Feeding manipulator for sand blasting and rust removal of outfitting piece

Abstract

The invention relates to the technical field of manipulators, in particular to a feeding manipulator for sand blasting and rust removal of outfitting parts, which comprises a fixed rod arranged on the end face of a mechanical arm, a bottom plate arranged on the surface of the fixed rod, a vertical plate arranged on the surface of a movable plate, grinding equipment arranged on the side face of a mounting plate, a supporting rod arranged on the side face of a supporting frame, and a limiting plate arranged at the bottom of the supporting frame. The surface of the positioning plate is connected with an auxiliary plate through a hinge and is provided with a spraying pipe; the device has the beneficial effects that firstly, a positioning plate is matched with an auxiliary plate to position and fix a spraying pipe, then adjustment can be conducted through a mechanical arm, so that the spraying pipe and grinding equipment can move, in addition, the position of the grinding equipment can be adjusted through a first electric push rod, and grinding and rust removal can be conveniently conducted on the surface of an outfitting piece; and then a mechanical arm can be conveniently matched with a spraying pipe to carry out sand blasting treatment on the surface of the polished outfitting piece, so that the condition that equipment needs to be replaced to carry out sand blasting on the surface of the outfitting piece after the surface of the outfitting piece is polished is not needed.

Description

Technical Field

[0001] The invention relates to the field of manipulators, in particular to a feeding manipulator for sandblasting and rust removal of outfitting parts. Background Art

[0002] Marine outfitting products are also called ship outfitting parts, which include internal outfitting and external outfitting. Internal outfitting mainly refers to the interior decoration and renovation of the ship, while external outfitting mainly refers to small parts such as ladders, handrails, fairleads, bollards, various brackets, etc. on the hull (deck, superstructure, etc.); and external outfitting is easily eroded by rain because it is in an external environment of wind and rain. Therefore, in order to ensure the service life of the external outfitting, the surface of the external outfitting will be sandblasted to remove rust.

[0003] In the existing technology, in order to facilitate sandblasting and rust removal on the surface of outfitting parts, a robotic arm equipment is used to perform the work. The robotic arm can grasp the spray pipe, which on the one hand avoids manual grasping of the spray pipe, and on the other hand makes the spray pipe easy to move through the robotic arm, thereby improving the work efficiency of the surface treatment of outfitting parts.

[0004] However, after a general robot clamps the spray pipe, it is not convenient to clamp the grinding equipment, which makes it impossible to spray and grind and remove rust at the same time. For this reason, the present invention proposes a feeding robot for sandblasting and rust removal of outfitting parts to solve the above-mentioned technical problems. Summary of the Invention

[0005] The object of the present invention is to provide a feeding robot for sandblasting and rust removal of outfitting parts, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a feeding manipulator for sandblasting and rust removal of outfitting parts, comprising: a movable seat, a mechanical arm is provided on the surface of the movable seat, a fixed rod is provided on the end surface of the mechanical arm, a bottom plate is provided on the surface of the fixed rod, a first electric push rod is provided on the side surface of the bottom plate, a movable plate is provided on the lifting end of the first electric push rod, a vertical plate is provided on the surface of the movable plate, a second electric push rod is provided on the inner side surface of the vertical plate, a mounting plate is provided on the lifting end of the second electric push rod, and a grinding device is provided on the side surface of the mounting plate; The support frame is provided with a support rod on the side of the support frame, a rotating rod on the end face of the support rod, and a limit plate at the bottom of the support frame; The positioning plate is connected with an auxiliary plate on the surface by a hinge, a connecting plate is provided on the side of the positioning plate, and a spray pipe is placed on the surface of the positioning plate.

[0007] Preferably, the movable plate is fixedly connected to the lifting end of the first electric push rod, a movable groove is opened on the side of the movable plate, and the movable groove is a "T"-shaped plate structure as a whole. The vertical plate is fixedly connected to the surface of the movable plate, and the grinding equipment is fixedly connected to the side of the mounting plate with bolts. A movable block is provided on the side of the grinding equipment, and the movable block is a "T"-shaped plate structure as a whole. The movable block is inserted into the movable groove.

[0008] Preferably, a motor fixing plate is provided on the side of the fixing rod, a driving motor is fixedly connected to the motor fixing plate, a driving gear is provided on the transmission end of the driving motor, a transmission gear is provided on the surface of the support rod, and the driving gear and the transmission gear are meshed with each other for transmission.

[0009] Preferably, a limit bearing is provided on the end face of the fixed rod, one end of the rotating rod is fixedly connected to the inner ring surface of the limit bearing, the support frame is fixedly connected to the other end of the support rod, the limit plate is a square plate structure as a whole, and the limit plate is fixedly connected to the bottom of the support frame.

[0010] Preferably, a positioning seat is provided on the side of the support frame, and there are two groups of positioning seats. The two groups of positioning seats are symmetrically distributed about the support frame. A traction plate is provided on the side of the positioning seat, and a Velcro plane is provided on the end face of the traction plate. The traction plate is a square plate structure as a whole.

[0011] Preferably, the surface of the spray tube is provided with an elastic sleeve, the surface of the elastic sleeve is provided with a Velcro surface, and two groups of elastic sleeves are provided, and the two groups of elastic sleeves are symmetrically distributed about the auxiliary plate.

[0012] Preferably, a positioning hole is opened on the side of the limiting plate, the connecting plate is sleeved on the limiting plate, the positioning plate and the auxiliary plate are an arc-shaped plate structure as a whole, and the auxiliary plate is fixedly connected to the surface of the connecting plate by using positioning bolts.

[0013] Preferably, a movable opening is opened on the side of the positioning plate, a support plate is arranged in the movable opening, a guide plate is arranged on the outer side of the support plate, the guide plate is an "L"-shaped plate structure, and a support plate and a traction block are arranged at the bottom of the connecting plate.

[0014] Preferably, a through hole is provided on the side of the traction block, a moving rod is inserted into the through hole, a positioning block is provided on the end face of the moving rod, the positioning block passes through the support plate and is inserted into the positioning port, a limit spring is provided on the surface of the moving rod, one end of the limit spring is fixedly connected to the side face of the traction block, and the other end of the limit spring is fixedly connected to the end face of the positioning block, and the support plate as a whole has an "L"-shaped plate structure.

[0015] Preferably, a positioning bearing is provided on the side of the support plate, a movable screw is fixedly connected to the inner ring surface of the positioning bearing, a fixing nut is provided on the surface of the movable screw, the guide plate is screwed on the movable screw, the bottom of the guide plate is sleeved on the support plate, and the guide plate is slidably connected to the bottom end of the support plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The loading robot for sandblasting and rust removal of outfitting parts proposed in the present invention can first position and fix the spray pipe through the positioning plate in cooperation with the auxiliary plate when in use, and then can be adjusted by the robot arm, so that the spray pipe and the grinding equipment can be displaced. In addition, the position of the grinding equipment can be adjusted by the first electric push rod to facilitate the grinding and rust removal of the outfitting surface. Then, the robot arm can be conveniently used to cooperate with the spray pipe and the polished outfitting surface to perform sandblasting, so that there is no need to replace the equipment after grinding the outfitting surface before sandblasting the outfitting surface, thereby avoiding the general robot arm being inconvenient to clamp the grinding equipment after clamping the spray pipe, resulting in the inability to spray and grind and rust remove at the same time. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 Schematic diagram of the device of the present invention; Figure 2 It is a front view of the device of the present invention; Figure 3 It is a side view of the device of the present invention; Figure 4 for Figure 3 A in the middle is an enlarged structural diagram; Figure 5 A top view of the structural support frame of the present invention; Figure 6 for Figure 5 The enlarged structural diagram at B in the middle; Figure 7 It is a side view of the structural support frame of the present invention; Figure 8 This is a schematic diagram of the structure of the structural support frame of the present invention when it is tilted; Figure 9 for Figure 8 The enlarged structural diagram at C in the middle; Figure 10 It is a partial cross-sectional view of the structure of the present invention; Figure 11 for Figure 10 Enlarged structural diagram at point D in the middle.

[0017] In the figure: 1. Moving seat; 2. Robotic arm; 3. Fixed rod; 4. Bottom plate; 5. First electric push rod; 6. Moving plate; 7. Vertical plate; 8. Second electric push rod; 9. Mounting plate; 10. Grinding equipment; 11. Support frame; 12. Support rod; 13. Rotating rod; 14. Limit plate; 15. Positioning plate; 16. Hinge; 17. Auxiliary plate; 18. Connecting plate; 19. Spraying pipe; 20. Moving groove; 21. Moving block; 22. Motor fixing plate; 23. , driving motor; 24, driving gear; 25, transmission gear; 26, limiting bearing; 27, positioning seat; 28, traction plate; 29, Velcro plane; 30, elastic sleeve; 31, Velcro fleece; 32, positioning port; 33, support plate; 34, guide plate; 35, support plate; 36, moving rod; 37, positioning block; 38, limiting spring; 39, positioning bearing; 40, moving screw; 41, fixing nut; 42, traction block; 43, moving port. DETAILED DESCRIPTION

[0018] In order to clearly and completely describe the objectives and technical solutions of the present invention and make the advantages more clearly understood, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are part of the embodiments of the present invention, not all of them, and are only used to explain the embodiments of the present invention, not to limit the embodiments of the present invention. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] Example 1: Please refer to Figures 1-11 The present invention provides a technical solution: a feeding manipulator for sandblasting and rust removal of outfitting parts, comprising: a moving seat 1, a mechanical arm 2 is provided on the surface of the moving seat 1, a fixed rod 3 is provided on the end face of the mechanical arm 2, a bottom plate 4 is provided on the surface of the fixed rod 3, a first electric push rod 5 is provided on the side of the bottom plate 4, a moving plate 6 is provided on the lifting end of the first electric push rod 5, a vertical plate 7 is provided on the surface of the moving plate 6, a second electric push rod 8 is provided on the inner side of the vertical plate 7, a mounting plate 9 is provided on the lifting end of the second electric push rod 8, and a grinding device 10 is provided on the side of the mounting plate 9; a support frame 11, a support rod 12 is provided on the side of the support frame 11, a rotating rod 13 is provided on the end face of the support rod 12, and a limiting plate 14 is provided at the bottom of the support frame 11; a positioning plate 15, an auxiliary plate 17 is connected to the surface of the positioning plate 15 by a hinge 16, a connecting plate 18 is provided on the side of the positioning plate 15, and a spray pipe 19 is placed on the surface of the positioning plate 15; First, the spray pipe 19 can be positioned and fixed by the positioning plate 15 in cooperation with the auxiliary plate 17, and then the mechanical arm 2 can be used for adjustment, so that the spray pipe 19 and the grinding equipment 10 can be displaced. In addition, the position of the grinding equipment 10 can be adjusted by the first electric push rod 5 to facilitate the grinding and rust removal of the surface of the outfitting parts. Then, the mechanical arm 2 can be used to conveniently cooperate with the spray pipe 19 and the polished surface of the outfitting parts for sandblasting, so that there is no need to replace the equipment after grinding the surface of the outfitting parts before sandblasting the surface of the outfitting parts.

[0020] Example 2: Based on Example 1, in order to facilitate sandblasting and rust removal of outfitting parts, a fixed rod 3 is provided, a movable plate 6 is fixedly connected to the lifting end of the first electric push rod 5, a movable groove 20 is opened on the side of the movable plate 6, and the movable groove 20 is a "T"-shaped plate structure as a whole. The vertical plate 7 is fixedly connected to the surface of the movable plate 6, and the grinding device 10 is fixedly connected to the side of the mounting plate 9 by bolts. A movable block 21 is provided on the side of the grinding device 10, and the movable block 21 is a "T"-shaped plate structure as a whole. The movable block 21 is inserted into the movable groove 20, and the fixed rod 3 side is provided. A motor fixing plate 22 is provided on the surface, and a driving motor 23 is fixedly connected to the motor fixing plate 22. A driving gear 24 is provided on the transmission end of the driving motor 23. A transmission gear 25 is provided on the surface of the support rod 12. The driving gear 24 and the transmission gear 25 are meshed with each other for transmission. A limit bearing 26 is provided on the end surface of the fixed rod 3. One end of the rotating rod 13 is fixedly connected to the inner ring surface of the limit bearing 26. The support frame 11 is fixedly connected to the other end of the support rod 12. The limit plate 14 is a square plate structure as a whole, and the limit plate 14 is fixedly connected to the bottom of the support frame 11; When in use, the position of the grinding device 10 and the spray pipe 19 can be adjusted by the mechanical arm 2, and then the grinding device 10 can be driven by the second electric push rod 8 to move independently, so that the position of the grinding device 10 can be adjusted conveniently to facilitate subsequent coordinated work with the spray pipe 19. The sliding displacement of the moving block 21 in the moving groove 20 can provide auxiliary support for the grinding device 10 to reduce the pressure on the second electric push rod 8, and also facilitate the displacement of the grinding device 10 by the second electric push rod 8. When the angle of the spray pipe 19 needs to be adjusted separately, the drive motor 23 can be directly started and the driving gear 24 and the transmission gear 25 are engaged with the limit bearing 26 to rotate the support rod 12, which can drive the support frame 11 to adjust the rotation angle, so that the spray pipe 19 can be adjusted individually for sandblasting of the outfitting parts. The setting of the first electric push rod 5 can facilitate the forward and backward displacement of the grinding device 10 for grinding and rust removal.

[0021] Embodiment 3: On the basis of embodiment 2, in order to facilitate the installation of the spray pipe 19, a positioning plate 15 is provided, a positioning seat 27 is provided on the side of the support frame 11, and two groups of positioning seats 27 are provided. The two groups of positioning seats 27 are symmetrically distributed about the support frame 11. A traction plate 28 is provided on the side of the positioning seat 27. The end face of the traction plate 28 is provided with a Velcro plane 29. The traction plate 28 has a square plate structure as a whole. The surface of the spray pipe 19 is provided with an elastic sleeve 30. The surface of the elastic sleeve 30 is provided with a Velcro fur surface 31. The elastic sleeve 30 is provided with two groups. The two groups of elastic sleeves 30 are symmetrically distributed about the auxiliary plate 17. A positioning port 32 is opened on the side of the limiting plate 14. The connecting plate 18 is sleeved on the limiting plate 14. The positioning plate 15 and the auxiliary plate 17 are an arc-shaped plate structure as a whole. The auxiliary plate 17 is fixed to the surface of the connecting plate 18 with positioning bolts. When the spray tube 19 needs to be installed, the elastic sleeve 30 is first put on the spray tube 19, and then the spray tube 19 can be placed on the positioning plate 15. The auxiliary plate 17 is rotated in conjunction with the hinge 16, so that the spray tube 19 can be fixed by clamping the auxiliary plate 17 and the positioning plate 15, and then the Velcro plane 29 is adhered to the Velcro fur surface 31 set on the surface of the elastic sleeve 30, so that the connection stability of the spray tube 19 can be increased by the cooperation of the two sets of Velcro planes 29 and the Velcro fur surface 31, thereby avoiding the problem of the spray tube 19 slipping due to frequent angle adjustment.

[0022] In order to facilitate the installation of the positioning plate 15, a support plate 35 is provided on the side of the positioning plate 15, a moving opening 43 is provided in the moving opening 43, a support plate 33 is provided in the outer side of the support plate 33, and a guide plate 34 is provided on the outer side of the support plate 33. The guide plate 34 is an "L"-shaped plate structure, and a support plate 35 and a traction block 42 are provided at the bottom of the connecting plate 18. A through hole is provided on the side of the traction block 42, and a moving rod 36 is inserted into the through hole. A positioning block 37 is provided on the end face of the moving rod 36. The positioning block 37 passes through the support plate 35 and is inserted into the positioning opening 32. The surface of the moving rod 36 is sleeved A limit spring 38 is provided, one end of which is fixedly connected to the side of the traction block 42, and the other end of the limit spring 38 is fixedly connected to the end face of the positioning block 37. The support plate 35 is an "L"-shaped plate structure as a whole. A positioning bearing 39 is provided on the side of the support plate 35. A moving screw 40 is fixedly connected to the inner ring surface of the positioning bearing 39. A fixing nut 41 is provided on the surface of the moving screw 40. The guide plate 34 is screwed on the moving screw 40. The bottom of the guide plate 34 is sleeved on the support plate 35, and the guide plate 34 is slidably connected to the bottom end of the support plate 35. The guide plate 34 screwed on the moving screw 40 can be displaced, and then the support plate 33 can be displaced by the displacement of the guide plate 34, so that the spraying tubes 19 with different diameters can be supported conveniently by cooperating with the distance between the support plate 33 and the inner side of the positioning plate 15.

[0023] In actual use, the spraying pipe 19 can be positioned and fixed by cooperating with the auxiliary plate 17 through the positioning plate 15, and then the mechanical arm 2 can be adjusted so that the spraying pipe 19 and the grinding device 10 can be displaced. In addition, the position of the grinding device 10 can be adjusted by the first electric push rod 5 to facilitate grinding and rust removal on the surface of the outfitting parts. Then, the mechanical arm 2 can be conveniently used to cooperate with the spraying pipe 19 and the polished surface of the outfitting parts for sandblasting, so that there is no need to replace the equipment after grinding the surface of the outfitting parts before sandblasting the surface of the outfitting parts, thereby avoiding the general manipulator having difficulty clamping the grinding device 10 after clamping the spraying pipe 19, which makes it impossible to spray and grind and rust remove at the same time. In addition, the elastic sleeve 30 can be set on the spraying pipe 19, and then the spraying pipe 19 can be placed on the positioning plate 15, and the auxiliary plate 1 can be matched with the hinge 16. 7 is rotated, so that the spraying pipe 19 can be fixed by clamping the auxiliary plate 17 and the positioning plate 15, and then the Velcro plane 29 is adhered to the Velcro fur surface 31 set on the surface of the elastic sleeve 30, so that the connection stability of the spraying pipe 19 can be increased by the cooperation of the two sets of Velcro planes 29 and the Velcro fur surface 31, and the problem of the spraying pipe 19 slipping due to frequent angle adjustment is avoided. When the positioning plate 15 needs to be installed, the moving rod 36 can be pulled backward first to move the positioning block 37 backward, and then the connecting plate 18 can be sleeved on the limiting plate 14, so that the moving rod 36 can be loosened, and then the moving rod 36 can be reset by the elastic force of the limiting spring 38, so that one end of the positioning block 37 can be inserted into the positioning port 32. The limiting plate 14 is a square plate structure to avoid the problem of the connecting plate 18 rotating around the limiting plate 14.

[0024] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A feeding manipulator for sandblasting and rust removal of outfitting parts, comprising: A movable seat (1), a mechanical arm (2) is provided on the surface of the movable seat (1), characterized in that: a fixed rod (3) is provided on the end surface of the mechanical arm (2), a bottom plate (4) is provided on the surface of the fixed rod (3), a first electric push rod (5) is provided on the side surface of the bottom plate (4), a movable plate (6) is provided on the lifting end of the first electric push rod (5), a vertical plate (7) is provided on the surface of the movable plate (6), a second electric push rod (8) is provided on the inner side surface of the vertical plate (7), a mounting plate (9) is provided on the lifting end of the second electric push rod (8), and a grinding device (10) is provided on the side surface of the mounting plate (9); A support frame (11), a support rod (12) is provided on the side of the support frame (11), a rotating rod (13) is provided on the end surface of the support rod (12), and a limiting plate (14) is provided on the bottom of the support frame (11); A positioning plate (15) is provided, wherein the surface of the positioning plate (15) is connected with an auxiliary plate (17) by a hinge (16), a connecting plate (18) is provided on the side of the positioning plate (15), and a spraying pipe (19) is placed on the surface of the positioning plate (15).

2. The feeding robot for sandblasting and rust removal of outfitting parts according to claim 1 is characterized in that: The movable plate (6) is fixedly connected to the lifting end of the first electric push rod (5), a movable groove (20) is provided on the side of the movable plate (6), and the movable groove (20) is in a "T"-shaped plate structure as a whole. The vertical plate (7) is fixedly connected to the surface of the movable plate (6), and the grinding device (10) is fixedly connected to the side of the mounting plate (9) by means of bolts. A movable block (21) is provided on the side of the grinding device (10), and the movable block (21) is in a "T"-shaped plate structure as a whole. The movable block (21) is inserted into the movable groove (20).

3. The feeding manipulator for sandblasting and rust removal of outfitting parts according to claim 1 is characterized in that: A motor fixing plate (22) is provided on the side of the fixing rod (3), a driving motor (23) is fixedly connected inside the motor fixing plate (22), a driving gear (24) is sleeved on the transmission end of the driving motor (23), a transmission gear (25) is sleeved on the surface of the support rod (12), and the driving gear (24) and the transmission gear (25) are meshed with each other for transmission.

4. The feeding robot for sandblasting and rust removal of outfitting parts according to claim 1 is characterized in that: A limit bearing (26) is provided on the end face of the fixed rod (3), one end of the rotating rod (13) is fixedly connected to the inner ring surface of the limit bearing (26), the support frame (11) is fixedly connected to the other end of the support rod (12), the limit plate (14) is a square plate-shaped structure as a whole, and the limit plate (14) is fixedly connected to the bottom of the support frame (11).

5. The feeding robot for sandblasting and rust removal of outfitting parts according to claim 1 is characterized in that: The support frame (11) is provided with a positioning seat (27) on the side thereof. The positioning seat (27) is provided in two groups. The two groups of positioning seats (27) are symmetrically distributed with respect to the support frame (11). A traction plate (28) is provided on the side thereof. A Velcro plane (29) is provided on the end surface of the traction plate (28). The traction plate (28) is in the shape of a square plate as a whole.

6. The feeding robot for sandblasting and rust removal of outfitting parts according to claim 1 is characterized in that: The surface of the spraying tube (19) is provided with an elastic sleeve (30), and the surface of the elastic sleeve (30) is provided with a Velcro surface (31). Two groups of elastic sleeves (30) are provided, and the two groups of elastic sleeves (30) are symmetrically distributed about the auxiliary plate (17).

7. The feeding robot for sandblasting and rust removal of outfitting parts according to claim 1 is characterized in that: The side of the limiting plate (14) is provided with a positioning opening (32), the connecting plate (18) is sleeved on the limiting plate (14), the positioning plate (15) and the auxiliary plate (17) are integrally formed into an arc-shaped plate structure, and the auxiliary plate (17) is fixedly connected to the surface of the connecting plate (18) by means of positioning bolts.

8. The feeding robot for sandblasting and rust removal of outfitting parts according to claim 1 is characterized in that: A movable opening (43) is provided on the side of the positioning plate (15), a support plate (33) is provided in the movable opening (43), a guide plate (34) is provided on the outer side of the support plate (33), and the guide plate (34) is an "L"-shaped plate structure. A support plate (35) and a traction block (42) are provided at the bottom of the connecting plate (18).

9. The feeding robot for sandblasting and rust removal of outfitting parts according to claim 8, characterized in that: A through hole is provided on the side of the traction block (42), into which a moving rod (36) is inserted, and a positioning block (37) is provided on the end face of the moving rod (36), which passes through the support plate (35) and is inserted into the positioning opening (32). A limiting spring (38) is sleeved on the surface of the moving rod (36), one end of the limiting spring (38) is fixedly connected to the side of the traction block (42), and the other end of the limiting spring (38) is fixedly connected to the end face of the positioning block (37), and the support plate (35) as a whole is an "L"-shaped plate structure.

10. The feeding robot for sandblasting and rust removal of outfitting parts according to claim 9, characterized in that: A positioning bearing (39) is provided on the side of the support plate (35), a moving screw (40) is fixedly connected to the inner ring surface of the positioning bearing (39), a fixing nut (41) is provided on the surface of the moving screw (40), the guide plate (34) is screwed on the moving screw (40), the bottom of the guide plate (34) is sleeved on the support plate (35), and the guide plate (34) is slidably connected to the bottom end of the support plate (35).

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