CN107717695A - A kind of girder steel rust removing robot of four-degree-of-freedom - Google Patents
A kind of girder steel rust removing robot of four-degree-of-freedom Download PDFInfo
- Publication number
- CN107717695A CN107717695A CN201711018677.8A CN201711018677A CN107717695A CN 107717695 A CN107717695 A CN 107717695A CN 201711018677 A CN201711018677 A CN 201711018677A CN 107717695 A CN107717695 A CN 107717695A
- Authority
- CN
- China
- Prior art keywords
- degree
- freedom
- girder steel
- mechanical arm
- wheel
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of girder steel rust removing robot of four-degree-of-freedom, including moving carriage, magnetic-type movable pulley, four-degree-of-freedom mechanical arm and derusting polishing pad, the moving carriage bottom is welded with wheel carrier, wheel carrier restocking is provided with magnetic-type movable pulley, and the magnetic-type movable pulley is made up of rubber tyre, permanent magnet, wheel shaft and wheel hub；Electric rotating machine is installed, electric rotating machine upper end connection four-degree-of-freedom mechanical arm, four-degree-of-freedom mechanical arm front end is provided with derusting polishing pad in the moving carriage；It can realize that tilt rows are walked on girder steel, the convenient operation that further derusted to girder steel, girder steel polishing derusting operation of the derusting polishing pad to 360 ° of any directions on the outside of moving carriage；Convenient operation four-degree-of-freedom mechanical arm rotates regulation angle in each joint, and easy to operate, flexibility is good, and derusting polishing disc spins are polished and removed to steel beam surface iron rust.
Description
Technical field
The present invention relates to grinding machine equipment technical field, the girder steel rust removing robot of specifically a kind of four-degree-of-freedom.
Background technology
Girder steel is generally used on heavy mechanical equipment or the field such as factory building, harbour, electric power facility in, play good branch
Support acts on, and with the increase of usage time and the influence of operating environment, the problem of corrosion occurs in steel beam surface, is being repaired
When, it is necessary to the iron rust on its surface is removed and sanding and polishing, then smear antirust agent and be protected by.Generally directed to the polishing of girder steel
Operation is by manually carrying out, and the operation under the hazardous environments such as high-altitude, and operating efficiency is low, and security can not ensure, and time-consuming
Arduously, it is impossible to which flexible operating is derusted with realizing to girder steel.Therefore, it is necessary to which a kind of girder steel rust removing robot of four-degree-of-freedom substitutes people
Work fulfils assignment.
The content of the invention
It is an object of the invention to provide a kind of girder steel rust removing robot of four-degree-of-freedom, to solve in above-mentioned background technology
The problem of proposition.
To achieve the above object, the present invention provides following technical scheme：
A kind of girder steel rust removing robot of four-degree-of-freedom, including moving carriage, magnetic-type movable pulley, four-degree-of-freedom mechanical arm and remove
Become rusty polishing pad, and the moving carriage bottom is welded with wheel carrier, and wheel carrier restocking is provided with magnetic-type movable pulley, the magnetic-type movable pulley
It is made up of rubber tyre, permanent magnet, wheel shaft and wheel hub；Electric rotating machine is installed, electric rotating machine upper end connects in the moving carriage
Four-degree-of-freedom mechanical arm is connect, four-degree-of-freedom mechanical arm front end is provided with derusting polishing pad.
As the further scheme of the present invention：The wheel hub is arranged on wheel shaft, and wheel shaft both ends are erected on wheel carrier and turned
Dynamic to be arranged on wheel carrier, described wheel shaft one end passes wheel carrier and is welded with driven pulley, and driven pulley is connected by driving belt
Drive pulley is connect, drive pulley is welded in the rotating shaft of motor, and motor is arranged in moving carriage.
As the further scheme of the present invention：Rubber tyre is installed, rubber tyre is that rubber is solid on the outside of the wheel hub
Tire and surface are provided with non-slip texture, permanent magnet are inlaid with the rubber tyre, structure is arranged on rubber wheel to permanent magnet in a ring
In tire.
As the further scheme of the present invention：The four-degree-of-freedom mechanical arm is provided with the first free degree cradle head, the
Two degrees of freedom cradle head, Three Degree Of Freedom cradle head and four-degree-of-freedom cradle head.
As the further scheme of the present invention：First free degree cradle head, the second free degree cradle head, the 3rd
Free degree cradle head is identical with four-degree-of-freedom cradle head structure, by for servomotor install one section mechanical arm,
Servomotor, the power transmission shaft being connected with servomotor and another section mechanical arm with being driven axis connection form.
As the further scheme of the present invention：The servomotor is AC servo motor, AC servo motor with it is humorous
Ripple decelerator connects.
As the further scheme of the present invention：On the rotary shaft, rotation axis connection polishing is electric for the derusting polishing pad installation
Machine, polishing motor are fixed on four-degree-of-freedom mechanical arm front end, splash guard are provided with outside derusting polishing pad.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, the girder steel rust removing robot of described a kind of four-degree-of-freedom, when rubber tyre is being walked on girder steel, permanent magnet is to steel
Beam produces certain suction, so that moving carriage is firmly adsorbed on girder steel, coordinates motor to drive magnetic-type movable pulley
Roll, moving carriage is stable to be moved on girder steel, can realize that tilt rows are walked on girder steel, convenient that further girder steel is removed
Rust operation.
2nd, electric rotating machine driving four-degree-of-freedom mechanical arm completes 360 ° of rotation, facilitates removing for four-degree-of-freedom mechanical arm front end
Girder steel polishing derusting operation of the rust polishing pad to 360 ° of any directions on the outside of moving carriage.
3rd, convenient operation four-degree-of-freedom mechanical arm rotates regulation angle, easy to operate, flexibility in each joint
Good, polishing motor drives derusting polishing disc spins to polish and remove steel beam surface iron rust by rotary shaft.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of derusting polishing pad in the present invention.
Fig. 3 is the structural representation of magnetic-type movable pulley in the present invention.
In figure：1- moving carriage, 2- wheel carriers, the magnetic-type movable pulleys of 3-, 4- driving belts, 5- motor, 6- controllers, 7-
Electric rotating machine, first frees degree of 8- cradle head, second frees degree of 9- cradle head, 10- Three Degree Of Freedoms cradle head, 11-
Four-degree-of-freedom cradle head, 12- four-degree-of-freedoms mechanical arm, 13- derusting polishing pad, 14- splash guards, 15- rotary shafts, 16- are beaten
Electric mill machine, 17- rubber tyres, 18- permanent magnets, 19- wheel shafts, 20- wheel hubs.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to Fig. 1~3, in the embodiment of the present invention, a kind of girder steel rust removing robot of four-degree-of-freedom, including moving carriage
1st, magnetic-type movable pulley 3, four-degree-of-freedom mechanical arm 12 and derusting polishing pad 13, the bottom of moving carriage 1 are welded with wheel carrier 2,
The restocking of wheel carrier 2 is provided with magnetic-type movable pulley 3, and the magnetic-type movable pulley 3 is by rubber tyre 17, permanent magnet 18, wheel shaft 19 and wheel
Hub 20 is formed, and the wheel hub 20 is arranged on wheel shaft 19, and the both ends of wheel shaft 19 are erected on wheel carrier 2 and are rotatably installed on wheel carrier 2,
Described one end of wheel shaft 19 passes wheel carrier 2 and is welded with driven pulley, and driven pulley connects drive pulley by driving belt 4
Wheel, drive pulley are welded in the rotating shaft of motor 5, and motor 5 is arranged in moving carriage 1；Pacify in the outside of wheel hub 20
Equipped with rubber tyre 17, rubber tyre 17 is rubber solid tyre and surface is provided with non-slip texture, and anti-wear performance is good, grabs ground ability
By force, frictional force is big, is not easy to skid, and permanent magnet 18 is inlaid with the rubber tyre 17, structure is arranged on permanent magnet 18 in a ring
In rubber tyre 17, when rubber tyre 17 is being walked on girder steel, permanent magnet 18 produces certain suction to girder steel, so that moving
Motor-car frame 1 is firmly adsorbed on girder steel, coordinates motor 5 to drive magnetic-type movable pulley 3 to roll, moving carriage 1 it is stable
Moved on girder steel, can realize that tilt rows are walked on girder steel, the convenient operation that further derusted to girder steel.
Electric rotating machine 7, the upper end of electric rotating machine 7 connection four-degree-of-freedom mechanical arm 12, four selfs are installed in the moving carriage 1
Derusting polishing pad 13 is provided with by the front end of degree mechanical arm 12, electric rotating machine 7 drives the rotation that four-degree-of-freedom mechanical arm 12 completes 360 °
Turn, facilitate the derusting polishing pad 13 of the front end of four-degree-of-freedom mechanical arm 12 to break the girder steel of the 360 ° of any directions in the outside of moving carriage 1
Abrade rust operation.
Specifically, the four-degree-of-freedom mechanical arm 12 is provided with the first free degree cradle head 8, second free degree is rotated and closed
Section 9, Three Degree Of Freedom cradle head 10 and four-degree-of-freedom cradle head 11, first free degree cradle head 8, second is certainly
It is identical with the structure of four-degree-of-freedom cradle head 11 by spending cradle head 9, Three Degree Of Freedom cradle head 10, by for servo
A section mechanical arm, servomotor, the power transmission shaft being connected with servomotor and another section with being driven axis connection of motor installation
Mechanical arm forms, and the servomotor selects AC servo motor, and AC servo motor is connected with harmonic speed reducer, convenient behaviour
Make four-degree-of-freedom mechanical arm 12 and rotate regulation angle in each joint, easy to operate, flexibility is good.
Specifically, the derusting polishing pad 13 is arranged in rotary shaft 15, and the connection polishing motor 16 of rotary shaft 15, polishing electricity
Machine 16 is fixed on the front end of four-degree-of-freedom mechanical arm 12, and the outside of derusting polishing pad 13 is provided with splash guard 14, and polishing motor 16 passes through rotation
The driving derusting polishing pad 13 of rotating shaft 15, which rotates, polishes and removes to steel beam surface iron rust.
Specifically, the motor 5, electric rotating machine 7, the servomotor on four-degree-of-freedom mechanical arm 12 and polishing motor 16
Controller 6 is electrically connected, controller 6 is arranged in moving carriage 1, the design of controller 6 and its control circuit in the application
For the common knowledge of those skilled in the art, no longer elaborate herein, as long as alloing controller 6 to control motor respectively
5th, electric rotating machine 7, the servomotor on four-degree-of-freedom mechanical arm 12 and polishing motor 16 work.
The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area
Art personnel are according to disclosed technology contents, it is not necessary to which performing creative labour can makes one to some of which technical characteristic
A little simple modification, equivalent change and modifications, are belonged in the range of technical solution of the present invention.
, it is necessary to illustrate in the description of this specification, unless otherwise clearly defined and limited, term " setting ",
" connected " and " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly be connected
Connect；Can be joined directly together, can also be indirectly connected by intermediary, can be the connection of two element internals.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Claims (7)
1. a kind of girder steel rust removing robot of four-degree-of-freedom, including moving carriage (1), magnetic-type movable pulley (3), four-degree-of-freedom machine
Tool arm (12) and derusting polishing pad (13), it is characterised in that moving carriage (1) bottom is welded with wheel carrier (2), wheel carrier (2)
Restocking is provided with magnetic-type movable pulley (3), and the magnetic-type movable pulley (3) is by rubber tyre (17), permanent magnet (18), wheel shaft (19)
Formed with wheel hub (20)；Electric rotating machine (7), electric rotating machine (7) upper end connection four-degree-of-freedom are installed on the moving carriage (1)
Mechanical arm (12), four-degree-of-freedom mechanical arm (12) front end are provided with derusting polishing pad (13).
A kind of 2. girder steel rust removing robot of four-degree-of-freedom according to claim 1, it is characterised in that the wheel hub (20)
On wheel shaft (19), wheel shaft (19) both ends are erected on wheel carrier (2) and are rotatably installed on wheel carrier (2), the wheel shaft
(19) one end passes wheel carrier (2) and is welded with driven pulley, and driven pulley connects drive pulley by driving belt (4),
Drive pulley is welded in the rotating shaft of motor (5), and motor (5) is arranged in moving carriage (1).
A kind of 3. girder steel rust removing robot of four-degree-of-freedom according to claim 2, it is characterised in that the wheel hub (20)
Outside is provided with rubber tyre (17), and rubber tyre (17) is rubber solid tyre and surface is provided with non-slip texture, the rubber wheel
Permanent magnet (18) is inlaid with tire (17), structure is arranged in rubber tyre (17) permanent magnet (18) in a ring.
A kind of 4. girder steel rust removing robot of four-degree-of-freedom according to claim 1, it is characterised in that the four-degree-of-freedom
Mechanical arm (12) is provided with the first free degree cradle head (8), the second free degree cradle head (9), Three Degree Of Freedom and rotates pass
Save (10) and four-degree-of-freedom cradle head (11).
5. the girder steel rust removing robot of a kind of four-degree-of-freedom according to claim 4, it is characterised in that described first freely
Spend cradle head (8), the second free degree cradle head (9), Three Degree Of Freedom cradle head (10) and four-degree-of-freedom and rotate pass
Section (11) structure is identical, by the section mechanical arm, servomotor, the transmission being connected with servomotor installed for servomotor
Axle and another section mechanical arm with being driven axis connection form.
A kind of 6. girder steel rust removing robot of four-degree-of-freedom according to claim 5, it is characterised in that the servomotor
For AC servo motor, AC servo motor is connected with harmonic speed reducer.
A kind of 7. girder steel rust removing robot of four-degree-of-freedom according to claim 1, it is characterised in that the derusting polishing
Disk (13) is arranged in rotary shaft (15), rotary shaft (15) connection polishing motor (16), and polishing motor (16) is fixed on four freely
Mechanical arm (12) front end is spent, splash guard (14) is provided with outside derusting polishing pad (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711018677.8A CN107717695A (en) | 2017-10-27 | 2017-10-27 | A kind of girder steel rust removing robot of four-degree-of-freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711018677.8A CN107717695A (en) | 2017-10-27 | 2017-10-27 | A kind of girder steel rust removing robot of four-degree-of-freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107717695A true CN107717695A (en) | 2018-02-23 |
Family
ID=61214036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711018677.8A Pending CN107717695A (en) | 2017-10-27 | 2017-10-27 | A kind of girder steel rust removing robot of four-degree-of-freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107717695A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406497A (en) * | 2018-05-11 | 2018-08-17 | 苏州宏泉高压电容器有限公司 | A kind of high voltage ceramic capacitor ceramic dielectric chip burr removing machine |
| CN108687612A (en) * | 2018-04-20 | 2018-10-23 | 安徽新境界自动化技术有限公司 | A kind of DRV full-automatic machines people's grinding apparatus |
| CN109759922A (en) * | 2019-03-22 | 2019-05-17 | 安徽新境界自动化技术有限公司 | A kind of full-automatic linkage robot grinding apparatus |
| CN110103113A (en) * | 2019-05-06 | 2019-08-09 | 杭州道盈信息科技有限公司 | A kind of industrial derusting device and method |
| CN110238815A (en) * | 2019-04-22 | 2019-09-17 | 岱纳包装（天津）有限公司 | Dimensional measurement intelligent robot |
| CN111257433A (en) * | 2020-03-23 | 2020-06-09 | 燕山大学 | Ultrasonic automatic flaw detection device for large-scale casting and forging |
| CN111571400A (en) * | 2020-05-28 | 2020-08-25 | 余祥红 | Roof rust cleaning device for automobile manufacturing |
| CN114102393A (en) * | 2021-11-23 | 2022-03-01 | 重庆凯宝机器人股份有限公司 | Polishing robot |
| CN114193278A (en) * | 2021-12-10 | 2022-03-18 | 武汉科技大学 | Steel rail bottom surface detection polishing device and polishing method |
| CN114985379A (en) * | 2022-06-22 | 2022-09-02 | 上海建冶科技股份有限公司 | Laser rust removal device and system for steel truss girder |
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| CN107128386A (en) * | 2016-02-29 | 2017-09-05 | 扬州中科福旺达智能科技有限公司 | Ship milling robot |
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| CN102672704A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108687612A (en) * | 2018-04-20 | 2018-10-23 | 安徽新境界自动化技术有限公司 | A kind of DRV full-automatic machines people's grinding apparatus |
| CN108406497A (en) * | 2018-05-11 | 2018-08-17 | 苏州宏泉高压电容器有限公司 | A kind of high voltage ceramic capacitor ceramic dielectric chip burr removing machine |
| CN109759922A (en) * | 2019-03-22 | 2019-05-17 | 安徽新境界自动化技术有限公司 | A kind of full-automatic linkage robot grinding apparatus |
| CN110238815A (en) * | 2019-04-22 | 2019-09-17 | 岱纳包装（天津）有限公司 | Dimensional measurement intelligent robot |
| CN110103113A (en) * | 2019-05-06 | 2019-08-09 | 杭州道盈信息科技有限公司 | A kind of industrial derusting device and method |
| CN111257433A (en) * | 2020-03-23 | 2020-06-09 | 燕山大学 | Ultrasonic automatic flaw detection device for large-scale casting and forging |
| CN111571400A (en) * | 2020-05-28 | 2020-08-25 | 余祥红 | Roof rust cleaning device for automobile manufacturing |
| CN114102393A (en) * | 2021-11-23 | 2022-03-01 | 重庆凯宝机器人股份有限公司 | Polishing robot |
| CN114193278A (en) * | 2021-12-10 | 2022-03-18 | 武汉科技大学 | Steel rail bottom surface detection polishing device and polishing method |
| CN114193278B (en) * | 2021-12-10 | 2024-02-20 | 武汉科技大学 | Method for detecting and polishing bottom surface of steel rail based on steel rail bottom surface detection polishing device |
| CN114985379A (en) * | 2022-06-22 | 2022-09-02 | 上海建冶科技股份有限公司 | Laser rust removal device and system for steel truss girder |
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