CN108942692A - A kind of wall-mounted sand blasting machine people of anti-adverse environment - Google Patents
A kind of wall-mounted sand blasting machine people of anti-adverse environment Download PDFInfo
- Publication number
- CN108942692A CN108942692A CN201810917608.9A CN201810917608A CN108942692A CN 108942692 A CN108942692 A CN 108942692A CN 201810917608 A CN201810917608 A CN 201810917608A CN 108942692 A CN108942692 A CN 108942692A
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- China
- Prior art keywords
- wall
- sand
- sand blasting
- machine people
- blasting machine
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Classifications
-
- 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
- B24C3/04—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other stationary
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of wall-mounted sand blasting machine people of anti-adverse environment, including chamber body, the intracorporal top middle portion in room is equipped with self-propelled hoist, the sandblast machine hand being symmetric is equipped on the chamber body inner wall of the lower section two sides of the self-propelled hoist, the sandblast machine hand includes walking support frame, the top of the walking support frame is equipped with elevating mechanism, the side of the elevating mechanism is equipped with walking mechanism, the top side of the walking mechanism is equipped with shield, the bottom end of the shield is equipped with body shaft, the side of the body shaft is sequentially connected with first level arm, one end of the first level arm is connected with the second horizontal arm.The present invention in chamber body by being arranged two sandblast machine hands, when selecting wall-mounted sand blasting machine people, two sandblast machine hands realize that automatic sand blastings with its efficiently mode of operation, realize the sandblasting simultaneously up and down of workpiece, have higher sandblasting efficiency, stable sandblasting quality.
Description
Technical field
The present invention relates to the wall-mounted sandblastings of large-scale workpiece abrasive jet cleaning technical field more particularly to a kind of anti-adverse environment
Robot.
Background technique
Sandblasting also known as shot-peening, sanding, refer to the process cleared up the surface of mechanical workpieces, derusted, and sandblasting can also
For deburring, casting is handled, and generating its principle of decorative surface is cleared up using the impact of high speed sand flow,
It is roughened workpiece surface and improves the fatigue resistance of workpiece so that making the mechanical performance of material surface is improved, and enhances work
The adhesion of part surface coating.
In the past, domestic sandblasting operation was completed by manually, manual sandblasting large labor intensity, and working environment is disliked
It is bad, it will cause certain influence to the physical and mental health of worker, in recent years, machine-building industry just makes great efforts to further increase product
Quality reduces cost, and by the way that robot technology is used for surface sand-blasting cleaning, to protect the health of worker, robot is automatic
Sandblasting is with its efficiently mode of operation, higher sandblasting efficiency, stable sandblasting quality, the increasingly blueness by sandblasting industry
It looks at, in order to solve the shot-peening efficiency and quality problems of components, technical staff can be combined into specific according to components shape size
Automatic sand blasting machine people, to enhance sand blasting machine task efficiency, but the actuating range of standard industrial robot is
It is limited, it is difficult to realize comprehensive sandblasting operation, work to improve industrial robot large and medium-sized workpiece abrasive jet cleaning
Difficulty.
Summary of the invention
The purpose of the present invention is to provide a kind of wall-mounted sand blasting machine people of anti-adverse environment, have higher sandblasting effect
Rate, stable sandblasting quality, operator only need in the control room outside sand blasting room supervisory-controlled robot, reduce the labor of worker
Fatigue resistance is effectively protected the advantage of the health of operator, and it is limited for solving the actuating range of standard industrial robot
, it is difficult to comprehensive sandblasting operation is realized, to improve the difficulty that industrial robot works to large and medium-sized workpiece abrasive jet cleaning
The problem of spending.
A kind of wall-mounted sand blasting machine people of anti-adverse environment according to an embodiment of the present invention, including chamber body, the chamber body
Interior top middle portion is equipped with self-propelled hoist, is equipped on the chamber body inner wall of the lower section two sides of the self-propelled hoist and to be symmetric
Sandblast machine hand, the sandblast machine hand include walking support frame, and the top of the walking support frame is equipped with elevating mechanism, described
The side of elevating mechanism is equipped with walking mechanism, and the top side of the walking mechanism is equipped with shield, the bottom end of the shield
Equipped with body shaft, the side of the body shaft is sequentially connected with first level arm, one end connection of the first level arm
There is the second horizontal arm, one end of second horizontal arm is equipped with rotating arm, and one end of the rotating arm, which is equipped with, swings spray gun, and two
The swing spray gun is each provided on swinging mounting, is equipped with grid below two swing spray guns, two grids
Lower section is equipped with sand hopper, and the lower part of two sand hoppers is equipped with control valve, and the end of two sand hoppers is connected to helical feed
Machine, the discharge end of the screw conveyor are connected with bucket elevator, and the upper outlet end of the bucket elevator is connected with point
From device, the discharge end of the separator is connected with waste recovery device.
Further, the walking support frame includes vehicle frame, vehicle frame setting on the slide rail and bottom end side be equipped with from
Driving wheel, the bottom end other side of the vehicle frame are equipped with driving wheel, and the side of the driving wheel is equipped with roller driving device.
Further, the roller driving device includes motor, and the rotary head end of the motor is connected with speed reducer, described to subtract
The output end of fast machine is connect with capstan drive.
Further, the elevating mechanism includes slide plate, and the slide plate upper end is connected with two double strand chains, described in two
Double strand chain is sequentially connected with the drive sprocket in drive shaft, and the side of the drive shaft is connected with planetary reducer and servo
Motor, the double strand chain are connected by slide plate with driven sprocket, and four sides of the slide plate are equipped with directive wheel.
Further, the walking mechanism includes including vehicle frame, and the vehicle frame setting is on the slide rail and bottom end side is equipped with
Driven wheel, the bottom end other side of the vehicle frame are equipped with driving wheel, and the side of the driving wheel is equipped with roller driving device, the vehicle
Frame side is equipped with the fixed frame for fixing elevating mechanism, and the fixed frame lower end is equipped with supporting guide wheel.
Further, the on both sides of the middle of the bucket elevator is equipped with sand-spraying pot, the input end of two sand-spraying pots
It is connected with the sand export of separator, the outlet end of the sand-spraying pot is connected with spray gun is swung.
Further, the input end of the sand-spraying pot and outlet end are mounted on solenoid valve.
Further, the self-propelled hoist includes power mechanism and clamping device, and the clamping device includes two fixtures,
Two fixtures match with sandblasting workpiece respectively.
Further, the power mechanism includes pulley, and the pulley is arranged on chamber body roof, on the chamber body roof
Equipped with the sliding rail to match with pulley.
Further, the sandblast machine hand, self-propelled hoist, separator, bucket elevator, sand-spraying pot, control valve, spiral
Conveyer is connected with the controller being arranged on chamber body inner wall respectively.
Compared with the prior art, the invention has the beneficial effects that:
1, by the way that two sandblast machine hands, when selecting wall-mounted sand blasting machine people, two sandblast machines are arranged in chamber body
Hand realizes that automatic sand blasting with its efficiently mode of operation, realizes the sandblasting simultaneously up and down of workpiece, has higher sandblasting efficiency, surely
Fixed sandblasting quality, the increasingly favor by sandblasting industry successfully solve the automatic sand blasting cleaning of large and medium-sized workpiece
Problem, has been achieved with fine economic benefit and market is approved；
2, by the way that shield is arranged on the top of sandblast machine hand, it can be used for excessively poor sandblasting environment, while robot
When automatic cleaning workpiece, operator only need in the control room outside sand blasting room supervisory-controlled robot, reduce the labour of worker
Intensity is effectively protected the health of operator；
3, wall-mounted sand blasting machine people is just able to achieve running by main controller controls, and master controller uses programming Control,
It is stable, it is tired without manual sandblasting, erroneous judgement, mood unstable factor.Support frame of walking is equipped with anticollision device, collision-prevention device, meets non-
Reset can be automatically stopped when normal impingement, system alarm robot high sensitivity, stable, duplicate paths precision reach
0.1mm, reached far from artificial, the surface quality of workpiece is very ideal after sandblasting, has good cleannes and roughness, can
Directly to paint or carry out other processing.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of structural schematic diagram of the wall-mounted sand blasting machine people of anti-adverse environment proposed by the present invention；
Fig. 2 is that the structure of sandblast machine hand in a kind of wall-mounted sand blasting machine people of anti-adverse environment proposed by the present invention is shown
It is intended to；
Fig. 3 is the structural representation of walking mechanism in a kind of wall-mounted sand blasting machine people of anti-adverse environment proposed by the present invention
Figure.
In figure: 1- sand hopper, 2- grid, 3- sandblast machine hand, 4- chamber body, 5- self-propelled hoist, 6- separator, 7- bucket lifting
Machine, 8- sand-spraying pot, 9- control valve, 10- screw conveyor, 11- walking support frame, 12- elevating mechanism, 13- walking mechanism, 14-
Shield, 15- body shaft, 16- first level arm, the second horizontal arm of 17-, 18- rotating arm, 19- swing spray gun, 20- vehicle frame,
21- sliding rail, 22- driven wheel, 23- driving wheel, 24- roller driving device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig.1-3, the wall-mounted sand blasting machine people of a kind of anti-adverse environment, including chamber body 4, in the top in chamber body 4
Portion is equipped with self-propelled hoist 5, is equipped with the sandblast machine hand being symmetric on 4 inner wall of chamber body of the lower section two sides of self-propelled hoist 5
3, sandblast machine hand 3 include walking support frame 11, walking support frame 11 top be equipped with elevating mechanism 12, the one of elevating mechanism 12
Side is equipped with walking mechanism 13, and the top side of walking mechanism 13 is equipped with shield 14, and the bottom end of shield 14 is equipped with body shaft
15, the side of body shaft 15 is sequentially connected with first level arm 16, and one end of first level arm 16 is connected with the second horizontal arm
17, one end of the second horizontal arm 17 is equipped with rotating arm 18, and one end of rotating arm 18, which is equipped with, swings spray gun 19, two swing spray guns 19
It being each provided on swinging mounting, the lower section of two swing spray guns 19 is equipped with grid 2, and the lower section of two grids 2 is equipped with sand hopper 1, and two
The lower part of a sand hopper 1 is equipped with control valve 9, and convenient for controlling the recovery efficiency of sand body, the end of two sand hoppers 1 is connected to spiral transferring
Send machine 10, the discharge end of screw conveyor 10 is connected with bucket elevator 7, and the upper outlet end of bucket elevator 7 is connected with point
From device 6, the discharge end of separator 6 is connected with waste recovery device, and waste recovery device is mainly used for recycling the impurity in sand body
's.
Support frame 11 of walking includes vehicle frame, and vehicle frame setting is on the slide rail and bottom end side is equipped with driven wheel, the bottom end of vehicle frame
The other side is equipped with driving wheel, and the side of driving wheel is equipped with roller driving device；Roller driving device includes motor, the rotary head of motor
End is connected with speed reducer, and the output end of speed reducer is connect with capstan drive；Elevating mechanism includes slide plate, and slide plate upper end is connected with
Two double strand chains, two double strand chains are sequentially connected with the drive sprocket in drive shaft, and the side of drive shaft is connected with row
Star speed reducer and servo motor, for the offer of power, double strand chain is connected by slide plate with driven sprocket, and the four of slide plate
Side is equipped with directive wheel；Walking mechanism includes including vehicle frame 20, and vehicle frame 20 is arranged on sliding rail 21 and bottom end side is equipped with driven
Wheel 22, the bottom end other side of vehicle frame 20 are equipped with driving wheel 23, and the side of driving wheel 23 is equipped with roller driving device 24, idler wheel driving
Device 24 includes mainly motor and reduction gearbox, is mainly used for providing kinetic energy for driving wheel, and 20 side of vehicle frame is equipped with for fixing
The fixed frame of elevating mechanism, fixed frame lower end are equipped with supporting guide wheel, and directive wheel plays guiding role；In bucket elevator 7
Portion two sides are equipped with sand-spraying pot 8, and the input end of two sand-spraying pots 8 is connected with the sand export of separator 6, and sand-spraying pot 8 goes out
Mouth end is connected with spray gun 19 is swung；The input end of sand-spraying pot 8 and outlet end are mounted on solenoid valve, convenient for controlling the spray of sand body
Rate out；Self-propelled hoist 5 include power mechanism and clamping device, clamping device include two fixtures, two fixtures respectively with spray
Sand workpiece matches；Power mechanism includes pulley, and pulley is arranged on chamber body roof, and chamber body roof is equipped with to match with pulley
Sliding rail；Sandblast machine hand 3, self-propelled hoist 5, separator 6, bucket elevator 7, sand-spraying pot 8, control valve 9, screw conveyor 10
It is connected respectively with the controller being arranged on 4 inner wall of chamber body.
By the way that two sandblast machine hands 3, when selecting wall-mounted sand blasting machine people, two sandblast machines are arranged in chamber body 4
Hand 3 realizes that automatic sand blasting with its efficiently mode of operation, realizes the sandblasting simultaneously up and down of workpiece, has higher sandblasting efficiency,
Stable sandblasting quality, the increasingly favor by sandblasting industry successfully solve the automatic sand blasting cleaning of large and medium-sized workpiece
The problem of, it has been achieved with fine economic benefit and market is approved；By the way that shield 14 is arranged on the top of sandblast machine hand, can use
In excessively poor sandblasting environment, while when robot clears up workpiece automatically, operator need to only supervise in the control room outside sand blasting room
Man-controlled mobile robot reduces the labor intensity of worker, is effectively protected the health of operator；Wall-mounted sand blasting machine people
Running is just able to achieve by main controller controls, master controller uses programming Control, stable comprising robot control
Device, motion controller, Phototube Coupling I/O control panel, sensor processing board and programming teaching box, the host computer of robot controller
Machine completes the functions such as motion planning, interpolation and position servo and master control logic, number I/O, the sensor processing of robot, from
And realize human-computer interaction interface, on-line operation prompt；Robot controller and programming teaching box are carried out by serial ports/CAN bus
Communication, the network savvy on controller with serial ports, fieldbus and Ethernet, by various information, to robot fault into
Row diagnosis, and respective dimension shield is carried out, it is the key technology for guaranteeing robot safety, teaching machine is the interaction of machine person to person,
It is acted the whole of robot are controlled during teaching, and its all information is sent into the memory of controller, it is real
It is a dedicated intelligent terminal in matter.Teaching machine completes the display of information and the input of key, and teaching machine is programmed with teaching；
Robot controller and programming teaching box are communicated by serial ports/CAN bus, so that wall-mounted sand blasting machine people be made not have hand
Work sandblasting is tired, judges by accident, the unstable factor of mood；Support frame of walking is equipped with anticollision device, collision-prevention device, can be certainly when meeting improper collision
Dynamic reset, system alarm robot high sensitivity, stable, the duplicate paths precision of stopping is up to 0.1mm, far from artificial institute's energy
And after sandblasting workpiece surface quality it is very ideal, have good cleannes and roughness, can directly paint or carry out it
He is handled.
Place is not described in detail by the present invention, is the well-known technique of those skilled in the art.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of wall-mounted sand blasting machine people of anti-adverse environment, it is characterised in that: including chamber body (4), in the chamber body (4)
Top middle portion is equipped with self-propelled hoist (5), is equipped on chamber body (4) inner wall of the lower section two sides of the self-propelled hoist (5) in symmetrical
The sandblast machine hand (3) of distribution, the sandblast machine hand (3) include walking support frame (11), walking support frame (11)
Top is equipped with elevating mechanism (12), and the side of the elevating mechanism (12) is equipped with walking mechanism (13), the walking mechanism (13)
Top side be equipped with shield (14), the bottom end of the shield (14) is equipped with body shaft (15), the body shaft
(15) side is sequentially connected with first level arm (16), and one end of the first level arm (16) is connected with the second horizontal arm
(17), one end of second horizontal arm (17) is equipped with rotating arm (18), and one end of the rotating arm (18), which is equipped with, swings spray gun
(19), two swing spray guns (19) are each provided on swinging mounting, are equipped with lattice below two swing spray guns (19)
The lower section of grid (2), two grids (2) is equipped with sand hopper (1), and the lower part of two sand hoppers (1) is equipped with control valve (9),
The end of two sand hoppers (1) is connected to screw conveyor (10), and the discharge end of the screw conveyor (10) is connected with bucket
The upper outlet end of formula elevator (7), the bucket elevator (7) is connected with separator (6), the discharging of the separator (6)
End is connected with waste recovery device.
2. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 1, it is characterised in that: the walking
Support frame (11) includes vehicle frame, and the vehicle frame setting is on the slide rail and bottom end side is equipped with driven wheel, and the bottom end of the vehicle frame is another
Side is equipped with driving wheel, and the side of the driving wheel is equipped with roller driving device.
3. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 2, it is characterised in that: the idler wheel
Driving device includes motor, and the rotary head end of the motor is connected with speed reducer, the output end and capstan drive of the speed reducer
Connection.
4. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 1, it is characterised in that: the lifting
Mechanism (12) includes slide plate, and the slide plate upper end is connected with two double strand chains, and two double strand chains are and in drive shaft
Drive sprocket transmission connection, the side of the drive shaft is connected with planetary reducer and servo motor, and the double strand chain is logical
It crosses slide plate to be connected with driven sprocket, four sides of the slide plate are equipped with directive wheel.
5. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 4, it is characterised in that: the walking
Mechanism (13) includes including vehicle frame (20), and the vehicle frame (20) is arranged on sliding rail (21) and bottom end side is equipped with driven wheel
(22), the bottom end other side of the vehicle frame (20) is equipped with driving wheel (23), and the side of the driving wheel is equipped with roller driving device
(24), vehicle frame (20) side is equipped with the fixed frame for fixing elevating mechanism, and the fixed frame lower end is equipped with support guide
Wheel.
6. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 1, it is characterised in that: the bucket type
The on both sides of the middle of elevator (7) is equipped with sand-spraying pot (8), the input end of two sand-spraying pots (8) with separator (6) go out
Sand mouth is connected, and the outlet end of the sand-spraying pot (8) is connected with spray gun (19) are swung.
7. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 6, it is characterised in that: the sandblasting
The input end of tank (8) and outlet end are mounted on solenoid valve.
8. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 1, it is characterised in that: it is described voluntarily
Cucurbit (5) includes power mechanism and clamping device, and the clamping device includes two fixtures, two fixtures respectively with sandblasting
Workpiece matches.
9. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 8, it is characterised in that: the power
Mechanism includes pulley, the pulley is arranged on chamber body (4) roof, and chamber body (4) roof is equipped with to match with pulley
Sliding rail.
10. a kind of wall-mounted sand blasting machine people of anti-adverse environment according to claim 1, it is characterised in that: the spray
Sand manipulator (3), self-propelled hoist (5), separator (6), bucket elevator (7), sand-spraying pot (8), control valve (9), helical feed
Machine (10) is connected with the controller being arranged on chamber body (4) inner wall respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810917608.9A CN108942692A (en) | 2018-08-13 | 2018-08-13 | A kind of wall-mounted sand blasting machine people of anti-adverse environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810917608.9A CN108942692A (en) | 2018-08-13 | 2018-08-13 | A kind of wall-mounted sand blasting machine people of anti-adverse environment |
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| Publication Number | Publication Date |
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| CN108942692A true CN108942692A (en) | 2018-12-07 |
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ID=64469049
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| CN201810917608.9A Pending CN108942692A (en) | 2018-08-13 | 2018-08-13 | A kind of wall-mounted sand blasting machine people of anti-adverse environment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773665A (en) * | 2019-02-28 | 2019-05-21 | 东营嘉扬精密金属有限公司 | Close the thick pneumatic shot blast machine of wide-angle environment-friendly type and its application method |
| CN111823145A (en) * | 2019-04-22 | 2020-10-27 | 达详自动化股份有限公司 | Automatic sandblasting device |
| CN112720270A (en) * | 2019-10-28 | 2021-04-30 | 中国石油大学(华东) | Swing type sand blasting and rust removing wall climbing robot |
| CN115157320A (en) * | 2022-08-23 | 2022-10-11 | 湖北三江航天涂装设备工程有限公司 | Multi-axis mechanical arm fixing and connecting structure |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773665A (en) * | 2019-02-28 | 2019-05-21 | 东营嘉扬精密金属有限公司 | Close the thick pneumatic shot blast machine of wide-angle environment-friendly type and its application method |
| CN111823145A (en) * | 2019-04-22 | 2020-10-27 | 达详自动化股份有限公司 | Automatic sandblasting device |
| CN111823145B (en) * | 2019-04-22 | 2022-02-18 | 达详自动化股份有限公司 | Automatic sand blasting device |
| CN112720270A (en) * | 2019-10-28 | 2021-04-30 | 中国石油大学(华东) | Swing type sand blasting and rust removing wall climbing robot |
| CN115157320A (en) * | 2022-08-23 | 2022-10-11 | 湖北三江航天涂装设备工程有限公司 | Multi-axis mechanical arm fixing and connecting structure |
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Application publication date: 20181207 |