CN109093470A - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
- Publication number
- CN109093470A CN109093470A CN201811008263.1A CN201811008263A CN109093470A CN 109093470 A CN109093470 A CN 109093470A CN 201811008263 A CN201811008263 A CN 201811008263A CN 109093470 A CN109093470 A CN 109093470A
- Authority
- CN
- China
- Prior art keywords
- turn trough
- resell
- fixed
- spiral shell
- another market
- 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
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/40—Single-purpose machines or devices for grinding tubes internally
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
- B08B9/047—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of robot control systems, including rotating device and the cleaning device being set on the left of the rotating device, the rotating device includes the body being fixedly installed on pedestal, the first slippage slot to extend left and right is equipped in the body, the the first communications and liaison slot and the second communications and liaison slot being respectively arranged in inner wall at left and right sides of first slippage slot outside communications and liaison, the first turn trough and the second turn trough are respectively arranged in end wall above and below first slippage slot, first slippage slot left and right ends are rotatably equipped with the first rotating cylinder and the second rotating cylinder for extending through first turn trough and the second turn trough by bearing, sliding is equipped with the first slipping block in first slippage slot between first rotating cylinder and the second rotating cylinder, left and right is provided through the first spline in first rotating cylinder.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of robot control system.
Background technique
With the high speed development in intelligent epoch, some robot grinding devices for pipe fitting inner wall polishing are processed in pipe fitting
It is used in field and its extensively, and the robot grinding device in tradition is difficult to realize clean pipe fitting inner wall after polishing
Operation, to the spraying in later period bring greatly it is constant, therefore, tradition in robot grinding device be difficult to realize polish and clean
The free switching of operation is unable to satisfy existing demand, needs to improve.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of robot control systems, are able to solve above-mentioned present skill
The problems in art.
The present invention is achieved through the following technical solutions: a kind of robot control system of the invention, including rotation
Device and the cleaning device being set on the left of the rotating device, the rotating device include the machine being fixedly installed on pedestal
Body is equipped with the first slippage slot to extend left and right in the body, is respectively arranged in inner wall at left and right sides of first slippage slot
The first communications and liaison slot and the second communications and liaison slot outside communications and liaison, first slippage slot be respectively arranged in end wall up and down the first turn trough and
Second turn trough, first slippage slot left and right ends are rotatably equipped with by bearing extends through first turn trough and the
The first rotating cylinder and the second rotating cylinder of two turn troughs slide peace in first slippage slot between first rotating cylinder and the second rotating cylinder
Equipped with the first slipping block, left and right is provided through the first spline in first rotating cylinder, and spline is matched in first spline
It closes and the first splined shaft that left and right is extended is installed, the first communications and liaison slot and stretching are run through in extension end on the left of first splined shaft
Outside the left side of machine body end face, extension end and the first slipping block left end face are rotatably assorted company on the right side of first splined shaft
It connects, the first cone cell wheel in first turn trough, left and right in second rotating cylinder is fixedly installed on first rotating cylinder
Be provided through the first spiral shell shape hole, be fitted in the first spiral shell shape hole left and right extend the first spiral shell shape bar, described first
Extension end is through the second communications and liaison slot on the right side of spiral shell shape bar and right side tip is fixed with blocking arm, prolongs on the left of the first spiral shell shape bar
First slipping block right end face described in Zhan Duanyu is rotatably assorted connection, is fixedly installed on second rotating cylinder positioned at described second
Second cone cell wheel of turn trough, the cleaning device include the cleaning sleeve being fixedly connected with the first splined shaft left side extension end,
The resettlement groove of notch outwardly is symmetrically arranged with above and below the cleaning sleeve in both sides of the face, can be rotated in the resettlement groove left hand end wall
Be equipped with and first ship and resell on another market axis, described first, which ships and resell on another market, is fixed with shelves on axis, and the resettlement groove inner bottom wall bilateral symmetry is set
It is equipped with recessed groove, is slid in the recessed groove and pressing tight plate is installed, in the cleaning sleeve between upper and lower two resettlement grooves
Equipped with third turn trough, the 4th turn trough, the third turn trough are symmetrically arranged in the cleaning sleeve at left and right sides of the third turn trough
Second spiral shell shape bar is rotatably installed between the 4th turn trough, it is solid on the second spiral shell shape bar in the 4th turn trough
Surely it is equipped with the second cone cell wheel, the 4th turn trough inner roof wall is fixed with the first motor, the first electronic motor spindle power
Be connected with the third cone cell wheel being cooperatively connected with the second cone cell wheel of left and right two, in the third turn trough sliding be equipped with
The threaded block that the second spiral shell shape bar is cooperatively connected, the threaded block upper and lower end faces are symmetrically arranged with first and connect connection block, and described the
Communications and liaison are provided with the second slippage slot between three turn troughs and the recessed groove, and sliding is equipped with the second sliding in second slippage slot
Block, second slipping block is fixedly connected by fixed link with the pressing tight plate on the end face far from the 4th turn trough, described
Second slipping block is fixed with second on the end face of the 4th turn trough and connects connection block, and described first connects connection block and described second
It connects hinged by articulated jib between connection block.
Further technical solution, first turn trough extends with left and right in the body above second turn trough to be set
It is equipped with the 5th turn trough, being rotatably assorted between the 5th turn trough and first turn trough is equipped with second and ships and resell on another market axis, and described second
Axis bottom end of shipping and reselling on another market is protruded into first turn trough and bottom tip is fixed with the 4th to be cooperatively connected with the first cone cell wheel
Cone cell wheel, described second, which ships and resell on another market, protrudes into the 5th turn trough at the top of axis and top tip is fixed with the first driving wheel, described
Be rotatably assorted between 5th turn trough and second turn trough and third is installed ships and resell on another market axis, the third ship and resell on another market axis bottom protrude into it is described
In second turn trough and bottom tip is fixed with the 6th cone cell wheel being cooperatively connected with the second cone cell wheel, and the third is shipped and resell on another market
It protrudes into the 5th turn trough at the top of axis and top tip is fixed with the second driving wheel, the 5th turn trough inner roof wall is equipped with the
Two motor, the second electronic motor spindle have been connected by power the first driving wheel, first driving wheel and first transmission
It is cooperatively connected between wheel and second driving wheel by the first transmission V belt translation.
Further technical solution, setting of extending in the cleaning sleeve on the left of upper and lower two resettlement grooves up and down
Have the 6th turn trough, described first ship and resell on another market extension end on the left of axis protrude into the 6th turn trough and on the left of the 6th turn trough
Inner wall is rotatably assorted connection, and described first in the 6th turn trough, which ships and resell on another market, is fixed with third driving wheel, the institute in left side on axis
It states and is equipped with third slippage slot in the 4th turn trough inner left wall, sliding is equipped with third slipping block in the third slippage slot, described
Notch is equipped in third slipping block towards the second right spiral shell shape hole, extension end protrudes into described the on the left of the second spiral shell shape bar in left side
It in two spiral shell shape holes and is cooperatively connected, third motor is fixed in the third slipping block left end face, the third is electronic
Machine left end face has been connected by power the second splined shaft, is rotatably assorted and is equipped between the third slippage slot and the 6th turn trough
Spline housing is equipped with second spline of the notch towards the right side and with the second splined shaft spline fitted, the flower in the spline housing
Key set left end face is fixedly installed to be rotatably assorted with the 6th turn trough inner left wall and the 4th of connection ship and resell on another market axis, and the described 4th
Ship and resell on another market and be fixed with the second driving wheel in the 6th turn trough on axis, second driving wheel with upper and lower two described the
It is cooperatively connected between three driving wheels by the second transmission V belt translation.
Further technical solution, the shelves end face outside are fixed with polishing item, the shelves inner side end
It is fixed with cleaning cotton.
The beneficial effects of the present invention are:
Apparatus of the present invention control the third motor rotation first, can pass through after the third motor rotation in polishing
Second driving wheel drives the third driving wheel and described first ships and resell on another market axis rotation, and described first, which ships and resell on another market, can drive after axis rotation
The shelves degrees of rotation controls the third motor and stops operating, then control institute when the polishing item is located at outside
The first motor rotation is stated, the second cone cell wheel belt described in the third cone cell wheel drive can be passed through after first motor rotation
The second spiral shell shape bar rotation is moved, the two spiral shells shape bar rotation can drive the threaded block to slide in and out, while can drive described
Third slipping block is detached from second splined shaft and second spline and cooperates towards right sliding, when the screw thread
Block can drive second slipping block to slide in and out when sliding in and out by articulated jib, and second slipping block can after sliding in and out
The shelves are held out against by the pressing tight plate, thus the shelves are rotated by limitation, and polishing is thus prevented to grasp
When making, the shelves rotate and influence grinding effect；
After the completion of holding out against, second motor rotation is controlled after the pore of the cleaning sleeve and pipe fitting is aligned, described
Second driving wheel and the third driving wheel can be driven to rotate by the first driving wheel after two motor rotations, described the
First drum rotation can be driven after the rotation of two driving wheels by the first cone cell wheel described in the 4th cone cell wheel drive, it is described
First splined shaft and the cleaning sleeve can be driven to rotate after first drum rotation, can be led to after the third driving wheel rotation
It crosses the second cone cell wheel described in the 6th cone cell wheel drive and drives second drum rotation, can be driven after second drum rotation
Moving the first spiral shell shape bar pushes first slipping block and first splined shaft to slide to the left, and first spline is axial
The cleaning sleeve can be driven gradually to protrude into pore after left sliding, thus pipe fitting inner wall can be moved by the polishing item
Formula sanding operation improves grinding efficiency so as to greatly reduce labor intensity；
When needing to clean after the completion of polishing, first motor is controlled first and is rotated backward, restores cleaning sleeve to initial shape
After state, after controlling the third motor rotation degree, make the cleaning cotton towards outside, then by first motor with
And the collaborative work of second motor, rotation clean operation can be carried out to pipe fitting inner wall by the cleaning cotton, thus
It is greatly improved cleaning efficiency and cleaning effect；
Apparatus of the present invention structure is simple, high degree of automation, it can be achieved that the mobile polishing of pipe fitting inner wall and clean operation,
Labor intensity can be greatly reduced, improve working efficiency.
Detailed description of the invention
The present invention is described in detail by following specific embodiments and drawings for ease of explanation,.
Fig. 1 is a kind of overall structure diagram of robot control system of the invention.
Fig. 2 is the schematic diagram of internal structure of cleaning sleeve in Fig. 1.
Specific embodiment
As shown in Figs. 1-2, a kind of robot control system of the invention, including rotating device and it is set to the rotation
Cleaning device on the left of device, the rotating device include the body 11 being fixedly installed on pedestal 10, are set in the body 11
The first slippage slot 13 for thering is left and right to extend, the be respectively arranged in 13 left and right sides inner wall of the first slippage slot outside communications and liaison
One communications and liaison slot 18 and the second communications and liaison slot 31 are respectively arranged with the first turn trough 14 and second in first slippage slot, about 13 end wall
Turn trough 28,13 left and right ends of the first slippage slot are rotatably equipped with by bearing and extend through 14 He of the first turn trough
The first rotating cylinder 16 and the second rotating cylinder 33 of second turn trough 28, described first between first rotating cylinder 16 and the second rotating cylinder 33 are sliding
It moves sliding in slot 13 and first slipping block 35 is installed, left and right is provided through the first spline in first rotating cylinder 16, described
Spline fitted is equipped with the first splined shaft 17 that left and right is extended in first spline, and extension end is passed through on the left of first splined shaft 17
Wear the first communications and liaison slot 18 and stretch out outside 11 left end face of body, on the right side of first splined shaft 17 extension end with it is described
First slipping block, 35 left end face is rotatably assorted connection, is fixedly installed on first rotating cylinder 16 positioned at first turn trough 14
In the first cone cell wheel 15, left and right is provided through the first spiral shell shape hole in second rotating cylinder 33, matches in the first spiral shell shape hole
It closes and the first spiral shell shape bar 32 that left and right is extended is installed, the second communications and liaison slot 31 is run through at extension end on the right side of the first spiral shell shape bar 32
And right side tip is fixed with blocking arm 30, extension end and 35 right end face of the first slipping block on the left of the first spiral shell shape bar 32
Be rotatably assorted connection, and the second cone cell wheel 34 positioned at second turn trough 28 is fixedly installed on second rotating cylinder 33, described
Cleaning device includes and the cleaning sleeve 12 that extension end is fixedly connected on the left of first splined shaft 17, the cleaning sleeve about 12 two
It is symmetrically arranged with the resettlement groove 58 of notch outwardly in side end face, is rotatably equipped with first in 58 left hand end wall of resettlement groove
It ships and resell on another market axis 57, described first, which ships and resell on another market, is fixed with shelves 60 on axis 57, and 58 inner bottom wall of resettlement groove is symmetrically set with
Recessed groove, sliding is equipped with pressing tight plate 36, the cleaning sleeve 10 between upper and lower two resettlement grooves 58 in the recessed groove
In be equipped with third turn trough 62, be symmetrically arranged with the 4th turn trough 41, institute in the cleaning sleeve 10 of 62 left and right sides of the third turn trough
It states and the second spiral shell shape bar 43 is rotatably installed between third turn trough 62 and the 4th turn trough 41, in the 4th turn trough 41
The second cone cell wheel 45 is fixed on the second spiral shell shape bar 43,41 inner roof wall of the 4th turn trough is fixed with the first motor
63,63 bottom of the first motor is connected by power the third cone cell being cooperatively connected with the second cone cell wheel 45 of left and right two
64 are taken turns, sliding is equipped with the threaded block 44 being cooperatively connected with the second spiral shell shape bar 43, the screw thread in the third turn trough 62
44 upper and lower end faces of block are symmetrically arranged with first and connect connection block 46, and communications and liaison are provided with the between the third turn trough 62 and the recessed groove
Two slippage slots 37, sliding is equipped with the second slipping block 39 in second slippage slot 37, and second slipping block 39 is far from described
It is fixedly connected by fixed link 37 with the pressing tight plate 36 on the end face of 4th turn trough 41, second slipping block 39 is close to described
It is fixed with second on the end face of 4th turn trough 41 and connects connection block 40, described first, which connects connection block 46 and described second, connects between connection block 40
It is hinged by articulated jib 42.
Valuably, first turn trough 14 extends with left and right in the body 11 of 28 top of the second turn trough and is provided with
5th turn trough 23, being rotatably assorted between the 5th turn trough 23 and first turn trough 14 is equipped with second and ships and resell on another market axis 20, described
Second ship and resell on another market 20 bottom end of axis protrude into first turn trough 14 and bottom tip be fixed with and the first cone cell wheel 15 cooperate
4th cone cell wheel 19 of connection, described second, which ships and resell on another market, protrudes into the 5th turn trough 23 at the top of axis 20 and top tip is fixed with
First driving wheel 21, being rotatably assorted between the 5th turn trough 23 and second turn trough 28 is equipped with third and ships and resell on another market axis 27, institute
Third 27 bottom of axis of shipping and reselling on another market is stated to protrude into second turn trough 28 and bottom tip is fixed with and matches with the second cone cell wheel 34
Close the 6th cone cell wheel 29 of connection, the third, which is shipped and resell on another market, to be protruded into the 5th turn trough 23 at the top of axis 27 and tip fixation in top is set
There is the second driving wheel 26,23 inner roof wall of the 5th turn trough is equipped with the second motor 24, the 24 bottom power of the second motor
It is connected with the first driving wheel 25, is led between first driving wheel 25 and first driving wheel 21 and second driving wheel 26
The transmission of the first transmission belt 22 is crossed to be cooperatively connected.
Valuably, extend up and down in the cleaning sleeve 12 in upper and lower two 58 left sides of resettlement groove and be provided with the 6th
Turn trough 56, described first ship and resell on another market extension end on the left of axis 57 protrude into it is in the 6th turn trough 56 and left with the 6th turn trough 56
Side inner wall is rotatably assorted connection, and described first in the 6th turn trough 56, which ships and resell on another market, is fixed with third driving wheel 571 on axis 57,
Third slippage slot 47 is equipped in 4th turn trough, 41 inner left wall in left side, sliding is equipped with the in the third slippage slot 47
Three slipping blocks 55 are equipped with notch in the third slipping block 55 towards the second right spiral shell shape hole 48, the second spiral shell shape bar in left side
43 left sides extension end are protruded into the second spiral shell shape hole 48 and are cooperatively connected, and fixation is set in 55 left end face of third slipping block
There is third motor 54,54 left end face of third motor has been connected by power the second splined shaft 52, the third slippage slot
Be rotatably assorted between 47 and the 6th turn trough 56 and spline housing 53 be installed, in the spline housing 53 be equipped with notch towards the right side and with institute
The second spline of 52 spline fitted of the second splined shaft is stated, 53 left end face of spline housing is fixedly installed and described 6th turn
56 inner left wall of slot, which is rotatably assorted, the 4th of connection ships and resell on another market axis 51, and the described 4th, which ships and resell on another market, is fixed with positioned at the described 6th on axis 51
The second driving wheel 50 in turn trough 56, by the between second driving wheel 50 and upper and lower two third driving wheels 571
The transmission of two transmission belts 49 is cooperatively connected.
Valuably, 60 end face outside of shelves is fixed with polishing item 59, and 60 inner side end of shelves is fixed
Equipped with cleaning cotton 61.
Body 11 in the initial state, utmostly stretch out on the right side of the first spiral shell shape bar 32 by extension end in apparatus of the present invention
Outside 11 right end face of body, first splined shaft 17 is utmostly located in first slippage slot 13, and described clear
Clean 12 right end face of set is utmostly close to 11 left end face of body；
In the initial state, the pressing tight plate 36 is accommodated in the recessed groove cleaning sleeve 12 completely, described in apparatus of the present invention
55 left end face of third slipping block offsets with 47 inner left wall of third slippage slot, second splined shaft 52 and described second
The connection of spline spline fitted.
When polishing, the third motor 54 is controlled first and is rotated, the third motor 54 can pass through second after rotating
Driving wheel 50 drive the third driving wheel 571 and described first ship and resell on another market axis 57 rotation, described first ship and resell on another market axis 57 rotate after
The shelves 60 can be driven to rotate 180 degree, when the polishing item 59 is located at outside, the third motor 54 is controlled and stop
Then rotation controls first motor 63 and rotates, first motor 63 can pass through the third cone cell wheel after rotating
64 driving the second cone cell wheels 45 drive the second spiral shell shape bar 43 to rotate, and the rotation of two spiral shells shape bar 43 can drive the spiral shell
Line block 44 slides in and out, while the third slipping block 55 can be driven towards right sliding, and make second splined shaft 52 with
Second spline is detached from cooperation, can drive second sliding by articulated jib 42 when the threaded block 44 slides in and out
Block 39 slides in and out, and second slipping block 39 can push up the shelves 60 by the pressing tight plate 36 after sliding in and out
Tightly；
After the completion of holding out against, second motor 24 is controlled after the pore of the cleaning sleeve 12 and pipe fitting is aligned and is rotated, institute
Second driving wheel 21 and the third driving wheel can be driven by the first driving wheel 25 after stating the rotation of the second motor 24
26 rotations, second driving wheel 21 can drive the first cone cell wheel 15 to drive institute by the 4th cone cell wheel 19 after rotating
The rotation of the first rotating cylinder 16 is stated, first rotating cylinder 16 can drive first splined shaft 17 and 12 turns of the cleaning sleeve after rotating
Dynamic, the third driving wheel 26 can drive the second cone cell wheel 34 to drive described the by the 6th cone cell wheel 29 after rotating
The rotation of two rotating cylinders 33, second rotating cylinder 33 can be driven after rotating the first spiral shell shape bar 31 push first slipping block 35 with
And first splined shaft 17 slides to the left, first splined shaft 17 can drive the cleaning sleeve 12 gradually to stretch after sliding to the left
Enter in pore, thus mobile sanding operation can be carried out to pipe fitting inner wall by the polishing item 36；
When needing to clean after the completion of polishing, first motor 63 is controlled first and is rotated backward, restore cleaning sleeve 12 to first
After beginning state, after controlling the rotation of third motor 54 180 degree, make the cleaning cotton 61 towards outside, then by described
The collaborative work of first motor 63 and second motor 24 can carry out pipe fitting inner wall by the cleaning cotton 39
Rotate clean operation；
The beneficial effects of the present invention are:
Apparatus of the present invention control the third motor rotation first, can pass through after the third motor rotation in polishing
Second driving wheel drives the third driving wheel and described first ships and resell on another market axis rotation, and described first, which ships and resell on another market, can drive after axis rotation
The shelves degrees of rotation controls the third motor and stops operating, then control institute when the polishing item is located at outside
The first motor rotation is stated, the second cone cell wheel belt described in the third cone cell wheel drive can be passed through after first motor rotation
The second spiral shell shape bar rotation is moved, the two spiral shells shape bar rotation can drive the threaded block to slide in and out, while can drive described
Third slipping block is detached from second splined shaft and second spline and cooperates towards right sliding, when the screw thread
Block can drive second slipping block to slide in and out when sliding in and out by articulated jib, and second slipping block can after sliding in and out
The shelves are held out against by the pressing tight plate, thus the shelves are rotated by limitation, and polishing is thus prevented to grasp
When making, the shelves rotate and influence grinding effect；
After the completion of holding out against, second motor rotation is controlled after the pore of the cleaning sleeve and pipe fitting is aligned, described
Second driving wheel and the third driving wheel can be driven to rotate by the first driving wheel after two motor rotations, described the
First drum rotation can be driven after the rotation of two driving wheels by the first cone cell wheel described in the 4th cone cell wheel drive, it is described
First splined shaft and the cleaning sleeve can be driven to rotate after first drum rotation, can be led to after the third driving wheel rotation
It crosses the second cone cell wheel described in the 6th cone cell wheel drive and drives second drum rotation, can be driven after second drum rotation
Moving the first spiral shell shape bar pushes first slipping block and first splined shaft to slide to the left, and first spline is axial
The cleaning sleeve can be driven gradually to protrude into pore after left sliding, thus pipe fitting inner wall can be moved by the polishing item
Formula sanding operation improves grinding efficiency so as to greatly reduce labor intensity；
When needing to clean after the completion of polishing, first motor is controlled first and is rotated backward, restores cleaning sleeve to initial shape
After state, after controlling the third motor rotation degree, make the cleaning cotton towards outside, then by first motor with
And the collaborative work of second motor, rotation clean operation can be carried out to pipe fitting inner wall by the cleaning cotton, thus
It is greatly improved cleaning efficiency and cleaning effect；
Apparatus of the present invention structure is simple, high degree of automation, it can be achieved that the mobile polishing of pipe fitting inner wall and clean operation,
Labor intensity can be greatly reduced, improve working efficiency.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention
Protection scope should be determined by the scope of protection defined in the claims.
Claims (4)
1. a kind of robot control system, including rotating device and the cleaning device being set on the left of the rotating device,
Be characterized in that: the rotating device includes the body being fixedly installed on pedestal, and left and right is extended first is equipped in the body
Slippage slot, the first communications and liaison slot and the second communications and liaison being respectively arranged in inner wall at left and right sides of first slippage slot outside communications and liaison
Slot, first slippage slot are respectively arranged with the first turn trough and the second turn trough, described first slippage slot or so two in end wall up and down
End is rotatably equipped with the first rotating cylinder and the second rotating cylinder for extending through first turn trough and the second turn trough, institute by bearing
It states to slide in first slippage slot between the first rotating cylinder and the second rotating cylinder and the first slipping block is installed, in first rotating cylinder
Left and right is provided through the first spline, and spline fitted is equipped with the first splined shaft that left and right is extended in first spline,
Extension end through the first communications and liaison slot and is stretched out outside the left side of machine body end face on the left of first splined shaft, first flower
Extension end is rotatably assorted with the first slipping block left end face on the right side of key axis connect, and is fixedly installed position on first rotating cylinder
The first cone cell wheel in first turn trough, left and right is provided through the first spiral shell shape hole in second rotating cylinder, and described first
The first spiral shell shape bar that left and right is extended is fitted in spiral shell shape hole, extension end is logical through described second on the right side of the first spiral shell shape bar
Connection slot and right side tip are fixed with blocking arm, and extension end and the first slipping block right end face turn on the left of the first spiral shell shape bar
It is dynamic to be cooperatively connected, the second cone cell wheel positioned at second turn trough, the cleaning device are fixedly installed on second rotating cylinder
Including the cleaning sleeve being fixedly connected with extension end on the left of first splined shaft, symmetrically set in both sides of the face above and below the cleaning sleeve
It is equipped with the resettlement groove of notch outwardly, first is rotatably equipped in the resettlement groove left hand end wall and is shipped and resell on another market axis, described first turn
Shelves are fixed on pin shaft, the resettlement groove inner bottom wall is symmetrically set with recessed groove, slides peace in the recessed groove
Equipped with pressing tight plate, third turn trough, described third turn trough or so are equipped in the cleaning sleeve between upper and lower two resettlement grooves
It is symmetrically arranged with the 4th turn trough in the cleaning sleeve of two sides, is rotatably installed between the third turn trough and the 4th turn trough
There is the second spiral shell shape bar, the second cone cell wheel, the 4th turn trough are fixed on the second spiral shell shape bar in the 4th turn trough
Inner roof wall is fixed with the first motor, and the first electronic motor spindle has been connected by power and two the second cone cell wheels in left and right
The third cone cell wheel of mating connection, sliding is equipped with the screw thread being cooperatively connected with the second spiral shell shape bar in the third turn trough
Block, the threaded block upper and lower end faces are symmetrically arranged with first and connect connection block, and communications and liaison are set between the third turn trough and the recessed groove
It is equipped with the second slippage slot, sliding is equipped with the second slipping block in second slippage slot, and second slipping block is far from described the
It is fixedly connected by fixed link with the pressing tight plate on the end face of four turn troughs, second slipping block is close to the 4th turn trough
Be fixed with second on end face and connect connection block, described first connect connection block and described second connect it is hinged by articulated jib between connection block.
2. a kind of robot control system according to claim 1, it is characterised in that: first turn trough and described second
Left and right, which is extended, in the body above turn trough is provided with the 5th turn trough, rotates between the 5th turn trough and first turn trough
Second is fitted with to ship and resell on another market axis, described second ship and resell on another market axis bottom end protrude into first turn trough and bottom tip be fixed with
The 4th cone cell wheel that the first cone cell wheel is cooperatively connected, described second, which ships and resell on another market, protrudes into the 5th turn trough at the top of axis and top
Tip is fixed with the first driving wheel, and being rotatably assorted between the 5th turn trough and second turn trough is equipped with third and ships and resell on another market
Axis, the third ship and resell on another market axis bottom protrude into second turn trough and bottom tip be fixed with and the second cone cell wheel cooperate
6th cone cell wheel of connection, the third, which is shipped and resell on another market, to be protruded into the 5th turn trough at the top of axis and top tip is fixed with the second biography
Driving wheel, the 5th turn trough inner roof wall are equipped with the second motor, and the second electronic motor spindle has been connected by power the first driving wheel,
It is cooperatively connected between first driving wheel and first driving wheel and second driving wheel by the first transmission V belt translation.
3. a kind of robot control system according to claim 1, it is characterised in that: on the left of upper and lower two resettlement grooves
The cleaning sleeve in extend be provided with the 6th turn trough up and down, described first ship and resell on another market extension end on the left of axis protrude into it is described
It is rotatably assorted in 6th turn trough and with the 6th turn trough inner left wall and connect, described first in the 6th turn trough is shipped and resell on another market axis
On be fixed with third driving wheel, third slippage slot, the third sliding are equipped in the 4th turn trough inner left wall in left side
Sliding is equipped with third slipping block in slot, notch is equipped in the third slipping block towards the second right spiral shell shape hole, left side it is described
Extension end is protruded into the second spiral shell shape hole and is cooperatively connected on the left of second spiral shell shape bar, solid in the third slipping block left end face
Surely be equipped with third motor, the third motor left end face has been connected by power the second splined shaft, the third slippage slot with
Be rotatably assorted between 6th turn trough and spline housing be installed, in the spline housing be equipped with notch towards the right side and with second spline
Second spline of axis spline fitted, the spline housing left end face is fixedly installed to be rotated with the 6th turn trough inner left wall
The 4th to be cooperatively connected ships and resell on another market axis, and the described 4th, which ships and resell on another market, is fixed with the second driving wheel in the 6th turn trough on axis,
It is cooperatively connected between second driving wheel and upper and lower two third driving wheels by the second transmission V belt translation.
4. a kind of robot control system according to claim 1, it is characterised in that: the shelves end face outside is fixed
Equipped with polishing item, the shelves inner side end is fixed with cleaning cotton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008263.1A CN109093470A (en) | 2018-08-31 | 2018-08-31 | A kind of robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008263.1A CN109093470A (en) | 2018-08-31 | 2018-08-31 | A kind of robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109093470A true CN109093470A (en) | 2018-12-28 |
Family
ID=64864369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811008263.1A Withdrawn CN109093470A (en) | 2018-08-31 | 2018-08-31 | A kind of robot control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN109093470A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005131746A (en) * | 2003-10-30 | 2005-05-26 | Hoko Sangyo Kk | Polishing device of long pipe inside surface |
| CN206795464U (en) * | 2017-04-25 | 2017-12-26 | 成都乔依赛斯石油科技有限公司 | Suitable for the grinding apparatus of chemical industry pipe material inner wall weld seam |
| CN108274315A (en) * | 2018-01-25 | 2018-07-13 | 成都科盛石油科技有限公司 | A kind of petroleum pipeline inner wall polishing cleaning system |
| CN108372453A (en) * | 2016-07-16 | 2018-08-07 | 张�浩 | A kind of petrochemical pipe inwall processing processing intelligent equipment |
| CN207710486U (en) * | 2017-12-29 | 2018-08-10 | 江苏圣珀新材料科技有限公司 | A kind of arrangement for grinding of tubular material production mold |
-
2018
- 2018-08-31 CN CN201811008263.1A patent/CN109093470A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005131746A (en) * | 2003-10-30 | 2005-05-26 | Hoko Sangyo Kk | Polishing device of long pipe inside surface |
| CN108372453A (en) * | 2016-07-16 | 2018-08-07 | 张�浩 | A kind of petrochemical pipe inwall processing processing intelligent equipment |
| CN206795464U (en) * | 2017-04-25 | 2017-12-26 | 成都乔依赛斯石油科技有限公司 | Suitable for the grinding apparatus of chemical industry pipe material inner wall weld seam |
| CN207710486U (en) * | 2017-12-29 | 2018-08-10 | 江苏圣珀新材料科技有限公司 | A kind of arrangement for grinding of tubular material production mold |
| CN108274315A (en) * | 2018-01-25 | 2018-07-13 | 成都科盛石油科技有限公司 | A kind of petroleum pipeline inner wall polishing cleaning system |
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Application publication date: 20181228 |
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