CN113478497A - Robot is maintained to stand - Google Patents
Robot is maintained to stand Download PDFInfo
- Publication number
- CN113478497A CN113478497A CN202110691373.8A CN202110691373A CN113478497A CN 113478497 A CN113478497 A CN 113478497A CN 202110691373 A CN202110691373 A CN 202110691373A CN 113478497 A CN113478497 A CN 113478497A
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- tightening
- workbench
- guide
- maintenance robot
- robot according
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- 238000012423 maintenance Methods 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims abstract description 11
- 210000000707 wrist Anatomy 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 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
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an upright post maintenance robot which comprises an operation mechanism and a tightening mechanism, wherein the operation mechanism comprises a displacement unit and an execution unit, the displacement unit comprises a workbench, a guide rail and a guide seat, the guide rail is of an arc-shaped structure arranged on the workbench, the guide seat is slidably arranged on the guide rail, the execution unit comprises a connecting block, a working arm and an actuator, the connecting block is arranged on the guide seat, the working arm is connected onto the connecting block, the end part of the working arm is provided with the actuator, the tightening mechanism comprises a tightening belt, a tightening motor and a winch, the winch is arranged on the workbench, one end of the tightening belt is connected onto the winch, the other end of the tightening belt is connected onto the workbench in a pluggable mode, and the tightening motor is connected with a winch shaft. This robot is maintained to stand, tightening belt hugs closely during the operation and treats the maintenance stand, and the displacement unit drives the execution unit and moves along the guide rail orbit, and the executor carries out corresponding maintenance operation, and operating device and tightening mechanism combine together, can greatly improve stand and maintain the stability and the operating mass with rated load of operation.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a stand column maintenance robot.
Background
High-speed railway platforms and other buildings have large top heights, and the maintenance work of supporting upright columns is mainly carried out in the mode of matching manned lifting equipment with manpower at the present stage of China. Because the working procedure of building the scaffold is abandoned, the danger of the scaffold is reduced by the working form, the spraying activity area is increased by using the flexibility of the lifting equipment, but the problems that the efficiency-cost ratio of the human work is low and the health of workers is difficult to guarantee are still not solved, and the urgency of developing an unmanned, automatic and intelligent high-altitude repair working system is further improved. Therefore, the introduction of intelligent robot technology into the field has positive practical significance.
Disclosure of Invention
In view of the above-described needs, the present invention provides a robot suitable for column maintenance work.
The technical scheme of the upright post maintenance robot is realized as follows:
the robot is maintained to stand, including operation mechanism and the mechanism of tightening, operation mechanism includes displacement unit and execution unit, the displacement unit includes the workstation, guide rail and guide holder, the guide rail is the circular-arc structure of setting on the workstation, slidable mounting has the guide holder on the guide rail, the guide holder can move along the guide rail orbit under power drive, execution unit includes the connecting block, work arm and executor, the connecting block sets up on the guide holder, be connected with the work arm on the connecting block, the work arm tip is provided with the executor, the mechanism of tightening includes the tightening strip, tighten motor and capstan winch, the capstan winch sets up on the workstation, tightening strip one end is connected on the capstan winch, the connection that the other end can be inserted and pulled out is on the workstation, tighten motor and capstan winch hub connection.
Furthermore, a group of driving wheels are arranged on the workbench, the driving wheels and the guide rails are concentrically arranged, the edges of the guide seats are matched with racks meshed with the driving wheels, and an idler wheel is arranged between every two adjacent driving wheels in a matched mode.
Furthermore, the execution unit further comprises a connecting table and a vertical telescopic joint, the connecting table is arranged on the guide seat, the vertical telescopic joint is arranged on the connecting table, and the connecting block is arranged at the end part of the vertical telescopic joint.
Furthermore, a plurality of guide rods are further arranged on the connecting platform around the vertical telescopic joint.
Further, the execution unit further comprises a waist rotation joint, and the waist rotation joint is arranged between the guide seat and the connecting table.
Further, the working arm is of a telescopic structure.
Furthermore, the working arms are arranged around the connecting block, and the number of the working arms is at least two.
Furthermore, a wrist rotary joint is arranged at the end part of the working arm, and the actuator is arranged on the wrist rotary joint.
Furthermore, the upright post maintenance robot further comprises a base and a lifting part, wherein the lifting part is arranged on the base, and the workbench is arranged on the lifting part.
Furthermore, the tightening mechanism further comprises a shell, and a buffer block is arranged on the shell.
This robot is maintained to stand, during the operation, pull out earlier the pluggable one end in lacing tape from the workstation, and it encircles wherein with the stand to bypass the stand of waiting to maintain, and the pluggable one end in lacing tape is inserted and is established on the workstation again, starts the capstan winch that the motor of tightening drove the hub connection with it and rotates, and the lacing tape is accomodate on the capstan winch thereupon, finally makes the lacing tape hold tightly to wait to maintain the stand, and the maintenance operation of the follow-up operation mechanism of being convenient for is favorable to improving the maintenance operation quality. After the tightening is completed, the power of the displacement unit is started, the guide seat and the execution unit connected with the guide seat move along the track of the guide rail under the driving of the power, and the actuator performs corresponding maintenance operation in the moving process. The operation mechanism is combined with the tightening mechanism, so that the stability and the working quality of the upright post maintenance operation can be greatly improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of the present column maintenance robot;
FIG. 2 is a schematic structural diagram of the working mechanism of the column maintenance robot;
FIG. 3 is a schematic view of the column maintenance robot tightening mechanism with the housing removed;
FIG. 4 is a schematic structural view of a tightening mechanism of the column maintenance robot;
fig. 5 is a schematic view of the operation state of the present column maintenance robot.
Description of reference numerals:
in the figure: 1. the automatic lifting device comprises a workbench, 2 guide rails, 3 transmission wheels, 4 idler wheels, 5 guide seats, 6 waist rotating joints, 7 connecting tables, 8 vertical telescopic joints, 9 guide rods, 10 connecting blocks, 11 working arms, 12 wrist rotating joints, 13 actuators, 14 tightening belts, 15 tightening motors, 16 reducers, 17 shells, 18 winches, 19 buffer blocks, 20 bases and 21 lifting parts.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The robot is maintained to stand, refer to fig. 1 to 5 and show, including operation mechanism and tightening mechanism, operation mechanism includes displacement unit and execution unit, the displacement unit includes workstation 1, guide rail 2 and guide holder 5, guide rail 2 is the circular-arc structure of setting on workstation 1, slidable mounting has guide holder 5 on guide rail 2, guide holder 5 can move along guide rail 2 orbit under power drive, execution unit includes connecting block 10, work arm 11 and executor 13, connecting block 10 sets up on guide holder 5, be connected with work arm 11 on the connecting block 10, work arm 11 tip is provided with executor 13, tightening mechanism includes tightening belt 14, tighten motor 15 and capstan winch 18, capstan winch 18 sets up on workstation 1, tightening belt 14 one end is connected on capstan winch 18, the connection that the other end can be inserted and pulled out is on workstation 1, tighten motor 15 and capstan winch 18 hub connection.
During the operation, pull out earlier lacing tape 14 plug one end from workstation 1, bypass and wait to maintain the stand and encircle wherein with the stand, insert lacing tape 14 plug one end again and establish on workstation 1, start to tighten motor 15 and drive the capstan winch 18 rotation of hub connection with it, lacing tape 14 is accomodate on capstan winch 18 thereupon, finally makes lacing tape 14 hold tightly and waits to maintain the stand, and the maintenance operation of the follow-up operating device of being convenient for is favorable to improving and maintains the operation quality. The tightening motor 15 can be a motor integrally designed with a speed reducer, a special speed reducer 16 can be additionally arranged between the tightening motor 15 and the winch 18, the tightening mechanism also comprises a brake for maintaining a tightening state, the tightening motor 15 with a braking function can be selected, and a special brake can be additionally arranged for the winch 18. After the tightening is completed, the power of the displacement unit is started, the guide base 5 and the execution unit connected with the guide base move along the track of the guide rail 2 under the driving of the power, and the actuator 13 performs corresponding maintenance operation in the moving process. The operation mechanism is combined with the tightening mechanism, so that the stability and the working quality of the upright post maintenance operation can be greatly improved.
The actuator 13 may be an end-effector with various specifications, such as a modular paint spraying actuator, a modular polishing actuator, etc.
In the column maintenance robot, specifically, referring to fig. 2, a set of driving wheels 3 is arranged on a workbench 1, the driving wheels 3 are arranged concentrically with a guide rail 2, a rack meshed with the driving wheels 3 is matched with the edge of a guide seat 5, and an idler wheel 4 is arranged between two adjacent driving wheels 3 in a matching manner. The idler pulley 4 is meshed with the two adjacent transmission wheels 3 for transmitting power. The motor is connected with the transmission wheel 3 group, power is transmitted to the rack through the transmission wheel 3, the guide seat 5 and the execution unit connected with the guide seat are driven to move along the track of the guide rail 2, and the actuator 13 carries out corresponding maintenance operation in the moving process.
In the column maintenance robot, specifically, referring to fig. 2, the execution unit further includes a connection table 7 and a vertical telescopic joint 8, the connection table 7 is disposed on the guide base 5, the vertical telescopic joint 8 is disposed on the connection table 7, and the connection block 10 is disposed at an end of the vertical telescopic joint 8. Vertical expansion joint 8 can choose for use current ripe product, both can choose for use compression cylinder structure product, for example cylinder, hydro-cylinder etc. also can choose for use mechanical telescopic structure product, for example electric putter etc. vertical expansion joint 8's setting can further enlarge the operation scope.
In a more preferred embodiment, as shown in fig. 2, a plurality of guide rods 9 are also provided on the connecting table 7 around the vertical telescopic joints 8. The guide rod 9 can be an unpowered piston type structure, and along with the stretching of the telescopic joint 8, the passive type synchronous stretching can also be a vertical rod type structure of the through connection block 10, and the structural stability can be enhanced by the arrangement of the guide rod 9.
In the column maintenance robot, specifically, referring to fig. 2, the actuator unit further includes a waist rotary joint 6, and the waist rotary joint 6 is provided between the guide 5 and the connection table 7. The stationary part of the waist rotary joint 6 is fixedly connected with the guide base 5, and the rotating part of the waist rotary joint 6 is fixedly connected with the connecting table 7. The waist rotary joint 6 can be a rotary cylinder or a shaft rotary structure product driven by a motor. The installation of the waist revolute joint 6 can also further expand the working range.
In the column maintenance robot, specifically, as shown in fig. 2, the working arm 11 has a telescopic structure. This telescopic structure can select for use current ripe product, both can select for use compression cylinder structure product, also can select for use mechanical telescopic structure product, and this kind of setting can make executor 13 along stand radial movement, can further enlarge the working range.
In the column maintenance robot, specifically, referring to fig. 2, at least two working arms 11 are provided around the connecting block 10. The arrangement of the working arms 11 can simultaneously install various end effectors, and the trouble of replacing one actuator in one process is avoided. For example, when two working arms 11 are provided, the two working arms 11 may be arranged coaxially in opposite directions, with one working arm 11 end-mounted with a modular paint actuator and the other working arm 11 end-mounted with a modular sanding actuator.
In the column maintenance robot, specifically, as shown in fig. 2, a wrist rotary joint 12 is provided at an end of the working arm 11, and an actuator 13 is attached to the wrist rotary joint 12. The wrist rotary joint 12 can be selected from existing mature shaft rotary structure products driven by a servo motor, a stepping motor and the like, the actuator 13 is tangent to the surface of the stand column to be maintained all the time when the wrist rotary joint 12 can guarantee operation, and then the force application direction is guaranteed to be radial along the stand column, so that the operation range is expanded, and the operation precision and quality are improved.
Referring to fig. 1, the column maintenance robot further includes a base 20 and an elevating unit 21, the elevating unit 21 is attached to the base 20, and the table 1 is attached to the elevating unit 21. Base 20 further can also set up the truckle structure, and the convenient removal, lift portion 21 are current ripe extending structure product. In the post-up-and-down maintenance work, the post maintenance robot may be mounted on existing lifting equipment, for example, a crane, or may be provided with a dedicated base 20 and lifting unit 21 in a matching manner.
In the column maintenance robot, specifically, as shown in fig. 4, the tightening mechanism further includes a housing 17, and a buffer block 19 is provided on the housing 17. The housing 17 accommodates components such as the tightening motor 15 and the speed reducer 16 therein, and the buffer block 19 can reduce damage to the column to be maintained while ensuring the holding effect.
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 (10)
1. A column maintenance robot, characterized in that: the operation mechanism comprises an operation mechanism and a tightening mechanism, the operation mechanism comprises a displacement unit and an execution unit, the displacement unit comprises a workbench (1), a guide rail (2) and a guide seat (5), the guide rail (2) is of an arc-shaped structure arranged on the workbench (1), the guide seat (5) is arranged on the guide rail (2) in a sliding mode, the guide seat (5) can move along the track of the guide rail (2) under the driving of power, the execution unit comprises a connecting block (10), a working arm (11) and an actuator (13), the connecting block (10) is arranged on the guide seat (5), the connecting block (10) is connected with the working arm (11), the end part of the working arm (11) is provided with the actuator (13), the tightening mechanism comprises a tightening belt (14), a tightening motor (15) and a winch (18), the winch (18) is arranged on the workbench (1), one end of the tightening belt (14) is connected onto the winch (18), the other end is connected on the workbench (1) in a pluggable way, and the tightening motor (15) is connected with the winch (18) through a shaft.
2. The column maintenance robot according to claim 1, wherein: a group of transmission wheels (3) are arranged on the workbench (1), the transmission wheels (3) and the guide rails (2) are concentrically arranged, racks meshed with the transmission wheels (3) are matched with the edges of the guide seats (5), and an idler wheel (4) is arranged between every two adjacent transmission wheels (3) in a matching mode.
3. The column maintenance robot according to claim 1, wherein: the execution unit further comprises a connecting table (7) and a vertical telescopic joint (8), the connecting table (7) is arranged on the guide seat (5), the vertical telescopic joint (8) is arranged on the connecting table (7), and the connecting block (10) is arranged at the end of the vertical telescopic joint (8).
4. The column maintenance robot according to claim 3, wherein: and a plurality of guide rods (9) are further arranged on the connecting table (7) around the vertical telescopic joint (8).
5. The column maintenance robot according to claim 3, wherein: the execution unit further comprises a waist rotating joint (6), and the waist rotating joint (6) is arranged between the guide seat (5) and the connecting table (7).
6. The column maintenance robot according to claim 1, wherein: the working arm (11) is of a telescopic structure.
7. The column maintenance robot according to claim 1, wherein: the working arms (11) are arranged around the connecting block (10) and are at least two.
8. The column maintenance robot according to claim 1, wherein: the end part of the working arm (11) is provided with a wrist rotating joint (12), and the actuator (13) is arranged on the wrist rotating joint (12).
9. The column maintenance robot according to claim 1, wherein: the lifting device is characterized by further comprising a base (20) and a lifting part (21), wherein the lifting part (21) is installed on the base (20), and the workbench (1) is installed on the lifting part (21).
10. The column maintenance robot according to claim 1, wherein: the tightening mechanism further comprises a shell (17), and a buffer block (19) is arranged on the shell (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110691373.8A CN113478497A (en) | 2021-06-22 | 2021-06-22 | Robot is maintained to stand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110691373.8A CN113478497A (en) | 2021-06-22 | 2021-06-22 | Robot is maintained to stand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113478497A true CN113478497A (en) | 2021-10-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110691373.8A Pending CN113478497A (en) | 2021-06-22 | 2021-06-22 | Robot is maintained to stand |
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| CN (1) | CN113478497A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357487A (en) * | 2011-08-26 | 2012-02-22 | 重庆电力高等专科学校 | Insulator cleaning mechanical arm |
| CN204837323U (en) * | 2015-05-06 | 2015-12-09 | 上海电机学院 | White device of trees |
| CN206154299U (en) * | 2016-10-25 | 2017-05-10 | 东风汽车公司 | Robot arc additional shaft |
| CN211150602U (en) * | 2019-10-22 | 2020-07-31 | 江苏志瑞能源科技有限公司 | Lithium cell block automation line is with station shifter |
| CN211541239U (en) * | 2020-02-18 | 2020-09-22 | 付占华 | Station-adjustable industrial robot |
| CN212953024U (en) * | 2020-08-07 | 2021-04-13 | 智程半导体设备科技(昆山)有限公司 | Wafer carrying manipulator |
| CN112894792A (en) * | 2021-01-29 | 2021-06-04 | 王安平 | 9-shaft double-arm robot |
| CN112977663A (en) * | 2019-12-12 | 2021-06-18 | 中国科学院沈阳自动化研究所 | Transmission line shaft tower robot of crawling |
-
2021
- 2021-06-22 CN CN202110691373.8A patent/CN113478497A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357487A (en) * | 2011-08-26 | 2012-02-22 | 重庆电力高等专科学校 | Insulator cleaning mechanical arm |
| CN204837323U (en) * | 2015-05-06 | 2015-12-09 | 上海电机学院 | White device of trees |
| CN206154299U (en) * | 2016-10-25 | 2017-05-10 | 东风汽车公司 | Robot arc additional shaft |
| CN211150602U (en) * | 2019-10-22 | 2020-07-31 | 江苏志瑞能源科技有限公司 | Lithium cell block automation line is with station shifter |
| CN112977663A (en) * | 2019-12-12 | 2021-06-18 | 中国科学院沈阳自动化研究所 | Transmission line shaft tower robot of crawling |
| CN211541239U (en) * | 2020-02-18 | 2020-09-22 | 付占华 | Station-adjustable industrial robot |
| CN212953024U (en) * | 2020-08-07 | 2021-04-13 | 智程半导体设备科技(昆山)有限公司 | Wafer carrying manipulator |
| CN112894792A (en) * | 2021-01-29 | 2021-06-04 | 王安平 | 9-shaft double-arm robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20211008 |