Turnover laser cleaning device based on robot

Abstract

A turnover laser cleaning device based on a robot comprises a bottom frame, a cage type turnover machine and a ground rail are arranged on the bottom frame, a roller conveyor is installed in the cage type turnover machine, a plurality of clamps are installed on a rack of the roller conveyor, the robot is assembled on the ground rail, and a laser cleaning machine is installed at the tail end of the robot. The workpiece cleaning device is used for solving the problems that the cleaning range of a robot is limited, one-time cleaning cannot be achieved, and the overall workpiece cleaning efficiency is affected.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of overturning laser cleaning device based on robot. BACKGROUND

[0002] Current laser cleaning mode for workpiece is that conveying machine carries workpiece from one side of robot, workpiece is cleaned by laser cleaning machine of robot during passing, so that robot cannot clean the bottom surface and one side of workpiece due to limited movement range, causing the work of robot to be limited, cannot be cleaned once, affect the overall cleaning efficiency of workpiece. SUMMARY

[0003] The utility model aims at providing a kind of overturning laser cleaning device based on robot, to solve the problem that the cleaning range of robot is limited, cannot be cleaned once, affect the overall cleaning efficiency of workpiece.

[0004] To solve the above problems, the technical scheme of the utility model is:

[0005] A kind of overturning laser cleaning device based on robot, including chassis, cage type turnover machine and ground rail are equipped on chassis, roller conveyor is installed in cage type turnover machine, multiple clamps are installed on roller conveyor rack, robot is assembled on ground rail, laser cleaning machine is installed at the end of robot.

[0006] It further includes truss crane, the chassis is located in the truss crane.

[0007] Camera is installed at the end of robot.

[0008] The roller conveyor is double-row roller conveyor.

[0009] Multiple limit blocks are fixedly connected on the rotating ring in cage type turnover machine, each limit block is evenly distributed around the rotating ring axis, trapezoidal notch is provided at the end of each limit block towards rotating ring axis, guide seat is fixedly connected on chassis, positioning cylinder is fixedly connected on guide seat, connecting block is fixedly connected with the piston rod of positioning cylinder, trapezoidal positioning block and multiple guide shafts are fixedly connected on connecting block, multiple shaft holes are formed on guide seat, each guide shaft is assembled in each shaft hole, and the positioning cylinder is used to drive the positioning block to insert or extract trapezoidal notch of limit block.

[0010] Fixed rod is fixedly connected on support wheel frame in cage type turnover machine, angle encoder is installed on fixed rod, the rotating shaft in angle encoder is in driving connection with one end of driving gear shaft in turnover machine, angle encoder is connected with the input end of controller, and solenoid valve connected with the output end of controller is used to control the extension and retraction of positioning cylinder.

[0011] The utility model discloses a beneficial effect is: first, the robot is set up on the ground rail, lets the robot on the ground rail can along the roller conveyor conveying direction movement, secondly, the work piece is set up in the cage type turnover machine, like this on the basis of six -axis robot has increased a transverse axle and has increased a work piece turnover axle, and then can more flexible adjustment cleaning laser's angle and position to cover more extensive cleaning area, including difficult to reach corner and gap. In addition, the device can work 24 hours uninterruptedly, greatly improve the cleaning efficiency, reduce the time and labour intensity of manual operation, also reduce the cleaning quality fluctuation caused by human factors. BRIEF DESCRIPTION OF DRAWINGS

[0012] The utility model makes further explanation from the following combined with the drawing:

[0013] Fig. 1 It is the three-dimensional structure schematic diagram of the utility model,

[0014] Fig. 2 It is the three-dimensional structure schematic diagram of the utility model,

[0015] Fig. 3 It is the three-dimensional structure schematic diagram of the utility model about robot

[0016] Fig. 4 It is the partial three-dimensional structure schematic diagram of the utility model,

[0017] Fig. 5 It is the overhead structure schematic diagram of the utility model,

[0018] Fig. 6 It is the connection relation schematic diagram of each electric device of the utility model.

[0019] In the drawing: truss -type crane 1, cage type turnover machine 2, limit block 3, underframe 4, connecting block 5, positioning cylinder 6, laser cleaning machine 7, camera 8, robot 9, ground rail 10, angle encoder 11, clamp 12, roller conveyor 13, guide seat 14, guide shaft 15, positioning block 16, roller conveyor 17, swivel ring 21, support wheel frame 22, driving gear 23. DETAILED DESCRIPTION

[0020] The technical scheme in the utility model embodiment will be described clearly and completely in combination with the drawings in the utility model embodiment, and obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without making creative labor belong to the range of the utility model protection.

[0021] As Figs. 1 to 3As shown, a robot-based flipping laser cleaning device includes a base frame 4, on which a cage-type flipping machine 2 and a ground rail 10 are mounted. A roller conveyor 13 is installed inside the cage-type flipping machine 2, and multiple pneumatic clamps 12 are mounted on the frame of the roller conveyor 13. A robot 9 is mounted on the ground rail 10, and a laser cleaning machine 7 is mounted at the end of the robot 9. The ground rail 10 is a servo ground rail 10, and the robot 9 is an industrial robot 9. The servo ground rail 10 drives the industrial robot 9 to move along the conveying direction of the roller conveyor 13. Roller conveyors 17 are set on both sides of the roller conveyor 13 for inputting and outputting workpieces.

[0022] In use, the roller conveyor transports the workpiece into the roller conveyor 13, and then multiple pneumatic clamps 12 clamp and position the workpiece. Then, the industrial robot 9, with the cooperation of the ground rail 10, performs laser cleaning on the top surface of the workpiece. After the top surface is cleaned, the cage-type tilting machine 2 rotates at an angle, and the industrial robot 9, with the cooperation of the ground rail 10, cleans the rotated surface. This cycle is repeated until all surfaces of the workpiece have been completely cleaned by laser cleaning.

[0023] It also includes a truss crane 1, with the base frame 4 located inside the truss crane 1. When the workpiece is misaligned and the clamp 12 cannot hold the workpiece, the truss crane 1 can be used to fine-tune the workpiece position to facilitate workpiece fixation.

[0024] A camera 8 is installed at the end of robot 9. Camera 8 can monitor the cleaning process and cleaning effect in real time, and the captured image data can be used to optimize the cleaning program and improve cleaning efficiency and quality.

[0025] The roller conveyor 13 is a double-row roller conveyor 13. Compared with the roller conveyor, the bottom surface of the double-row roller conveyor 13 is not blocked by the rollers in the roller conveyor, so the bottom surface of the workpiece can also be cleaned.

[0026] like Fig. 4 As shown, multiple limiting blocks 3 are fixedly connected to the rotating ring 21 in the cage-type tilting machine 2. Each limiting block 3 is evenly distributed around the axis of the rotating ring 21. Each limiting block 3 has a trapezoidal notch at one end facing the axis of the rotating ring 21. A U-shaped guide seat 14 is fixedly connected to the base frame 4. A positioning cylinder 6 is fixedly connected to the guide seat 14. The piston rod of the positioning cylinder 6 is fixedly connected to the connecting block 5. A trapezoidal positioning block 16 and multiple guide shafts are fixedly connected to the connecting block 5. Multiple shaft holes are opened on the guide seat 14. Each guide shaft 15 is assembled in each shaft hole. The positioning cylinder 6 is used to drive the positioning block 16 to insert or withdraw from the trapezoidal notch of the limiting block 3.

[0027] After the cage type turnover machine 2 rotates an angle, the cylinder drives the positioning block 16 to insert into the trapezoidal gap of the limiting block 3, so as to position the cage type turnover machine 2 and prevent the cage type turnover machine 2 from rotating, so that the rotation angle of the cage type turnover machine 2 is accurate, and the laser cleaning effect is ensured.

[0028] As shown in Figs. 4 to 6 The fixed rod is fixedly connected to the support wheel frame 22 in the cage type turnover machine 2, the angle encoder 11 is installed on the fixed rod, the rotating shaft in the angle encoder 11 is in transmission connection with one end of the driving gear 23 in the turnover machine, the angle encoder 11 is connected to the input end of the controller, the cage type turnover machine 2, the roller conveyor 13 and the electromagnetic valve for controlling the action of the positioning cylinder 6 and each clamp are connected to the output end of the controller, the controller is a PLC controller, the PLC controller is in communication connection with the control system of the industrial robot 9. The rotation angle of the cage type turnover machine 2 is detected in real time by the angle encoder 11, after the cage type turnover machine 2 rotates to the set angle is detected, the PLC controller controls the action of the positioning cylinder 6 to lock the cage type turnover machine 2, and signals are given to the control system of the industrial robot 9 to inform that the angle has been positioned, and then the industrial robot 9 performs laser cleaning on the workpiece according to the set program, so that the automatic cleaning of the workpiece can be realized, the labor intensity of workers is reduced, and the cleaning efficiency is improved.

[0029] The content described in the embodiments of the present specification is only a list of implementation forms of the utility model concept, the protection scope of the utility model should not be regarded as limited to the specific forms stated in the embodiments, and the protection scope of the utility model also extends to the equivalent technical means that can be thought of by the person skilled in the art according to the utility model concept.

Claims

1. A robot-based inverted laser cleaning apparatus, characterized by: Including the chassis (4), be equipped with the cage type turnover machine (2) and the ground rail (10) on the chassis (4), install the roller conveyor (13) in the cage type turnover machine (2), install multiple clamps (12) on the roller conveyor (13) rack, the robot (9) is assembled on the ground rail (10), install the laser cleaning machine (7) in the robot (9) end.

2. The robot-based flip laser cleaning device of claim 1, wherein: It also includes a truss crane (1), and the chassis (4) is located in the truss crane (1).

3. The robot-based inverted laser cleaning apparatus of claim 1, wherein: A camera (8) is installed at the end of the robot (9).

4. The robot-based inverted laser cleaning apparatus of claim 1, wherein: The roller conveyor (13) is a double-row roller conveyor (13).

5. A robot-based roll-over laser cleaning apparatus according to any one of claims 1 to 4, characterized in that: A plurality of limiting blocks (3) are fixedly connected to the rotating ring (21) in the cage type turnover machine (2), each limiting block (3) is uniformly distributed around the axis of the rotating ring (21), a trapezoidal notch is provided at one end of each limiting block (3) facing the axis of the rotating ring (21), a guide seat (14) is fixedly connected to the chassis (4), a positioning cylinder (6) is fixedly connected to the guide seat (14), the piston rod of the positioning cylinder (6) is fixedly connected to a connecting block (5), a trapezoidal positioning block (16) and a plurality of guide shafts are fixedly connected to the connecting block (5), a plurality of shaft holes are formed in the guide seat (14), each guide shaft is assembled in each shaft hole, and the positioning cylinder (6) is used to drive the positioning block (16) to insert or withdraw from the trapezoidal notch of the limiting block (3).

6. The robot-based inverted laser cleaning apparatus of claim 5, wherein: A fixed rod is fixedly connected to the support wheel frame (22) in the cage type turnover machine (2), an angle encoder (11) is installed on the fixed rod, the rotating shaft in the angle encoder (11) is in transmission connection with one end of the shaft of the driving gear (23) in the turnover machine, the angle encoder (11) is connected to the input end of the controller, and the electromagnetic valve for controlling the action of the positioning cylinder (6) is connected to the output end of the controller.

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