CN111590599B - Cleaning robot for removing chips at deep hole intersecting line of hydraulic oil circuit board - Google Patents
Cleaning robot for removing chips at deep hole intersecting line of hydraulic oil circuit board Download PDFInfo
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- CN111590599B CN111590599B CN202010411553.1A CN202010411553A CN111590599B CN 111590599 B CN111590599 B CN 111590599B CN 202010411553 A CN202010411553 A CN 202010411553A CN 111590599 B CN111590599 B CN 111590599B
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- centering
- mandrel
- circuit board
- cleaning robot
- hydraulic oil
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- 239000010720 hydraulic oil Substances 0.000 title claims abstract description 26
- 238000004140 cleaning Methods 0.000 title claims abstract description 24
- 239000003921 oil Substances 0.000 claims abstract description 14
- 238000007790 scraping Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 33
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 239000011148 porous material Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 2
- 239000012634 fragment Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a cleaning robot for removing debris at a deep hole intersecting line of a hydraulic oil circuit board, which comprises a control center and a mechanical arm with multiple degrees of freedom, wherein the control center controls the movement of the mechanical arm, and the free end of the mechanical arm is provided with a mechanical arm; the centering part extends to form a connecting part, and the centering rod is provided with a rotary hydraulic joint communicated with a centering oil way; the elastic piece type reducing scraper head comprises an upper mandrel and a lower mandrel, the upper mandrel is fixedly sleeved on the connecting part, the lower mandrel is sleeved in the upper mandrel in a sliding manner, an elastic piece is connected between the lower mandrel and the upper mandrel, and an elastic scraper blade is hinged between the lower mandrel and the upper mandrel; the invention realizes scraping and cleaning of the scraps at the intersecting line of the deep holes.
Description
Technical Field
The invention relates to a cleaning robot for removing debris at a deep hole intersecting line of a hydraulic circuit board.
Background
The deep hole is a hole with the ratio of the depth to the diameter of the hole larger than 5, the depth-diameter ratio L/d is larger than or equal to 100 under the general condition of deep hole processing, the deep hole processing method is widely applied to various fields of the mechanical industry, the processing is always a difficult problem in the field of mechanical processing due to the large depth and the small aperture, and a hydraulic circuit board is a typical representative of deep hole application. In the field of clamps, due to volume limitation, a plurality of hydraulic clamps adopt an internal oil path for oil supply, namely, deep holes are machined in a clamp bottom plate (namely, a hydraulic oil path plate), and all hydraulic units on the clamps are connected to form a hydraulic system.
The hydraulic system has very high requirement on internal cleanliness, and once cutting chips enter a hydraulic pipeline, the valve hole is blocked, the mechanism is not smooth in operation, and the chips enter a plunger pump of a hydraulic station and a hydraulic cylinder, so that the plunger pump and the hydraulic cylinder are damaged and fail due to scraping of a sealing ring. And in the deep hole drilling process on the hydraulic clamp bottom plate, the intersecting line department that two sets of holes intersect often remains the cutting piece with the adhesion of pore wall breach department easily, but, because the characteristic of deep hole on the hydraulic clamp bottom plate, present chip removing instrument hardly is applicable to the work of clearing up of deep hole intersecting line department piece on the hydraulic clamp bottom plate, leads to later stage working process in the chip drops easily along with hydraulic oil gets into each hydraulic component, influences hydraulic component work.
Therefore, it is desirable to provide a tool for cleaning debris at the intersection of such deep holes.
Disclosure of Invention
The invention aims to overcome the defects and provide a cleaning robot for removing debris at a deep hole intersecting line of a hydraulic oil circuit board.
In order to achieve the purpose, the invention adopts the following specific scheme:
a cleaning robot for removing chips at a deep hole intersecting line of a hydraulic circuit board is characterized by comprising a control center and a mechanical arm with multiple degrees of freedom, wherein the control center controls the movement of the mechanical arm, and a mechanical arm is mounted at the free end of the mechanical arm.
The mechanical arm comprises a base, two electromagnets symmetrically arranged on the bottom surface of the base, a rotary driving motor, a rotary support, a lifting driving motor, a centering rod and a spring plate type variable-diameter scraping head, wherein the rotary driving motor is fixed on the bottom surface of the base and positioned between the two electromagnets;
the centering rod movably penetrates through the rotating support and can rotate along with the rotating support, the centering rod is in transmission connection with the lifting driving motor, a centering portion is arranged at the lower end of the centering rod, three centering sliders are uniformly distributed on the centering portion along the circumferential direction, a centering oil path is arranged in the centering rod and extends into the centering portion, a connecting portion extends downwards from the top surface of the centering portion along the axial direction, the centering portion, the connecting portion and the centering rod are integrally formed, a rotary hydraulic connector is fixedly mounted at the upper end of the centering rod, and the rotary hydraulic connector is communicated with the centering oil path;
the elastic piece type reducing scraping head comprises an upper mandrel and a lower mandrel, the upper mandrel is fixedly sleeved on the connecting portion, the upper end of the lower mandrel is slid in the upper mandrel in a sliding mode, an elastic piece is connected between the upper end of the lower mandrel and the upper mandrel, and an elastic scraping blade is hinged between the lower end of the lower mandrel and the lower end of the upper mandrel.
Two elastic scraper blades which are arranged in bilateral symmetry are hinged between the lower end of the lower mandrel and the lower end of the upper mandrel.
The elastic scraper blade comprises an upper hinge part, an upper deformation part, a lower support part and a lower hinge part which are integrally formed and sequentially connected, wherein the upper hinge part is hinged to the upper mandrel, the lower hinge part is hinged to the lower mandrel, the thickness of the upper deformation part is smaller than that of the lower support part, and the rigidity of the upper deformation part is smaller than that of the lower support part.
Wherein, the lower extreme tip of dabber is equipped with spherical head down.
And two centering ball wheels are embedded on the outer side surface of each centering sliding block at intervals.
Wherein, the elastic component is a spring.
The centering rod is provided with teeth along the length direction, the output end of the lifting driving motor is connected with driving teeth, and the driving teeth are meshed with the teeth on the centering rod.
The transmission gear assembly comprises small transmission gears and large transmission gears, the small transmission gears are connected to the output end of the rotary driving motor, the large transmission gears are sleeved on the rotary support, and the small transmission gears are meshed with the large transmission gears.
The invention has the beneficial effects that: compared with the prior art, the hydraulic oil circuit board centering device has the advantages that the centering of the whole tool is realized by uniformly distributing three centering slide blocks on the centering rod, and the elastic scraper blade extrusion deformation principle is combined to self-adaptively match deep holes with different apertures, so that scraps at the intersecting line of the deep holes on the hydraulic oil circuit board are scraped and cleaned, the problem that the scraps exist in the later working process of the hydraulic oil circuit board to influence the working of a hydraulic element is solved, and the hydraulic oil circuit board centering device has the characteristics of simple structure and small occupied volume.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a schematic cross-sectional view of a hydraulic oil circuit board being cleaned of debris using the present invention;
FIG. 4 is an enlarged partial schematic view at I of FIG. 3;
FIG. 5 is an enlarged partial schematic view at II of FIG. 3;
FIG. 6 is an enlarged partial schematic view at III of FIG. 3;
fig. 7 is a perspective view of an elastomeric doctor blade of the invention;
description of reference numerals: 1-a base; 2-an electromagnet; 3-rotating the drive motor; 4-rotating the bracket; 5-lifting driving motor; 6-centering rod; 61-centering part; 62-centering slide block; 63-centering oil way; 64-a connecting part; 65-rotating hydraulic joints; 66-centering ball wheel; 7-spring piece type reducing scraping head; 71-an upper mandrel; 72-lower mandrel; 721-a bulb; 73-an elastic member; 74-an elastomeric doctor blade; 741-an upper hinge; 742-an upper deformation; 743-lower support; 744-lower hinge; 8-a transmission gear assembly; 9-drive teeth.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 7, the robot for cleaning debris at the intersection line of the deep hole of the hydraulic circuit board according to the embodiment includes a control center and a multi-degree-of-freedom mechanical arm a1, wherein the control center controls the movement of the mechanical arm, and a mechanical arm a2 is installed at a free end of the mechanical arm.
The mechanical arm comprises a base 1, two electromagnets 2 symmetrically arranged on the bottom surface of the base 1, a rotary driving motor 3, a rotary support 4, a lifting driving motor 5, a centering rod 6 and a spring plate type variable-diameter scraping head 7, wherein the rotary driving motor 3 is fixed on the bottom surface of the base 1 and positioned between the two electromagnets 2, the rotary support 4 is rotatably connected to the top surface of the base 1, the output end of the rotary driving motor 3 extends into the base 1 and is in transmission connection with the rotary support 4 through a transmission tooth assembly 8, and the lifting driving motor 5 is fixed on the rotary support 4;
the centering rod 6 movably penetrates through the rotating support 4 and can rotate along with the rotating support 4, the centering rod 6 is in transmission connection with the lifting driving motor 5, a centering portion 61 is arranged at the lower end of the centering rod 6, three centering sliders 62 are uniformly distributed on the centering portion 61 along the circumferential direction, a centering oil path 63 is arranged in the centering rod 6, the centering oil path 63 extends into the centering portion 61, a connecting portion 64 extends downwards along the axial direction on the top surface of the centering portion 61, the connecting portion 64 and the centering rod 6 are integrally formed, a rotary hydraulic joint 65 is fixedly mounted at the upper end of the centering rod 6, and the rotary hydraulic joint 65 is communicated with the centering oil path 63;
the elastic piece type reducing scraper head 7 comprises an upper mandrel 71 and a lower mandrel 72, the upper mandrel 71 is fixedly sleeved on the connecting part 64, the upper end of the lower mandrel 72 is slid in the upper mandrel 71, an elastic piece 73 is connected between the upper end of the lower mandrel 72 and the upper mandrel 71, and an elastic scraper blade 74 is hinged between the lower end of the lower mandrel 72 and the lower end of the upper mandrel 71.
The working mode of the embodiment is as follows: when the cleaning tool works, the cleaning tool is arranged above an orifice of a hydraulic oil circuit board, when a lower mandrel 72 of a spring sheet type reducing scraper head 7 is under pressure, an elastic scraper blade 74 is in an extending state under the elasticity of the elastic scraper blade 74 and the action of an elastic piece 73, so that the movable radius of the elastic scraper blade 74 is smaller than the diameter of a centering rod 6 so as to be capable of extending into the hole, then a lifting driving motor 5 drives the centering rod 6 to drive the spring sheet type reducing scraper head 7 to downwards probe and extend into a deep hole of the hydraulic oil circuit board until the lower end of the lower mandrel 72 is contacted with the bottom of the hole, an external oil supply mechanism is contacted with the outside and pumps hydraulic oil into a centering oil circuit 63 through a rotary hydraulic joint 65, under the pushing of the hydraulic oil, three centering sliding blocks 62 extend outwards along the radial direction until the outer side faces of the three centering sliding blocks 62 are contacted with the hole wall and abut against the hole wall, the centering operation between the cleaning tool and the hole is realized, and the early preparation is made for cleaning fragments of the spring sheet type reducing scraper head 7, then the two electromagnets 2 work, the two electromagnets 2 are magnetically adsorbed on the hydraulic oil circuit board, that is, the whole cleaning tool is fixed on the end surface of the orifice, then the lifting drive motor 5 continues to drive the centering rod 6 to move downwards, so that the lower mandrel 72 moves relative to the upper mandrel 71, that is, the lower mandrel 72 gradually extends into the upper mandrel 71 to extrude the elastic part 73, meanwhile, the lower mandrel 72 and the upper mandrel 71 generate relative movement, so that the elastic scraper blade 74 is extruded and deformed and gradually props against the orifice wall to fit the outline of the intersection line of the orifice, thus realizing automatic diameter change of the elastic scraper blade 74 to adapt to different pore sizes, after the deformation is completed, the centering rod 6 is kept still, then the rotary drive motor 3 drives the rotary support 4 to rotate through the transmission gear component 8, the rotary support 4 drives the centering rod 6 to rotate, the centering rod 6 drives the whole elastic sheet type diameter changing scraper head 7 to rotate, the elastic scraper blade 74 is enabled to rotate along the orifice intersection line, scraps adhered to the orifice intersection line are scraped, after the scraps are scraped, the three centering slide blocks 62 are retracted, the centering rod 6 drives the elastic sheet type reducing scraper head 7 to move out of the deep hole, and therefore the cleaning work of the scraps at the intersection line of one deep hole is completed; then the electromagnet 2 stops working, the cleaning tool is moved to the position of the next deep hole, and the chips at the intersecting line of the next deep hole are cleaned.
This embodiment utilizes the centering of the three centering slider 62 of equipartition to realize whole instrument on centering rod 6, combines elasticity scraper blade 74 extrusion deformation principle self-adaptation to match the deep hole in different apertures again to the realization strikes off, clears up the piece of deep hole intersecting line department on the hydraulic oil way board, has avoided there being the problem that piece influences hydraulic component work in the hydraulic oil way board later stage course of work, has simple structure, the volume occupies little characteristics.
The present embodiment utilizes two electromagnets 2 to fix the entire tool after the centering is completed, so as to ensure the accuracy of the centering and ensure the working accuracy of the elastic scraper blade 74.
In this embodiment, the elastic scraper 74 is hinged and fixed between the upper mandrel 71 and the lower mandrel 72, and occupies a small radial space in the extended state, so that the processing requirement of a deep hole with a small aperture can be met, and the structural universality is strong.
Based on the above embodiments, as shown in fig. 1 and 5, two elastic doctor blades 74 are hinged between the lower end of the lower mandrel 72 and the lower end of the upper mandrel 71, and are symmetrically arranged. So set up for deformation and scraping process are steady more high-efficient.
As shown in fig. 5 and 6, based on the above embodiment, the elastic doctor blade 74 further includes an upper hinge portion 741, an upper deforming portion 742, a lower support portion 743 and a lower hinge portion 744 that are integrally formed and connected in sequence, the upper hinge portion 741 is hinged to the upper spindle 71, the lower hinge portion 744 is hinged to the lower spindle 72, the thickness of the upper deforming portion 742 is smaller than that of the lower support portion 743, and the rigidity of the upper deforming portion 742 is smaller than that of the lower support portion 743. When the scraper works, the upper mandrel 71 and the lower mandrel 72 extrude the elastic scraper 74, and due to the difference of the upper and lower thicknesses and rigidity of the elastic scraper 74, the upper deformation part 742 deforms before the lower support part 743, and is attached to the hole wall, and the lower support part 743 provides good support for the upper deformation part 742, so that the vibration in the scraping process is reduced, the edge breaking phenomenon is avoided, and the structure is more reliable; due to the arrangement, the upper deformation part 742 is easy to deform, the outline of the intersection line of the deep hole with the complex shape can be attached more easily, and the scraping effect is better.
As shown in fig. 1 and 5, based on the above embodiment, further, the lower end of the lower core shaft 72 is provided with a spherical head 721. In practical use, when the lower mandrel 72 extends to the bottom of the deep hole, the spherical head 721 of the lower mandrel 72 contacts with the hole wall and generates an interaction force with the hole wall, so that the elastic scraper blade 74 deforms to scrape off chips; therefore, the spherical head 721 is in contact with the hole wall, the hole wall can be better protected, the hole wall is prevented from being damaged, and the structure is more reliable.
Based on the above embodiment, as shown in fig. 1, further, two centering ball wheels 66 are embedded on the outer side surface of each centering slider 62 at intervals. During the actual use, under the thrust of hydraulic oil, three centering slider 62 outwards stretches out simultaneously, and two centering ball wheels 66 on the centering slider 62 contact with the pore wall and withstand the pore wall, utilize the sphere and the pore wall contact of centering ball wheel 66, and then protect the pore wall better, avoid damaging the pore wall, the structure is more reliable.
As shown in fig. 5, based on the above embodiment, further, the elastic member 73 is a spring, which has a simple structure and is easy to assemble.
As shown in fig. 4, based on the above embodiment, further, the centering rod 6 is provided with teeth along the length direction thereof, the output end of the lifting drive motor 5 is connected with a drive tooth 9, and the drive tooth 9 is engaged with the teeth on the centering rod 6. During the in-service use, lift driving motor 5 drives centering rod 6 via drive tooth 9 and reciprocates, realizes the displacement adjustment of shell fragment formula reducing scraper head 7 and makes elasticity scraper blade 74 produce deformation, utilizes the tooth cooperation of drive tooth 9 with centering rod 6 simultaneously, can realize the auto-lock to ensure elasticity scraper blade 74 warp the completion back, the normal work of elasticity scraper blade 74 is ensured in the high maintenance of centering rod 6.
On the basis of the above embodiment, further, the transmission gear assembly 8 includes a small transmission gear and a large transmission gear, the small transmission gear is connected to the output end of the rotary driving motor 3, the large transmission gear is sleeved on the rotary support 4, and the small transmission gear is meshed with the large transmission gear. When the scraper is actually used, the rotary driving motor 3 drives the rotary support 4 to rotate by utilizing the transmission between the small transmission teeth and the large transmission teeth, so as to drive the elastic sheet type reducing scraper head 7 to rotate and carry out scrap scraping treatment; the speed reduction mechanism is configured so that the resilient scraper blade 74 scrapes debris during low speed rotation, avoiding damage to the hole wall by high speed rotation.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (8)
1. A cleaning robot for removing debris at a deep hole intersecting line of a hydraulic circuit board is characterized by comprising a control center and a multi-degree-of-freedom mechanical arm (a 1), wherein the control center controls the movement of the mechanical arm, and the free end of the mechanical arm is provided with a mechanical arm (a 2);
the manipulator comprises a base (1), two electromagnets (2) symmetrically arranged on the bottom surface of the base (1), a rotary driving motor (3), a rotary support (4), a lifting driving motor (5), a centering rod (6) and a spring plate type reducing scraping head (7), wherein the rotary driving motor (3) is fixed on the bottom surface of the base (1) and positioned between the two electromagnets (2), the rotary support (4) is rotatably connected to the top surface of the base (1), the output end of the rotary driving motor (3) extends into the base (1) and is in transmission connection with the rotary support (4) through a transmission gear component (8), and the lifting driving motor (5) is fixed on the rotary support (4);
the centering rod (6) movably penetrates through the rotating support (4) and can rotate along with the rotating support (4), the centering rod (6) is in transmission connection with the lifting driving motor (5), a centering portion (61) is arranged at the lower end of the centering rod (6), three centering sliders (62) are uniformly distributed on the centering portion (61) along the circumferential direction, a centering oil path (63) is arranged in the centering rod (6), the centering oil path (63) extends into the centering portion (61), a connecting portion (64) extends downwards along the axial direction from the top surface of the centering portion (61), the connecting portion (64) and the centering rod (6) are integrally formed, a rotating hydraulic joint (65) is fixedly mounted at the upper end of the centering rod (6), and the rotating hydraulic joint (65) is communicated with the centering oil path (63);
bullet piece formula reducing is scraped head (7) including upper mandrel (71) and lower dabber (72), upper mandrel (71) are fixed to be cup jointed on connecting portion (64), the upper end sliding sleeve of lower dabber (72) is in upper mandrel (71), be connected with elastic component (73) between the upper end of lower dabber (72) and upper mandrel (71), it has elasticity scraper blade (74) to articulate between the lower extreme of lower dabber (72) and the lower extreme of upper mandrel (71).
2. The cleaning robot for removing the debris at the intersection line of the deep holes of the hydraulic oil circuit board as claimed in claim 1, characterized in that two elastic scraper blades (74) which are arranged in bilateral symmetry are hinged between the lower end of the lower mandrel (72) and the lower end of the upper mandrel (71).
3. The cleaning robot for removing debris at a deep hole intersection of a hydraulic oil circuit board as claimed in claim 1, wherein the elastic scraper blade (74) comprises an upper hinge part (741), an upper deforming part (742), a lower support part (743) and a lower hinge part (744) which are integrally formed and connected in sequence, the upper hinge part (741) is hinged to the upper mandrel (71), the lower hinge part (744) is hinged to the lower mandrel (72), the thickness of the upper deforming part (742) is smaller than that of the lower support part (743), and the rigidity of the upper deforming part (742) is smaller than that of the lower support part (743).
4. The cleaning robot for removing the debris at the intersection line of the deep hole of the hydraulic oil circuit board as claimed in claim 1, characterized in that the lower end of the lower mandrel (72) is provided with a spherical head (721).
5. The cleaning robot for removing the debris at the intersection line of the deep holes of the hydraulic oil circuit board as claimed in claim 1, wherein two centering ball wheels (66) are embedded on the outer side surface of each centering slide block (62) at intervals.
6. A cleaning robot for removing debris at the intersection of a deep hole in a hydraulic oil circuit board according to claim 1, characterized in that the elastic member (73) is a spring.
7. The cleaning robot for removing the debris at the intersection line of the deep hole of the hydraulic oil circuit board is characterized in that the centering rod (6) is provided with teeth along the length direction of the centering rod, the output end of the lifting drive motor (5) is connected with a drive tooth (9), and the drive tooth (9) is meshed with the teeth on the centering rod (6).
8. The cleaning robot for removing the debris at the intersection line of the deep holes of the hydraulic oil circuit board as claimed in claim 1, wherein the transmission gear assembly (8) comprises a small transmission gear and a large transmission gear, the small transmission gear is connected to the output end of the rotary driving motor (3), the large transmission gear is sleeved on the rotary bracket (4), and the small transmission gear and the large transmission gear are meshed with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010411553.1A CN111590599B (en) | 2020-05-15 | 2020-05-15 | Cleaning robot for removing chips at deep hole intersecting line of hydraulic oil circuit board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010411553.1A CN111590599B (en) | 2020-05-15 | 2020-05-15 | Cleaning robot for removing chips at deep hole intersecting line of hydraulic oil circuit board |
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| Publication Number | Publication Date |
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| CN111590599A CN111590599A (en) | 2020-08-28 |
| CN111590599B true CN111590599B (en) | 2022-02-25 |
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| CN208230997U (en) * | 2018-01-10 | 2018-12-14 | 重庆百吉四兴压铸有限公司 | Cross-hole deburring device |
| CN109129515A (en) * | 2018-10-17 | 2019-01-04 | 芜湖市越泽机器人科技有限公司 | A kind of connecting rod creeping conduit robot |
| CN209394096U (en) * | 2018-12-29 | 2019-09-17 | 深圳市鑫承诺环保产业股份有限公司 | Robotic deburring's work station |
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| CN111590599A (en) | 2020-08-28 |
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