust removing device for the external slide rail of the robot, according to claim 7, further comprising a PLC controller, a weighing device and a dust collecting box;
the dust collection box is used for collecting dust in a three-dimensional sliding rail working environment, the weighing device is used for weighing the dust collection box, and the PLC is used for setting the blowing flow of the jet head (15) according to the weight of the dust collection box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322865471.6U CN220970177U (en) | 2023-10-24 | 2023-10-24 | Quantitative dust collector of external slide rail of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322865471.6U CN220970177U (en) | 2023-10-24 | 2023-10-24 | Quantitative dust collector of external slide rail of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220970177U true CN220970177U (en) | 2024-05-17 |
Family
ID=91063601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322865471.6U Active CN220970177U (en) | 2023-10-24 | 2023-10-24 | Quantitative dust collector of external slide rail of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220970177U (en) |
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2023
- 2023-10-24 CN CN202322865471.6U patent/CN220970177U/en active Active
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