CN111515063A - Rail mounted application equipment based on work robot - Google Patents
Rail mounted application equipment based on work robot Download PDFInfo
- Publication number
- CN111515063A CN111515063A CN202010391840.0A CN202010391840A CN111515063A CN 111515063 A CN111515063 A CN 111515063A CN 202010391840 A CN202010391840 A CN 202010391840A CN 111515063 A CN111515063 A CN 111515063A
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- China
- Prior art keywords
- robot
- cross beam
- sand blasting
- movable cross
- movable
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C5/00—Devices or accessories for generating abrasive blasts
- B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a rail type coating device based on an operating robot. The robot comprises a movable cross beam capable of moving transversely and an operating robot arranged on the movable cross beam, wherein the operating robot comprises a movable tower footing installed in a matched mode with the movable cross beam, a rotary tower platform installed on the upper portion of the movable tower footing and capable of performing rotary motion, a mechanical arm hinged on the rotary tower platform and a swing wrist hinged to the top end of the mechanical arm and provided with an operating nozzle, and the operating robot can perform spraying operation of corresponding actions under the driving of a power system and a control system. The advantages are that: the steel box girder spraying device is flexible in movement, accurate in positioning and high in coverage rate, so that the spraying requirements of steel box girders with various sizes and structures are met; the labor intensity of workers is greatly reduced, the labor time is saved, the working efficiency is improved, the production cost is reduced, the coating quality is improved, the safety is greatly improved, the generalization and the convenience are improved, and the equipment cost and the operation cost are reduced.
Description
Technical Field
The invention relates to an apparatus for corrosion prevention and rust prevention of a bridge, in particular to a rail type coating device based on an operation robot, and belongs to the technical field of rail transit bridge devices.
Background
With the acceleration of the traffic construction pace in China, under the condition of a river flow and a river section, the bridge construction requirement is urgent, the quality of a steel box girder as a main component of the bridge determines the stability and the service life of the bridge, the core of the bridge is corrosion resistance and rust resistance, and the current enterprise corrosion resistance and rust resistance technology is mainly to spray a rust-resistant paint on the surface of steel, wherein sand blasting is used as a key process of pretreatment before spraying, so that the fatigue resistance of the steel can be improved, the adhesive force between the steel and a coating can be increased, the durability of the coating can be prolonged, and the like.
In the prior art, in the anticorrosive and antirust treatment process, the line is derusted by using sand blasting equipment, and then a set of paint spraying equipment is transferred to a working occasion for paint spraying treatment again, wherein the conventional sand blasting equipment is simple in structural design and poor in flexibility, and can only perform sand blasting treatment on a certain flat surface, so that the coverage rate is very low, the final coating area is influenced, and the problems of high quality, large coating area and the like of a steel box girder are solved by using the conventional sand blasting equipment for sand blasting treatment, so that the labor intensity of workers is particularly high, the operation time is long, the operation environment is poor, the coating efficiency and quality are poor, the production cost is high and the like.
Disclosure of Invention
The invention aims to provide the rail type coating equipment based on the working robot, which has the advantages of flexible movement, accurate positioning, high coverage rate, low labor intensity and various purposes, thereby improving the coating quality and efficiency and reducing the cost.
In order to solve the technical problems, the rail type coating equipment based on the working robot comprises a movable cross beam capable of moving transversely and the working robot arranged on the movable cross beam, wherein the working robot comprises a movable tower footing which is matched with the movable cross beam and can move longitudinally along the movable cross beam, a rotary tower platform which is arranged on the upper part of the movable tower footing and can perform rotary motion, a mechanical arm which is hinged on the rotary tower platform and a swing wrist which is hinged at the top end of the mechanical arm and is provided with a working nozzle, and the working robot can perform corresponding spraying operation under the driving of a power system and a control system.
The bottom of the movable cross beam is provided with a transverse guide rail, the movable cross beam is arranged on the transverse guide rail through rail wheels and can reciprocate along the transverse guide rail, the top of the movable cross beam is provided with a longitudinal guide rail, and the movable tower base is arranged on the longitudinal guide rail and can reciprocate along the movable cross beam.
The bottom of the movable cross beam is provided with two transverse guide rails made of I-shaped steel, the transverse guide rails are fixedly connected with a foundation through fasteners, the top of the movable cross beam is provided with two longitudinal guide rails made of I-shaped steel, and the movable tower foundation is arranged on the longitudinal guide rails through two groups of guide wheels.
The mechanical arm comprises a mechanical lower arm hinged with the rotary tower and a mechanical upper arm hinged with the mechanical lower arm, and the swing wrist is hinged to the top end of the mechanical upper arm.
The operation shower nozzle is the paint spray head, the operation robot is the painting robot, the painting robot can carry out the operation of spraying paint of corresponding action under driving of driving system and control system.
The operation shower nozzle is the sandblast rifle head, the operation robot is sandblast robot, sandblast robot can carry out the sandblast operation of corresponding action under driving of driving system and control system.
The sand blasting robot is provided with a feeding system arranged at the top end of the swing wrist and a sand blasting system matched with the feeding system, and the sand blasting system carries out sand blasting operation through a sand blasting gun head.
The sandblasting robot also comprises an electric control unit arranged on one side of the lower mechanical arm and a control unit arranged on the side of a hinge point of the upper mechanical arm and the lower mechanical arm and used for controlling the upper mechanical arm and the lower mechanical arm, and the electric control unit provides electric control for the control unit, the feeding system and the sandblasting system.
The invention has the advantages that:
1. after a movable cross beam with a spraying robot is arranged on a working occasion by utilizing a transverse guide rail, the spraying robot can move longitudinally on the movable cross beam, so that the spraying robot can move in all directions;
2. the spraying robot can adopt automatic control to perform actions in all directions under the drive of a power system and perform coating operation of corresponding actions under the control of a control system, and has the advantages of greatly reducing the labor intensity of workers, saving labor time, improving the working efficiency, reducing the production cost, ensuring good controllability of the spraying robot by automatic control means and improving the coating quality.
3. All links of the whole set of equipment are connected and unified, compared with the traditional mechanical sand blasting and semi-automatic mechanical coating, the quick and large-scale spraying operation can be carried out under the condition of single-person operation, so that the quality and the safety of a sand blasting procedure are greatly improved;
4. the track of individual position walking is done in the structural coordination of work robot, has realized the accuracy of operation process, has further improved application quality, and in addition, application robot designs for removable mode ingeniously, only needs on original sandblast robot after the sandblast is accomplished, changes robotic arm, shower nozzle etc. utilize this moving platform to spray paint the operation equally, has realized the quick conversion of function, has improved universalization and convenience, has reduced equipment cost and operating cost.
5. Overall structure design benefit is simple, and is little to the place restriction, and operational environment requires relatively lowly, and equipment, operation and the maintenance of equipment are comparatively convenient simultaneously, and whole feasibility is high.
Drawings
Fig. 1 is a schematic view of the use state of the track type coating equipment based on the working robot;
fig. 2 is a schematic perspective view of the track type coating equipment based on the working robot;
fig. 3 is a schematic structural view of a track type coating device based on an operating robot in a main view;
fig. 4 is an enlarged schematic view of a portion a of fig. 2.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
As shown in the figure, the track type coating equipment based on the working robot comprises a moving beam 1, two transverse guide rails 8 made of I-shaped steel fixedly installed with a foundation through expansion bolts, and two longitudinal guide rails 10 made of I-shaped steel arranged on the top of the moving beam, wherein the two transverse guide rails 8 are perpendicular to the two longitudinal guide rails 10 to form different trend directions, two groups of track wheels 9 are arranged at the bottom of the moving beam 1, the two track wheels of each group of track wheels can be installed in a matched mode with the transverse guide rails 8, the moving beam 1 is arranged on the two transverse guide rails 8 through the two groups of track wheels, the moving beam 1 can move back and forth along the transverse guide rails after being arranged on the transverse guide rails through the track wheels 9, the track type coating equipment also comprises a working robot 2 capable of being arranged on the moving beam 1, and the working robot 2 comprises a moving tower foundation 3, a moving tower foundation and a moving longitudinally along the moving beam, which are, The device comprises a rotary tower base 4 which is arranged at the upper part of a mobile tower base and can perform rotary motion, a mechanical arm which is hinged on the rotary tower base, and a swing wrist 6 which is hinged at the top end of the mechanical arm and is provided with a working spray head 5, as can be seen from the figure, the bottom of the mobile tower base 3 is provided with the mobile tower base 3 with two groups of guide wheels, the two groups of guide wheels of the mobile tower base 3 respectively correspond to a longitudinal guide rail 10, thereby realizing the positioning installation of the mobile tower base 3, the mobile tower base 3 is arranged on the longitudinal guide rail and can reciprocate along a mobile cross beam, the mechanical arm comprises a mechanical lower arm 11 which is hinged with the rotary tower base 4 and a mechanical upper arm 12 which is hinged with the mechanical lower arm, the swing wrist 6 is hinged at the top end of the mechanical upper arm, a working robot 2 can perform sand blasting operation in various directions under the coordination drive of a power system and a control system, the two pairs of mutually vertical I-shaped steel can provide that the coating robot moves in a plane, the moving tower footing ensures the horizontal translation of the coating robot, the rotary tower platform provides the circumferential rotation of the coating robot, the rest wrists and the mechanical arms provide the corresponding swing of the coating robot, and finally the spray gun swings for sand blasting operation at +/-90 degrees.
The power system is a system capable of providing power drive for the actions of an upper mechanical arm, a lower mechanical arm, a rotary tower 4, a swing wrist 6 and the like of the working robot 2, the control system is a control system for controlling the coating robot to perform coating work, during work, the processing operation is automatically controlled by a program, the control system converts program instructions into electric signals to control each execution component, the whole execution components orderly move, and finally the tail end execution spray gun component is accurately controlled, so that sand blasting is performed on the surface of a pier stud.
Further, when carrying out the sand blasting operation, the operation nozzle 5 is set as a sand blasting head, the operation robot 2 is set as a sand blasting robot, the sand blasting robot can carry out the sand blasting operation of corresponding action under the drive of a power system and a control system, when carrying out the paint spraying operation, the operation nozzle 5 is set as a paint spraying gun head, the operation robot 2 is set as a paint spraying robot, the paint spraying robot can carry out the paint spraying operation of corresponding action under the drive of the power system and the control system, specifically, the operation robot 2 can be the paint spraying robot or the sand blasting robot, the sand blasting robot adopts a high-load wear-resistant impact-resistant mechanical arm, the paint spraying robot adopts an explosion-proof mechanical arm, the paint spraying robot and the sand blasting robot can replace the performance by disassembling and replacing on the movable cross beam 1, thereby realizing the purpose of multiple purposes, the design brings convenience to aspects such as part purchasing, equipment installation and maintenance, and simultaneously also reduces the basic cost.
In addition, the blasting robot has a feeding system 13 provided at the tip of the swing wrist 6, a blasting system 14 cooperating with the feeding system, the blasting system performing blasting work via the blasting head 5, an electrical control unit 16 provided on the lower mechanical arm side, and a control unit 15 provided on the side of the hinge point of the upper mechanical arm and the lower mechanical arm for controlling the upper mechanical arm and the lower mechanical arm, the electrical control unit providing electrical control for the control unit, the feeding system, and the blasting system.
This equipment adopts "cross" mobile rail's direction to carry on work robot, make it in the application operation in-process, possess 8 independent motion pairs, mounting structure is last, for making work robot steady accurate in the motion process, transverse guide lays on the ground steel sheet, the little recess of rectangle is opened at every 2m, it is fixed with I shaped steel and ground through expansion bolts, effectively avoid the influence of sand return trench to track laying, reduce the requirement of equipment to the environment, and popularization nature is strong, and the feasibility is high.
The principle is as follows: firstly, a movable guide rail device which is composed of a transverse rail and a movable cross beam is paved on the ground, then the coating robot is correctly installed on the guide rail surface of the movable cross beam, an electric control system is connected and debugged to program the coating robot, and finally, the coating operation can be carried out on the workpiece after the inspection is finished. Based on the design of the rail type coating equipment, in the operation process of a working robot, the coating robot and the processing state can be monitored in real time in a centralized control room through an intelligent management system, meanwhile, a mechanical arm, a spray gun, other corresponding parts and the like can be replaced according to the spraying working condition, the conversion from sand blasting to paint spraying can be realized, during the operation, the maximum moving distance of the sand blasting robot along the length direction of a workpiece is 52m, the maximum moving distance along the width is 18m, the height direction is 2.5m, in addition, the angle of the rotation of a rotary tower platform around a body is +/-180 degrees, the large joint swing angle at the connection part of the rotary tower platform and a mechanical lower arm is 160 degrees, the small joint swing angle at the connection part of the mechanical lower arm and the mechanical upper arm is 240 degrees, the small joint rotation angle at the connection part of the mechanical lower arm and a swing wrist is +/-180 degrees, and finally, the spray gun can swing to perform sand blasting along +/-90 degrees, and the large-area sand blasting process of the bottom surface of the steel box girder 7 is accurately completed.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (8)
1. The utility model provides a rail mounted application equipment based on work robot which characterized in that: including the working robot (2) of settling on movable cross beam (1) and the movable cross beam that can lateral shifting, working robot (2) include with movable cross beam cooperation installation can follow movable cross beam longitudinal movement's removal column foot (3), the installation of movable column foot upper portion can carry out rotary motion's gyration pylon (4), articulate arm on the gyration pylon and articulate swing wrist (6) on the arm top and install operation shower nozzle (5), working robot (2) can carry out the spraying operation of corresponding action under driving system and control system drive.
2. An orbital coating apparatus based on a working robot as defined in claim 1 wherein: the bottom of the movable cross beam (1) is provided with a transverse guide rail (8), the movable cross beam (1) is arranged on the transverse guide rail through rail wheels (9) and can reciprocate along the transverse guide rail, the top of the movable cross beam (1) is provided with a longitudinal guide rail (10), and the movable tower base (3) is arranged on the longitudinal guide rail and can reciprocate along the movable cross beam.
3. An orbital coating apparatus based on a working robot as defined in claim 2 wherein: the bottom of the movable cross beam (1) is provided with two transverse guide rails (8) made of H-shaped steel, the transverse guide rails are fixedly connected with a foundation through fasteners, the top of the movable cross beam (1) is provided with two longitudinal guide rails (10) made of H-shaped steel, and the movable tower foundation (3) is arranged on the longitudinal guide rails (10) through two groups of guide wheels.
4. A track-type painting apparatus based on a working robot according to claim 1, 2 or 3, characterized in that: the mechanical arm comprises a mechanical lower arm (11) hinged with the rotary tower (4) and a mechanical upper arm (12) hinged with the mechanical lower arm, and the swing wrist (6) is hinged to the top end of the mechanical upper arm.
5. An orbital coating apparatus based on a working robot as defined in claim 4 wherein: the operation shower nozzle (5) is the paint spraying head, operation robot (2) are the painting robot, the painting robot can carry out the operation of spraying paint of corresponding action under driving system and control system drive.
6. An orbital coating apparatus based on a working robot as defined in claim 4 wherein: the operation nozzle (5) is a sand blasting gun head, the operation robot (2) is a sand blasting robot, the operation nozzle is a sand blasting gun head, the operation robot is a sand blasting robot, and the sand blasting robot can perform sand blasting operation of corresponding actions under the driving of a power system and a control system.
7. An orbital coating apparatus based on a working robot as defined in claim 6 wherein: the sand blasting robot is provided with a feeding system arranged at the top end of the swing wrist (6) and a sand blasting system matched with the feeding system, and the sand blasting system carries out sand blasting operation through a sand blasting gun head.
8. An orbital coating apparatus based on a working robot as defined in claim 7 wherein: the sandblasting robot also comprises an electric control unit arranged on one side of the lower mechanical arm and a control unit arranged on the side of a hinge point of the upper mechanical arm and the lower mechanical arm and used for controlling the upper mechanical arm and the lower mechanical arm, and the electric control unit provides electric control for the control unit, the feeding system and the sandblasting system.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202010391840.0A CN111515063A (en) | 2020-05-11 | 2020-05-11 | Rail mounted application equipment based on work robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN202010391840.0A CN111515063A (en) | 2020-05-11 | 2020-05-11 | Rail mounted application equipment based on work robot |
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CN111515063A true CN111515063A (en) | 2020-08-11 |
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CN202010391840.0A Pending CN111515063A (en) | 2020-05-11 | 2020-05-11 | Rail mounted application equipment based on work robot |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112808498A (en) * | 2020-12-31 | 2021-05-18 | 镇江蓝舶科技股份有限公司 | High-precision crawler horizontal paint spraying robot |
CN112827705A (en) * | 2020-12-31 | 2021-05-25 | 镇江蓝舶科技股份有限公司 | High-precision crawler vertical paint spraying robot |
CN112974080A (en) * | 2021-02-03 | 2021-06-18 | 北京东方昊为工业装备有限公司 | Large-scale bridge combination formula is sand blasting spraying device in coordination |
CN113638318A (en) * | 2021-08-19 | 2021-11-12 | 北京好运达智创科技有限公司 | Multifunctional robot for box girder machining |
CN114618718A (en) * | 2022-03-07 | 2022-06-14 | 苏州益永精工制造有限公司 | Automatic spraying equipment for aluminum alloy surface |
-
2020
- 2020-05-11 CN CN202010391840.0A patent/CN111515063A/en active Pending
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112808498A (en) * | 2020-12-31 | 2021-05-18 | 镇江蓝舶科技股份有限公司 | High-precision crawler horizontal paint spraying robot |
CN112827705A (en) * | 2020-12-31 | 2021-05-25 | 镇江蓝舶科技股份有限公司 | High-precision crawler vertical paint spraying robot |
CN112974080A (en) * | 2021-02-03 | 2021-06-18 | 北京东方昊为工业装备有限公司 | Large-scale bridge combination formula is sand blasting spraying device in coordination |
CN113638318A (en) * | 2021-08-19 | 2021-11-12 | 北京好运达智创科技有限公司 | Multifunctional robot for box girder machining |
CN114618718A (en) * | 2022-03-07 | 2022-06-14 | 苏州益永精工制造有限公司 | Automatic spraying equipment for aluminum alloy surface |
CN114618718B (en) * | 2022-03-07 | 2022-12-20 | 苏州益永精工制造有限公司 | Automatic spraying equipment for aluminum alloy surface |
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