CN112756201B - Self-propelled arc tracing and gluing robot - Google Patents
Self-propelled arc tracing and gluing robot Download PDFInfo
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- CN112756201B CN112756201B CN202011602285.8A CN202011602285A CN112756201B CN 112756201 B CN112756201 B CN 112756201B CN 202011602285 A CN202011602285 A CN 202011602285A CN 112756201 B CN112756201 B CN 112756201B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
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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
- B25J11/0075—Manipulators for painting or coating
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Abstract
The invention discloses a self-propelled arc tracking gluing robot, which comprises a slip ring hoisting group and a gluing vehicle connected with the slip ring hoisting group; this self-propelled circular arc is sought mark and is beaten robot: firstly, the center of gravity of the gluing vehicle deviates to the inner side, so that the welting wheels always cling to the outer edge surface of the workpiece to run, and further run to form a track which clings to the arc of the workpiece, and the gluing vehicle can be suitable for workpieces with arc tracks of different shapes; secondly, the movable plate is driven by the telescopic structure to move, so that the distance between the flat wheel and the main frame plate is changed, the distance between the flat wheel and the main frame plate offsets the depth of the inner edge platform, and finally the main frame plate is not inclined like the outer side, so that the main frame plate is applicable to workpieces with inner edge platforms with different depths, and the application range is wide; and thirdly, the driving wheel set is driven to work through the driving structure, and finally, the contact wheel rotates to realize automatic operation, so that the degree of automation is high.
Description
Technical Field
The invention relates to the technical field of gluing equipment, in particular to a self-propelled arc tracing and gluing robot.
Background
The slewing bearing in the engineering machinery is originally widely applied, such as an earth moving machine, an excavator, a disintegrator, a stacker-reclaimer, a grader, a road roller, a dynamic compactor, a rock drilling machine, a heading machine and the like, in order to seal between slewing bearings or between other parts, gluing is needed, workpieces used for slewing bearing are usually round or have circular arc workpieces, and most of the workpieces are internally provided with an inner edge platform.
The invention patent with application publication number CN 110962144A discloses a gluing robot, which comprises a movable chassis, a gluing moving device, a gluing device and a stock bin; the movable chassis is used for providing walking power, and a gluing implementation area and a rubber cylinder supply area are respectively arranged along the front end and the rear end of the movable chassis; the glue applying device and the glue applying moving device are both arranged in the glue applying implementation area, the glue applying moving device is connected to the movable chassis, and the glue applying device is arranged on the glue applying moving device and is used for automatically clamping a glue cylinder for glue applying or loosening the glue cylinder for replacing the glue cylinder; the bin is arranged in the rubber cylinder supply area. By arranging the movable chassis, the glue applying device, the glue beating moving device and the stock bin, arranging the stock bin at the rear end of the movable chassis, and arranging the glue applying device and the glue beating moving device at the front end of the movable chassis, the space above the chassis is reasonably utilized, the glue beating work in a larger range is conveniently completed, the weights of the glue beating implementation area and the glue cylinder supply area are matched with each other, and the stability of the glue beating robot is improved; in the scheme, the two universal wheels are matched to realize the walking functions of straight walking, turning, climbing and obstacle crossing of the gluing robot, but when the gluing robot is used for workpieces which are round or have circular arcs, the gluing robot is not limited on two sides, is not stable enough, is extremely easy to turn on one side and is obviously not suitable for use.
The invention patent with application publication number CN 111022855A discloses a ground foot supporting mechanism and a gluing robot, and the ground foot supporting mechanism comprises: an equipment fixing plate; the push rod device is fixedly connected to the equipment fixing plate and comprises a driving part driven in the vertical direction, a telescopic rod connected with the driving part and a connecting rod connected with the telescopic rod, and the middle part of the connecting rod is movably connected with the tail end of the telescopic rod; the anchor device comprises anchors which are arranged at the tail ends of two sides of the connecting rod and movably connected. The ground foot supporting mechanism is suitable for operation sites with uneven ground and obstacles, stably supports on the operation ground and provides a foundation for accurate operation; in this scheme, can carry out the auxiliary stay through the pusher gear, can effectively ensure the stability when gluing, but it can not remove, obviously can not be suitable for.
The following must be applied to gluing different circular or arc workpieces: 1. the circular or arc-shaped workpieces have different shapes, 2 the inner edge platforms of different workpieces have different depths, 3 the inner edge platforms of different workpieces have different diameters and radians, so that automatic operation is difficult to realize, 4 the inner edge platforms of the circular or arc-shaped workpieces have different thicknesses and different gluing positions, and 5 the inner edge platforms of different workpieces need to rotate at any angle around the circular or arc-shaped workpieces when gluing, and meanwhile, a transmission lead cannot be wound; combine above-mentioned two schemes, also can't be suitable for these circumstances, also there is not the machine of gluing that is applicable to above-mentioned circumstances at present, beats and glues the work and can only rely on the manual work to accomplish, and artifical speed is slow, and efficiency is extremely low, and is extremely inconvenient.
Disclosure of Invention
The invention aims to solve the technical problems that the device cannot be suitable for different shapes, different depths of inner edge platforms, different thicknesses, any rotation angles and different diameters and radians, and is difficult to operate automatically.
The technical scheme of the invention is realized as follows: a self-propelled arc tracking gluing robot comprises a slip ring hoisting set and a gluing vehicle connected with the slip ring hoisting set; the gluing vehicle comprises a main frame plate, two welting devices arranged at the bottom of the outer side of the main frame plate, a leveling device arranged on the inner side of the main frame plate, a driving device arranged at the middle of the main frame plate and a position adjusting device arranged on the main frame plate, wherein the center of gravity of the gluing vehicle is deviated to the inner side of the main frame plate, a sliding ring hoisting assembly is rotatably connected with the gluing vehicle, the gluing vehicle can rotate at any angle in the mode, the flexibility is good, the welting devices are mainly matched with the outer edge of a workpiece to ensure the gluing track of the gluing vehicle, the leveling device is mainly matched with an inner edge platform of the workpiece, the stability is improved, the driving device mainly generates power to enable the gluing vehicle to automatically operate, and the position adjusting device mainly adjusts the position of the gluing equipment main body to realize the adjustment of the gluing position.
Preferably, the welting device comprises a first connecting shaft fixed at the bottom of the main frame plate and a welting wheel rotatably connected to one end of the first connecting shaft, and the welting wheel is mainly close to the outer edge of the workpiece and moves out of a path of being attached to the arc of the workpiece.
Preferably, the leveling device comprises a wheel set support fixed at the bottom of the main frame plate, a movable plate vertically connected to the wheel set support, a leveling wheel rotatably connected to the side face of the movable plate, and a telescopic structure arranged at the top end of the movable plate, the movable plate is driven to move through the telescopic structure, the leveling wheel moves, and then workpieces with inner-edge platforms of different sizes can be glued, so that the application range is wide.
Preferably, the telescopic structure comprises a first motor support fixed at the top end of the main frame plate, a first motor fixed on the first motor support, a first screw rod fixedly connected to the output shaft end of the first motor, and a first threaded hole formed in the top end of the movable plate, wherein the first screw rod is in threaded connection with the first threaded hole, and the telescopic structure mainly drives the movable plate to move so as to change the position of the leveling wheel.
Preferably, drive arrangement is including setting up two drive wheelsets in the main frame board bottom, fixing the drive structure on the main frame board, drive structure drives two drive wheelset synchronous motion, and drive structure mainly produces power and drives two drive wheelset synchronous motion, and then provides power for beating the gluey car.
Preferably, the driving structure comprises a second motor support arranged at the top of the main frame plate, a second motor fixed on the second motor support, and a driving belt wheel fixed at the output shaft end of the second motor, and the driving structure mainly generates power.
Preferably, the driving wheel set comprises a first mounting frame fixed at the bottom of the main frame plate through an adjusting screw, a vertical shaft vertically arranged in the first mounting frame, and a transverse shaft transversely arranged in the first mounting frame, wherein helical gears are fixed at the ends of the vertical shaft and the transverse shaft respectively, the two helical gears are meshed, a driven pulley is fixedly connected to the top end of the vertical shaft, a contact wheel is fixedly connected to the end of the transverse shaft, the driven pulley is in transmission connection with the driving pulley through a transmission belt, the transmission belt is tensioned through tensioning wheels distributed on the main frame plate, the helical gears mainly change the direction, and the contact wheel can roll on the top surface of a workpiece to generate relative displacement, so that power is provided.
Preferably, the position adjusting device comprises a slide rail arranged at the top of the main frame plate, a second mounting frame connected with the slide rail in a sliding manner, and a second power structure arranged on one side of the second mounting frame, the second mounting frame is provided with a glue beating equipment main body, the glue beating equipment main body can be changed in position by sliding through the second mounting frame, and then the glue beating position can be adjusted.
Preferably, the power structure II comprises a motor support III fixed at the top of the main frame plate, a motor III fixed on the motor support III, a screw rod II fixed at the output shaft end of the motor III and a threaded hole II arranged on one side of the mounting frame II, the screw rod II is in threaded connection with the threaded hole II, and the power structure mainly generates power to drive the mounting frame II to move.
Preferably, the slip ring hoisting group comprises a main body shell, a slip ring inner sleeve arranged in the main body shell and an electric slip ring fixed in the slip ring inner sleeve, the slip ring inner sleeve is rotatably connected with the main body shell through a bearing, a top rotating part of the electric slip ring is fixedly connected with the inner top of the main body shell, a slip ring upper hoisting plate and a plug are fixed at the upper end of the main body shell, an output end of the plug is electrically connected with an input end of the top rotating part of the electric slip ring, an output end of the electric slip ring is electrically connected with an input end of a first motor, an input end of a second motor and an input end of a third motor through wires, a slip ring lower hoisting plate is fixed at the lower end of the slip ring inner sleeve through bolts, a connecting ring on the slip ring lower hoisting plate is connected with a connecting ring on the main frame plate through a rope, and when the glue vehicle rotates to change direction, the inner sleeve of the slip ring hoisting group rotates in the main body shell, the direction of main part shell does not change, and this kind of mode enables to beat and glues the arbitrary angular rotation of car, has improved the flexibility, and inside electric sliding ring is dolly intercommunication, carry electric current and signal when the dolly gyration is beaten and is glued simultaneously, can effectively prevent that the wire from twining.
Instructions for use: firstly, connecting a slip ring upper hanging plate through external hoisting equipment, connecting a connecting ring on a slip ring lower hanging plate with a connecting ring on a main frame plate through a rope, connecting a plug with an external control system, hoisting the hoisting equipment to enable a gluing vehicle to be positioned right above a workpiece with an arc, then placing the gluing vehicle on the workpiece with the arc, enabling an edge pasting wheel to be tightly pasted on the outer edge side surface of the workpiece due to deviation of the integral gravity center of the gluing vehicle to the inner side, enabling a contact wheel to be in contact with the upper surface of the workpiece at the moment, enabling a leveling wheel to be in contact with the inner edge platform surface of the workpiece after installation is completed, debugging to start gluing, enabling the edge pasting wheel to be always pasted on the outer edge surface of the workpiece due to deviation of the gravity center of the gluing vehicle to the inner side, further enabling tracks of the pasted workpiece to run, and being suitable for workpieces with different arc tracks;
when a workpiece with inner edge platforms at different depths is faced, the motor is controlled to work, the motor drives the screw rod to rotate, the screw rod rotates to enable the movable plate to slide on the wheel set support to generate displacement, then the distance between the leveling wheel arranged on the wheel set support and the main frame plate is changed, the distance between the leveling wheel and the main frame plate offsets the depth of the inner edge platform, and finally the main frame plate is not inclined like the outer side;
when the workpiece with different diameters and circular arcs is faced, the position of gluing needs to be adjusted, when the workpiece is adjusted, the motor II is controlled to work, the motor II drives the driving belt wheel to rotate, the driving belt wheel drives the two driven wheels to rotate through the driving belt, the driven belt wheel drives the vertical shaft to rotate, the vertical shaft drives one bevel gear to rotate, the bevel gear drives the other bevel gear to rotate, the other bevel gear drives the contact wheel to rotate through the transverse shaft, the contact wheel and the workpiece act to generate power, finally, the mounting frame is displaced, the gluing vehicle can move automatically, and the tensioning wheel mainly tensions the driving belt, so that the driving belt can be effectively prevented from slipping; when workpieces with arcs of different diameters face, the adjusting screws are used for adjusting to enable the first mounting frame to rotate to change the direction, so that the angle formed by the transverse shafts of the two driving wheel sets is changed, the directions of the two contact wheels are changed, arc tracks of different diameters are moved, and the adjustable mounting frame can be suitable for workpieces with arcs of different diameters;
when the different work pieces that have the circular arc in the face of, still need the adjustment to beat the position of gluing according to the thickness of work piece, when the position is beaten to the regulation, through the work of control motor three, motor three drives lead screw two and rotates, lead screw two and screw hole two effects make mounting bracket two slide on the slide rail and produce the displacement, and then the equipment main part that beats that makes to fix on two tops of mounting bracket produces the displacement, beat the play jiao zui of gluing equipment main part along with it and produce the displacement, make out and glue the position change, be applicable to the work piece that has the circular arc of different thickness.
The beneficial effects of the invention are summarized as follows: firstly, the center of gravity of the gluing vehicle deviates to the inner side, so that the welting wheels always cling to the outer edge surface of the workpiece to run, and further run to form a track which clings to the arc of the workpiece, and the gluing vehicle can be suitable for workpieces with arc tracks of different shapes; secondly, the movable plate is driven by the telescopic structure to move, so that the distance between the flat wheel and the main frame plate is changed, the distance between the flat wheel and the main frame plate offsets the depth of the inner edge platform, and finally the main frame plate is not inclined like the outer side, so that the main frame plate is applicable to workpieces with inner edge platforms with different depths, and the application range is wide; thirdly, the driving wheel set is driven to work through the driving structure, the contact wheels are finally rotated to realize automatic operation, the automation degree is high, the direction of the first mounting frame is changed through the adjusting screws, the directions of the two contact wheels are further changed, arc tracks with different diameters are further operated, and the automatic moving device is suitable for workpieces with arcs with different diameters; fourthly, drive two rotations of lead screw through motor three, the lead screw makes two sliding production displacements on the slide rail of mounting bracket with two effects of screw hole, and then makes and fix the equipment main part of gluing on two tops of mounting bracket and produce the displacement, and the play of gluing the equipment main part thereupon glues the mouth and produces the displacement, makes out to glue the position change, is applicable to the work piece that has the circular arc of different thickness, and it is five: when the rotary direction of the glue spraying vehicle is changed, the inner sleeve of the sliding ring hoisting set rotates in the main body shell, and meanwhile, the electric sliding ring inside the electric sliding ring is communicated with the trolley, transmits current and signals when the trolley rotates to spray glue, so that the wire can be effectively prevented from being wound, the glue spraying vehicle can rotate at any angle by the mode, and the flexibility is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the construction of the welting device of the present invention;
FIG. 3 is a schematic structural view of the leveling device of the present invention;
FIG. 4 is a schematic structural diagram of a driving device according to the present invention;
FIG. 5 is a schematic structural diagram of a driving wheel assembly according to the present invention;
FIG. 6 is a schematic view of a position adjustment apparatus according to the present invention;
FIG. 7 is a schematic structural view of the slip ring lifting assembly of the present invention;
figure 8 is a cross-sectional view of the slip ring lifting assembly of the present invention.
In the figure: 1 slip ring hoisting set, 11 main body shell, 12 slip ring inner sleeve, 13 electric slip ring, 14 slip ring lower hoisting plate, 15 slip ring upper hoisting plate, 16 plug, 17 bearing, 2 glue-applying vehicle, 21 main frame plate, 22 welt device, 221 connecting shaft I, 222 welt wheel, 23 leveling device, 231 wheel set bracket, 232 movable plate, 233 leveling wheel, 234 telescopic structure, 2341 motor bracket I, 2342 motor I, 234300 screw I, 2344 screw hole I, 24 driving device, 241 driving wheel set, 2411 adjusting screw, 2412 mounting bracket I, 2413 vertical shaft, 2414 horizontal shaft, 2415 helical gear, 2416 driven pulley, 2417 contact wheel, 2418 driving belt, 242 driving structure, 2421 motor bracket II, 2422 motor II, 2423 driving pulley 251, 25 position adjusting device, sliding rail, 252 II, 253 power structure II, 2531 motor bracket III, 2532 motor III, 2533 screw II, 2534 II and 3 glue-applying device main body, 4 a tensioning wheel.
Detailed Description
For further understanding of the present invention, the following detailed description will be made on a self-propelled arc tracking and gluing robot in conjunction with examples and drawings, which are only used for explaining the present invention and do not limit the scope of the present invention.
As shown in fig. 1 to 8, a self-propelled arc tracking gluing robot comprises a slip ring hoisting set 1 and a gluing vehicle 2 connected with the slip ring hoisting set 1; the gluing vehicle 2 comprises a main frame plate 21, two welting devices 22 arranged at the bottom of the outer side of the main frame plate 21, a holding device 23 arranged on the inner side of the main frame plate 21, a driving device 24 arranged in the middle of the main frame plate 21 and a position adjusting device 25 arranged on the main frame plate 21, wherein the gravity center of the gluing vehicle 2 deviates to the inner side of the main frame plate 21, and the sliding ring hoisting group 1 is rotatably connected with the gluing vehicle 2, so that the gluing vehicle can rotate at any angle, the flexibility is good, the welting devices 22 are mainly matched with the outer edge of a workpiece to further ensure the gluing track of the gluing vehicle, the holding device 23 is mainly matched with an inner edge platform of the workpiece, the stability is improved, the driving device 24 mainly generates power to enable the gluing vehicle 2 to automatically operate, and the position adjusting device 25 mainly adjusts the position of the gluing equipment main body 3 to realize the adjustment of the gluing position; the welting device 22 comprises a first connecting shaft 221 fixed at the bottom of the main frame plate 21 and a welting wheel 222 rotatably connected to the end of the first connecting shaft 221, wherein the welting wheel 222 is mainly close to the outer edge of the workpiece so as to run a track attached to the arc of the workpiece; the leveling device 23 comprises a wheel set support 231 fixed at the bottom of the main frame plate 21, a movable plate 232 vertically and slidably connected to the wheel set support 231, a leveling wheel 233 rotatably connected to the side surface of the movable plate 232, and a telescopic structure 234 installed at the top end of the movable plate 232, wherein the movable plate 232 is driven by the telescopic structure 234 to move, so that the leveling wheel 233 moves, and further, workpieces with inner edge platforms of different sizes can be glued, and the application range is wide; the telescopic structure 234 comprises a motor support I2341 fixed at the top end of the main frame plate 21, a motor I2342 fixed on the motor support I2341, a screw I2343 fixedly connected to the output shaft end of the motor I2342, and a threaded hole I2344 arranged at the top end of the movable plate 232, wherein the screw I2343 is in threaded connection with the threaded hole I2344, and the telescopic structure 234 mainly drives the movable plate 232 to move so as to change the position of the flat wheel 233; the driving device 24 includes two driving wheel sets 241 arranged at the bottom of the main frame plate 21 and a driving structure 242 fixed on the main frame plate 21, the driving structure 242 drives the two driving wheel sets 241 to move synchronously, the driving structure 242 mainly generates power to drive the two driving wheel sets 241 to move synchronously, and further provides power for the glue applying vehicle 2; the driving structure 242 comprises a second motor support 2421 arranged at the top of the main frame plate 21, a second motor 2422 fixed on the second motor support 2421, and a driving pulley 2423 fixed at the output shaft end of the second motor 2422, and the driving structure 242 mainly generates power; the driving wheel set 241 comprises a first mounting frame 2412 fixed at the bottom of the main frame plate 21 through an adjusting screw 2411, a vertical shaft 2413 vertically arranged in the first mounting frame 2412, a horizontal shaft 2414 transversely arranged in the first mounting frame 2412, helical gears 2415 are respectively fixed at the ends of the vertical shaft 2413 and the horizontal shaft 2414, the two helical gears 2415 are meshed, a driven belt wheel 2416 is fixedly connected at the top end of the vertical shaft 2413, a contact wheel 2417 is fixedly connected at the end of the horizontal shaft 2414, the driven belt wheel 2416 is in transmission connection with the driving belt 2423 through a transmission belt 2418, the transmission belt 2418 is tensioned through a tension wheel 4 distributed on the main frame plate 21, and the helical gears 2415 mainly convert the direction, so that the contact wheel 2417 can roll on the top surface of a workpiece to generate relative displacement, and further provide power; the position adjusting device 25 comprises a slide rail 251 arranged at the top of the main frame plate 21, a second mounting frame 252 connected with the slide rail 251 in a sliding manner, and a second power structure 253 arranged on one side of the second mounting frame 252, wherein the second mounting frame 252 is provided with the glue applying equipment main body 3, the glue applying equipment main body 3 can be changed in position by sliding the second mounting frame 252, and the glue applying position can be adjusted; the second power structure 253 comprises a third motor support 2531 fixed at the top of the main frame plate 21, a third motor 2532 fixed on the third motor support 2531, a second screw rod 2533 fixed at the output shaft end of the third motor 2532 and a second screw hole 2534 arranged at one side of the second mounting frame 252, the second screw rod 2533 is in threaded connection with the second screw hole 2534, and the second power structure 253 mainly generates power to drive the second mounting frame 252 to move; the slip ring hoisting set 1 comprises a main body shell 11, a slip ring inner sleeve 12 arranged in the main body shell 11 and an electric slip ring 13 fixed in the slip ring inner sleeve 12, wherein the slip ring inner sleeve 12 is rotatably connected with the main body shell 11 through a bearing 17, a top rotating part of the electric slip ring 13 is fixedly connected with the inner top of the main body shell 11, a slip ring upper hanger plate 15 and a plug 16 are fixed at the upper end of the main body shell 11, an output end of the plug 16 is electrically connected with an input end of a top rotating part of the electric slip ring 13, an output end of the electric slip ring 13 is electrically connected with an input end of a first motor 2342, an input end of a second motor 2422 and an input end of a third motor 2532 through leads, a slip ring lower hanger plate 14 is fixed at the lower end of the slip ring inner sleeve 12 through bolts, a connecting ring on the slip ring lower hanger plate 14 is connected with a connecting ring on a main frame plate 21 through a rope, when the glue spraying vehicle 2 rotates to change the direction, the inner sleeve 12 of the slip ring hoisting set 1 rotates in the main body shell 11, the direction of main part shell 11 does not change, and this kind of mode enables to beat and glues car 2 arbitrary angular rotation, has improved the flexibility, and inside electric sliding ring 13 is dolly intercommunication, carry electric current and signal when the dolly gyration is beaten and is glued simultaneously, can effectively prevent that the wire from twining.
Instructions for use: firstly, connecting a slip ring upper hanger plate 15 through external hoisting equipment, connecting a connecting ring on a slip ring lower hanger plate 14 with a connecting ring on a main frame plate 21 through a rope, connecting a plug 16 with an external control system, then hoisting the hoisting equipment, enabling a gluing vehicle 2 to be positioned right above a workpiece with an arc, then placing the workpiece with the arc downwards, enabling an edge attaching wheel 222 to be attached to the outer edge side surface of the workpiece due to deviation of the integral gravity center of the gluing vehicle 2 to the inner side, enabling a contact wheel 2417 to be in contact with the upper surface of the workpiece at the moment, enabling a flat wheel 233 to be in contact with the inner edge platform surface of the workpiece after installation is completed, debugging to start gluing, enabling the edge attaching wheel 222 to be attached to the outer edge surface of the workpiece to run all the time due to deviation of the gravity center of the gluing vehicle 2 to the inner side, and further running a track attached to the arc of the workpiece, so that the device can be suitable for workpieces with different arc tracks;
when a workpiece with inner edge platforms of different depths is faced, the motor I2342 is controlled to work, the motor I2342 drives the screw I2343 to rotate, the screw I2343 rotates to enable the movable plate 232 to slide on the wheel set support 231 to generate displacement, then the distance between the flat wheel 233 mounted on the wheel set support 231 and the main frame plate 21 is changed, the distance between the flat wheel 233 and the main frame plate 21 offsets the depth of the inner edge platforms, and finally the main frame plate 21 is not inclined to the outer side;
when workpieces with circular arcs of different diameters are faced, the position of gluing needs to be adjusted, when the position is adjusted, the second motor 2422 is controlled to work, the second motor 2422 drives the driving belt wheel 2423 to rotate, the driving belt wheel 2423 drives the two driven driving wheels 2416 to rotate through the transmission belt 2418, the driven belt wheel 2416 drives the vertical shaft 2413 to rotate, the vertical shaft 2413 drives one bevel gear 2415 to rotate, the bevel gear 2415 drives the other bevel gear 2415 to rotate, the other bevel gear 2415 drives the contact wheel 2417 to rotate through the transverse shaft 2414, the contact wheel 2417 acts with the workpieces to generate power, the mounting frame 21 is finally displaced, the gluing vehicle 2 can move automatically, the tension wheel 4 mainly tensions the transmission belt 2418, and the transmission belt 2418 can be effectively prevented from slipping; when workpieces with arcs of different diameters face, the adjusting screws 2411 are used for adjusting to enable the first mounting frame 2412 to rotate and change the direction, so that the angle formed by the transverse shafts 2414 of the two driving wheel sets 241 is changed, the directions of the two contact wheels 2417 are changed, arc tracks of different diameters are moved, and the device is suitable for workpieces with arcs of different diameters;
when the different workpieces with circular arcs face to each other, the gluing position is required to be adjusted according to the thickness of the workpieces, when the gluing position is adjusted, the third motor 2532 is controlled to work, the third motor 2532 drives the second screw rod 2533 to rotate, the second screw rod 2533 and the second screw hole 2534 are acted to enable the second mounting frame 252 to slide on the slide rail 251 to generate displacement, the gluing device main body 3 fixed to the top end of the second mounting frame 252 is enabled to generate displacement, the glue outlet nozzle of the gluing device main body 3 generates displacement accordingly, the glue outlet position is enabled to be changed, and the gluing device is suitable for workpieces with circular arcs and different thicknesses.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides a self-propelled circular arc is sought mark and is beaten machine people, its characterized in that: comprises a slip ring hoisting group (1) and a gluing vehicle (2) connected with the slip ring hoisting group (1);
the gluing vehicle (2) comprises a main frame plate (21), two welting devices (22) arranged at the bottom of the outer side of the main frame plate (21), a leveling device (23) arranged at the inner side of the main frame plate (21), a driving device (24) arranged in the middle of the main frame plate (21) and a position adjusting device (25) arranged on the main frame plate (21), wherein the gravity center of the gluing vehicle (2) deviates to the inner side of the main frame plate (21), the welting devices (22) are mainly matched with the outer edge of a workpiece to ensure the gluing track of the gluing vehicle, and the position adjusting device (25) realizes the adjustment of the gluing position by adjusting the position of the gluing equipment main body (3);
the welting device (22) comprises a first connecting shaft (221) fixed at the bottom of the main frame plate (21) and a welting wheel (222) rotatably connected to the end of the first connecting shaft (221).
2. The self-propelled arc tracking and gluing robot as claimed in claim 1, wherein: the leveling device (23) comprises a wheel set support (231) fixed at the bottom of the main frame plate (21), a movable plate (232) vertically connected to the wheel set support (231) in a sliding manner, a leveling wheel (233) rotatably connected to the side surface of the movable plate (232), and a telescopic structure (234) installed at the top end of the movable plate (232).
3. The self-propelled arc tracking and gluing robot as claimed in claim 2, wherein: extending structure (234) including fix motor support (2341) on main frame plate (21) top, fix motor (2342) on motor support (2341), fixed connection is at screw rod (2343) on motor (2342) output shaft end, sets up screw hole (2344) on fly leaf (232) top, screw rod (2343) and screw hole (2344) threaded connection.
4. The self-propelled arc tracking and gluing robot as claimed in claim 1, wherein: the driving device (24) comprises two driving wheel sets (241) arranged at the bottom of the main frame plate (21) and a driving structure (242) fixed on the main frame plate (21), wherein the driving structure (242) drives the two driving wheel sets (241) to move synchronously.
5. The self-propelled arc tracking and gluing robot as claimed in claim 4, wherein: the driving structure (242) comprises a second motor support (2421) arranged at the top of the main frame plate (21), a second motor (2422) fixed on the second motor support (2421), and a driving pulley (2423) fixed at the output shaft end of the second motor (2422).
6. The self-propelled arc tracking and gluing robot as claimed in claim 5, wherein: the driving wheel set (241) comprises a first mounting frame (2412) fixed at the bottom of the main frame plate (21) through an adjusting screw (2411), a vertical shaft (2413) vertically arranged in the first mounting frame (2412) and a transverse shaft (2414) transversely arranged in the first mounting frame (2412), wherein the ends of the vertical shaft (2413) and the transverse shaft (2414) are respectively fixed with a bevel gear (2415), the two bevel gears (2415) are meshed, the top end of the vertical shaft (2413) is fixedly connected with a driven belt wheel (2416), the end of the transverse shaft (2414) is fixedly connected with a contact wheel (2417), the driven belt wheel (2416) is in transmission connection with the driving belt wheel (2423) through a transmission belt (2418), and the transmission belt (2418) is tensioned through tension wheels (4) distributed on the main frame plate (21).
7. The self-propelled arc tracking and gluing robot as claimed in claim 1, wherein: the position adjusting device (25) comprises a sliding rail (251) arranged at the top of the main frame plate (21), a second mounting frame (252) connected with the sliding rail (251) in a sliding manner, and a second power structure (253) arranged on one side of the second mounting frame (252), wherein the second mounting frame (252) is provided with a gluing equipment main body (3).
8. The self-propelled arc tracking and gluing robot as claimed in claim 7, wherein: the second power structure (253) comprises a third motor support (2531) fixed to the top of the main frame plate (21), a third motor (2532) fixed to the third motor support (2531), a second screw rod (2533) fixed to the output shaft end of the third motor (2532) and a second screw hole (2534) formed in one side of the second mounting frame (252), and the second screw rod (2533) is in threaded connection with the second screw hole (2534).
9. The self-propelled arc tracking and gluing robot as claimed in claim 1, wherein: the slip ring hoisting set (1) comprises a main body shell (11), a slip ring inner sleeve (12) arranged in the main body shell (11) and an electric slip ring (13) fixed in the slip ring inner sleeve (12), wherein the slip ring inner sleeve (12) is rotatably connected with the main body shell (11) through a bearing (17), a rotating part at the top of the electric slip ring (13) is fixedly connected with the inner top of the main body shell (11), a slip ring upper hoisting plate (15) and a plug (16) are fixed at the upper end of the main body shell (11), an output end of the plug (16) is electrically connected with an input end of the rotating part at the top of the electric slip ring (13), an output end of the electric slip ring (13) is electrically connected with an input end of a first motor (2342), an input end of a second motor (2422) and an input end of a third motor (2532) through leads, and a slip ring lower hoisting plate (14) is fixed at the lower end of the slip ring inner sleeve (12) through bolts, and the connecting ring on the lower hanger plate (14) of the slip ring is connected with the connecting ring on the main frame plate (21) through a rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011602285.8A CN112756201B (en) | 2020-12-29 | 2020-12-29 | Self-propelled arc tracing and gluing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011602285.8A CN112756201B (en) | 2020-12-29 | 2020-12-29 | Self-propelled arc tracing and gluing robot |
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| CN112756201A CN112756201A (en) | 2021-05-07 |
| CN112756201B true CN112756201B (en) | 2021-10-01 |
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| CN202011602285.8A Active CN112756201B (en) | 2020-12-29 | 2020-12-29 | Self-propelled arc tracing and gluing robot |
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|---|---|
| CN112756201A (en) | 2021-05-07 |
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Address after: 264000 Yantai College Students Pioneer Park, 101 Hangtian Road, hi tech Zone, Yantai City, Shandong Province Patentee after: Shandong adder Intelligent Technology Co.,Ltd. Address before: 264000 Yantai College Students Pioneer Park, 101 Hangtian Road, hi tech Zone, Yantai City, Shandong Province Patentee before: Shandong Fajia Intelligent Technology Co.,Ltd. |