CN105382827A - Deposition robot with double-way clamping auxiliary guide ways - Google Patents
Deposition robot with double-way clamping auxiliary guide ways Download PDFInfo
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- CN105382827A CN105382827A CN201510853962.6A CN201510853962A CN105382827A CN 105382827 A CN105382827 A CN 105382827A CN 201510853962 A CN201510853962 A CN 201510853962A CN 105382827 A CN105382827 A CN 105382827A
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- Prior art keywords
- guide rail
- connecting plate
- spring clip
- clip pieces
- auxiliary guide
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a deposition robot, in particular to a deposition robot with double-way clamping auxiliary guide ways so as to avoid the phenomena that full-automatic deposition robots in the prior art need to be provided with auxiliary guide ways on the water-cooling walls during operation, the requirement for parallelism between the auxiliary guide ways and transverse guide ways is strict during installation, the auxiliary guide ways are stuck due to deposited material splattering onto the auxiliary guide ways during working, and the problem of freedom degree of the direction perpendicular to the water-cooling walls cannot be solved through the auxiliary guide ways in other modes. The deposition robot comprises a transverse guide way, a transverse guide way sliding assembly, a vertical guide way, a vertical guide way sliding assembly, a double-way spring clamping auxiliary guide way assembly and two transverse guide way hanging plates. The double-way spring clamping auxiliary guide way assembly comprises a vertical guide way fixed connection plate, a dovetail groove track plate, a sliding block, a lead screw, a spring clamping part and a guiding fixed plate. The guiding fixed plate comprises a fixed plate and two fixed plate fixing clamps. The deposition robot with the double-way clamping auxiliary guide ways is used for the field of the deposition robots.
Description
Technical field
The present invention relates to a kind of deposition robot, be specifically related to a kind of deposition robot with Bidirectional clamping auxiliary guide rail.
Background technology
Water-cooling wall is main pressure-containing member in CFBB, be mainly used in absorption boiler radiations heat energy, in CFBB running, the solid material dirty along inboard wall of burner hearth face produces the change of flow direction at juncture area, thus water-cooling wall surface is produced and wash away, cause water-cooling wall transducer wall ' s abrasion thinning through washing away for a long time, intensity declines, in addition in transitional region because the solid material dirty along wall is contrary with the movement of solid material moved upward in stove, vortex flow is produced in local, wearing and tearing are produced to water-cooling wall, shorten the service life of water-cooling wall.Utilize full-automatic deposition robot to repair waterwall tube cracking position, increase wall thickness, the service life of water-cooling wall can be extended.Full-automatic deposition robot realizes wobbling action by wig-wag, and then completes deposition repairing.But full-automatic deposition robot of the prior art needs to install auxiliary guide rail in use on water-cooling wall, slag when the work of full-automatic deposition robot drops and easily causes auxiliary guide rail to block on auxiliary guide rail, even easily damage full-automatic deposition robot, increase the extra charge that water-cooling wall is repaired, and affect the operating efficiency of full-automatic deposition robot.
Summary of the invention
The present invention needs to install auxiliary guide rail on water-cooling wall in use for solving full-automatic deposition robot of the prior art, the depth of parallelism between auxiliary guide rail and cross rail is required strict in installation process, deposition is splashed and is dropped to the auxiliary guide rail Caton phenomenon that auxiliary guide rail causes in the course of the work, and other forms of auxiliary guide rail can not solve the free degree problem in vertical water wall direction.And then a kind of deposition robot with Bidirectional clamping auxiliary guide rail is proposed.
The present invention is the technical scheme taked that solves the problem: it comprises cross rail, cross rail slide assemblies, perpendicular guide rail, perpendicular slide assembly, bidirectional spring clamping auxiliary guide rail assembly and two cross rail link plates, bidirectional spring clamping auxiliary guide rail assembly comprises perpendicular guide rail fixed connecting plate, dovetail groove track plates, slide block, leading screw, spring clip pieces and guiding fixed head, and guiding fixed head comprises fixed head and two fixed head stationary fixtures, perpendicular guide rail is vertically arranged, perpendicular slide assembly is provided with spray gun, perpendicular slide component slippage is arranged on perpendicular guide rail, cross rail slide assemblies fixes the top by reprinting perpendicular guide rail, cross rail slide assemblies is slidably arranged on cross rail, the two ends of cross rail are respectively equipped with a cross rail link plate, perpendicular guide rail fixed connecting plate is fixedly mounted on the bottom of perpendicular guide rail, dovetail groove track plates is fixedly mounted on perpendicular guide rail fixed connecting plate, dovetail groove track plates is processed with dovetail groove, slide block is arranged on the dovetail groove of dovetail groove track plates, the threaded one end connection of leading screw is arranged on slide block, the other end of leading screw is rotationally connected and is arranged on perpendicular guide rail fixed connecting plate, spring clip pieces is fixedly mounted on slide block, spring clip pieces is arranged on fixed head, fixed head is installed with two fixed head stationary fixtures, fixed head stationary fixture is arranged on water-cooling wall.
The invention has the beneficial effects as follows: when 1, using of the present invention, robot of the present invention is arranged near water-cooling wall to be repaired, and robot of the present invention is sling, by veneer auxiliary guide rail assembly 6, cross rail slide assemblies 2 and the position ensureing the relative water screen tube of deposit gun on perpendicular slide assembly 4, by deposit gun, water-cooling wall is repaired.
2, bidirectional spring clamping auxiliary guide rail assembly 6 structure of the present invention is simple, practical, global facility is lightly easy to install, easy to use, do not need to arrange auxiliary guide rail in the below of full-automatic deposition robot simultaneously, by the fixed constraint adopting side to fix the form contact auxiliary guide rail that opposite side floats, ensure that the distance between the deposit gun that the deposit gun on perpendicular slide assembly 4 does not cause because of the change of arc length in the process of deposition and water screen tube changes.Adopt spring clip pieces 11 to increase an elastic restraint between perpendicular guide rail 3 and guiding fixed head 12, thus solve the auxiliary guide rail that causes because of the distortion of water screen tube and cross rail not in a vertical plane time, auxiliary guide rail Caton phenomenon.
Accompanying drawing explanation
Fig. 1 is the front view that the present invention is arranged on water-cooling wall, Fig. 2 is the structural representation that the present invention is arranged on water-cooling wall, Fig. 3 is the side view of Fig. 1, Fig. 4 is the structural representation that spring clip pieces 11 and guiding fixed head 12 are set together, Fig. 5 is the overall structure schematic diagram of spring clip pieces 11, Fig. 6 is that leading screw 10 is inserted on slide block 9, and slide block 9 is arranged on the sectional view of dovetail groove track plates 8.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 6 illustrates present embodiment, a kind of deposition robot with Bidirectional clamping auxiliary guide rail described in present embodiment, it comprises cross rail 1, cross rail slide assemblies 2, perpendicular guide rail 3, perpendicular slide assembly 4, bidirectional spring clamping auxiliary guide rail assembly 6 and two cross rail link plates 5, bidirectional spring clamping auxiliary guide rail assembly 6 comprises perpendicular guide rail fixed connecting plate 7, dovetail groove track plates 8, slide block 9, leading screw 10, spring clip pieces 11 and guiding fixed head 12, guiding fixed head 12 comprises fixed head 13 and two fixed head stationary fixtures 14, perpendicular guide rail 3 is vertically arranged, perpendicular slide assembly 4 is provided with spray gun, perpendicular slide assembly 4 is slidably arranged on perpendicular guide rail 3, the fixing top by reprinting perpendicular guide rail 3 of cross rail slide assemblies 2, cross rail slide assemblies 2 is slidably arranged on cross rail 1, the two ends of cross rail 1 are respectively equipped with a cross rail link plate 5, perpendicular guide rail fixed connecting plate 7 is fixedly mounted on the bottom of perpendicular guide rail 3, dovetail groove track plates 8 is fixedly mounted on perpendicular guide rail fixed connecting plate 7, dovetail groove track plates 8 is processed with dovetail groove, slide block 9 is arranged on the dovetail groove of dovetail groove track plates 8, the threaded one end connection of leading screw 10 is arranged on slide block 9, the other end of leading screw 10 is rotationally connected and is arranged on perpendicular guide rail fixed connecting plate 7, spring clip pieces 11 is fixedly mounted on slide block 9, spring clip pieces 11 is arranged on fixed head 13, fixed head 13 is installed with two fixed head stationary fixtures 14, fixed head stationary fixture 14 is arranged on water-cooling wall.
Detailed description of the invention two: composition graphs 1-Fig. 5 illustrates present embodiment, a kind of deposition robot with Bidirectional clamping auxiliary guide rail described in present embodiment, described spring clip pieces 11 comprises the first spring clip pieces connecting plate 16, second spring clip pieces connecting plate 21, two roller installing plates 17, two spring top boards 20, four stationary pipes 18, four springs 19, four orienting roll wheel shafts 15 and four rolling 23, four stationary pipes 18 are arranged between the first spring clip pieces connecting plate 16 and the second spring clip pieces connecting plate 21, and one end of each stationary pipes 18 and the first spring clip pieces connecting plate 16 are fixed, the other end and the second spring clip pieces connecting plate 21 of each stationary pipes 18 are fixed, each stationary pipes 18 is arranged with a spring 19, adjacent two stationary pipes 18 are arranged with respectively a roller installing plate 17 and a spring top board 20, and each spring 19 is separately positioned between roller installing plate 17 and spring top board 20, each roller installing plate 17 is near the first spring clip pieces connecting plate 16, each spring top board 20 is arranged near the second spring clip pieces connecting plate 21, first spring clip pieces connecting plate 16 is installed with two orienting roll wheel shafts 15, each roller installing plate 17 is provided with an orienting roll wheel shaft 15, and each orienting roll wheel shaft 15 is set with a roller 23, four rolling 23 is positioned on the same side of the first spring clip pieces connecting plate 16, second spring clip pieces connecting plate 21 is fixedly mounted on slide block 9, four rolling 23 is clipped in the both sides of fixed head 13 respectively.Four rolling 23 slides at fixed head 13 and walks.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1-Fig. 5 illustrates present embodiment, a kind of deposition robot with Bidirectional clamping auxiliary guide rail described in present embodiment, described spring clip pieces 11 also comprises two puller bolts 22, two puller bolts 22 are inserted on the second spring clip pieces connecting plate 21, and the end of thread of each puller bolt 22 is threaded with a spring top board 20.By regulating the elastic force of puller bolt 22 regulating spring 19, and then be pressed on fixed head 13 by the roller 23 on each roller installing plate 17.Other composition and annexation identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 1-Fig. 4 illustrates present embodiment, a kind of deposition robot with Bidirectional clamping auxiliary guide rail described in present embodiment, described each fixed head stationary fixture 14 is provided with magnet, and magnet is fixed on water-cooling wall.The dismounting of convenient guiding fixed head 12.Other composition and annexation identical with detailed description of the invention three.
Operation principle
When the present invention works, two cross rail link plates 5 are hung and sling, slided on cross rail 1 by cross rail slide assemblies 2, slided on perpendicular guide rail 3 by perpendicular slide assembly 4, and by bidirectional spring clamping auxiliary guide rail assembly 6, the spray gun on perpendicular slide assembly 4 is aimed at water-cooling wall position to be repaired, and by spray gun, water-cooling wall is repaired, and adjust by adjustment puller bolt 22 thrust that each roller 23 is pressed on fixed head 13, slided on guide plate 16 by mobile full-automatic deposition robot after repairing completes, and move to next and locate place to be repaired and carry out work, and then complete object of the present invention.
Claims (4)
1. the deposition robot with Bidirectional clamping auxiliary guide rail, its feature exists: it comprises cross rail (1), cross rail slide assemblies (2), perpendicular guide rail (3), perpendicular slide assembly (4), bidirectional spring clamping auxiliary guide rail assembly (6) and two cross rail link plates (5), bidirectional spring clamping auxiliary guide rail assembly (6) comprises perpendicular guide rail fixed connecting plate (7), dovetail groove track plates (8), slide block (9), leading screw (10), spring clip pieces (11) and guiding fixed head (12), guiding fixed head (12) comprises fixed head (13) and two fixed head stationary fixtures (14), perpendicular guide rail (3) is vertically arranged, perpendicular slide assembly (4) is provided with spray gun, perpendicular slide assembly (4) is slidably arranged on perpendicular guide rail (3), the fixing top by reprinting perpendicular guide rail (3) of cross rail slide assemblies (2), cross rail slide assemblies (2) is slidably arranged on cross rail (1), the two ends of cross rail (1) are respectively equipped with a cross rail link plate (5), perpendicular guide rail fixed connecting plate (7) is fixedly mounted on the bottom of perpendicular guide rail (3), dovetail groove track plates (8) is fixedly mounted on perpendicular guide rail fixed connecting plate (7), dovetail groove track plates (8) is processed with dovetail groove, slide block (9) is arranged on the dovetail groove of dovetail groove track plates (8), the threaded one end connection of leading screw (10) is arranged on slide block (9), the other end of leading screw (10) is rotationally connected and is arranged on perpendicular guide rail fixed connecting plate (7), spring clip pieces (11) is fixedly mounted on slide block (9), spring clip pieces (11) is arranged on fixed head (13), fixed head (13) is installed with two fixed head stationary fixtures (14), fixed head stationary fixture (14) is arranged on water-cooling wall.
2. a kind of deposition robot with Bidirectional clamping auxiliary guide rail according to claim 1, its feature exists: described spring clip pieces (11) comprises the first spring clip pieces connecting plate (16), the second spring clip pieces connecting plate (21), two roller installing plates (17), two spring top boards (20), four stationary pipes (18), four springs (19), four orienting roll wheel shafts (15) and four rollings (23); four stationary pipes (18) are arranged between the first spring clip pieces connecting plate (16) and the second spring clip pieces connecting plate (21), and one end of each stationary pipes (18) and the first spring clip pieces connecting plate (16) are fixed, the other end of each stationary pipes (18) and the second spring clip pieces connecting plate (21) are fixed, each stationary pipes (18) is arranged with a spring (19), adjacent two stationary pipes (18) are arranged with respectively a roller installing plate (17) and a spring top board (20), and each spring (19) is separately positioned between roller installing plate (17) and spring top board (20), each roller installing plate (17) is near the first spring clip pieces connecting plate (16), each spring top board (20) is arranged near the second spring clip pieces connecting plate (21), first spring clip pieces connecting plate (16) is installed with two orienting roll wheel shafts (15), each roller installing plate (17) is provided with an orienting roll wheel shaft (15), and each orienting roll wheel shaft (15) is set with a roller (23), four rolling (23) is positioned on the same side of the first spring clip pieces connecting plate (16), second spring clip pieces connecting plate (21) is fixedly mounted on slide block (9), four rolling (23) is clipped in the both sides of fixed head (13) respectively.
3. a kind of deposition robot with Bidirectional clamping auxiliary guide rail according to claim 1, its feature exists: described spring clip pieces (11) also comprises two puller bolts (22), two puller bolts (22) are inserted on the second spring clip pieces connecting plate (21), and the end of thread of each puller bolt (22) is threaded with a spring top board (20).
4. a kind of deposition robot with Bidirectional clamping auxiliary guide rail according to claim 1, its feature exists: described each fixed head stationary fixture (14) is provided with magnet, and magnet is fixed on water-cooling wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510853962.6A CN105382827A (en) | 2015-11-27 | 2015-11-27 | Deposition robot with double-way clamping auxiliary guide ways |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510853962.6A CN105382827A (en) | 2015-11-27 | 2015-11-27 | Deposition robot with double-way clamping auxiliary guide ways |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105382827A true CN105382827A (en) | 2016-03-09 |
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ID=55415938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510853962.6A Pending CN105382827A (en) | 2015-11-27 | 2015-11-27 | Deposition robot with double-way clamping auxiliary guide ways |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105382827A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041808A (en) * | 2018-08-01 | 2018-12-21 | 芜湖彰鸿工程技术有限公司 | Picking robot system suitable for greenhouse picking |
| CN109435972A (en) * | 2018-12-05 | 2019-03-08 | 云南电网有限责任公司红河供电局 | Monorail robot walking device |
| CN110524160A (en) * | 2019-09-25 | 2019-12-03 | 哈尔滨科能熔敷科技有限公司 | A kind of arc-shaped inner wall of high-pressure container deposition equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB116174A (en) * | 1917-06-26 | 1918-06-06 | Arthur Drummond | Improvements in or relating to Lathes. |
| WO2009157337A1 (en) * | 2008-06-24 | 2009-12-30 | 独立行政法人産業技術総合研究所 | Cladding material heat treatment apparatus |
| CN102059557A (en) * | 2010-11-26 | 2011-05-18 | 大连华根机械有限公司 | Machining equipment with auxiliary guide rail unloading mechanism |
| CN103276392A (en) * | 2013-06-03 | 2013-09-04 | 哈尔滨科能熔敷科技有限公司 | Cladding device for water-cooling wall of circulating fluidized bed boiler |
| CN203282185U (en) * | 2013-06-17 | 2013-11-13 | 金石机器人常州有限公司 | Saddle-shaped guide rail leveling tool |
| CN104972480A (en) * | 2015-06-24 | 2015-10-14 | 哈尔滨蓝光智能电站技术有限公司 | Auxiliary guide rail decoupling mechanism of deposition robot |
-
2015
- 2015-11-27 CN CN201510853962.6A patent/CN105382827A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB116174A (en) * | 1917-06-26 | 1918-06-06 | Arthur Drummond | Improvements in or relating to Lathes. |
| WO2009157337A1 (en) * | 2008-06-24 | 2009-12-30 | 独立行政法人産業技術総合研究所 | Cladding material heat treatment apparatus |
| CN102059557A (en) * | 2010-11-26 | 2011-05-18 | 大连华根机械有限公司 | Machining equipment with auxiliary guide rail unloading mechanism |
| CN103276392A (en) * | 2013-06-03 | 2013-09-04 | 哈尔滨科能熔敷科技有限公司 | Cladding device for water-cooling wall of circulating fluidized bed boiler |
| CN203282185U (en) * | 2013-06-17 | 2013-11-13 | 金石机器人常州有限公司 | Saddle-shaped guide rail leveling tool |
| CN104972480A (en) * | 2015-06-24 | 2015-10-14 | 哈尔滨蓝光智能电站技术有限公司 | Auxiliary guide rail decoupling mechanism of deposition robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041808A (en) * | 2018-08-01 | 2018-12-21 | 芜湖彰鸿工程技术有限公司 | Picking robot system suitable for greenhouse picking |
| CN109435972A (en) * | 2018-12-05 | 2019-03-08 | 云南电网有限责任公司红河供电局 | Monorail robot walking device |
| CN110524160A (en) * | 2019-09-25 | 2019-12-03 | 哈尔滨科能熔敷科技有限公司 | A kind of arc-shaped inner wall of high-pressure container deposition equipment |
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Application publication date: 20160309 |
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| WD01 | Invention patent application deemed withdrawn after publication |