公开(公告)号：US11826878B2

公开(公告)日：2023-11-28

申请号：US17515555

申请日：2021-11-01

Applicant: TAIYUAN UNIVERSITY OF TECHNOLOGY

Inventor： Tao Wang ,  Jinzhu Zhang ,  Dongping He ,  Zepeng Lu ,  Yaguan Li ,  Fanglin Li ,  Ting Li

IPC: B24B47/10 ,  B24B27/033

CPC classification number: B24B47/10 ,  B24B27/033

Abstract: A rigid-flexible coupling-driven robot for removing oxide scales on super large shaft forgings online includes a heavy-duty manipulator main body, four walking systems, a movable arm lifting system, a clamping system, a power system, two oxide scale removal systems and a visual identification system. The two oxide scale removal systems are respectively installed on the two trapezoidal plates of the clamping system. Each of the two oxide scale removal systems adopts rigid-flexible coupling drive technology, that is, the rigid drive of the overhead hydraulic cylinder, cable-stayed hydraulic cylinder, the long stroke scissor retractable bracket and the rack and pinion device is combined with the flexible drive of the wire rope, so that the retraction and the angle tilt of the parallelogram end removal device are realized, which makes the oxide scale removal more flexible and efficient, thus greatly improving the product quality of large forgings.