CN202894632U - Container connecting pipe intersecting wire-electrode cutting robot mechanism - Google Patents

Abstract

The purpose of the utility model is to provide a robot mechanism for intersecting line cutting of container pipes, including a lifting arm, a telescopic arm, a rotating arm, a posture arm, a first-third rotating joint shaft, a first-second moving joint shaft, and a base. The first rotating joint shaft is installed on the lifting arm, the clamper is connected to the first rotating joint shaft, the lifting arm and the telescopic arm are connected through the first moving joint shaft, and the telescopic arm and the rotating arm are connected through the second moving joint shaft , the rotating arm and the attitude arm are connected through the second rotating joint axis, and the attitude arm is connected to the base through the third rotating joint axis. The utility model adopts a tandem structure and has five degrees of freedom, two of which are moving joints and three are rotating joints, aiming at the special processing objects such as container opening cutting and pipe intersecting line cutting, realizing intersecting joints in containers. The utility model has greater flexibility and practicability for line opening cutting and intersecting pipe itself intersecting line cutting.

Description

Robot Mechanism for Container Takeover Intersecting Wire Cutting

technical field

The utility model relates to a robot used for cutting operations.

Background technique

At present, various forms of intersecting line cutting are widely used in petroleum, chemical, boiler, pressure vessel, pipeline and other projects, and intersecting pipe itself intersecting line cutting; industrial serial robot structure has There are four basic structures: rectangular coordinate robot, cylindrical coordinate robot, polar coordinate robot, crawling robot and typical multi-joint series robot. These robots are difficult to adapt to the special environment of the pipe end due to their own structural limitations. In order to realize container opening cutting and take over the work object of self-intersecting line cutting, there is an urgent need in reality for a new structure of industrial robots that can complete a variety of operations and can outperform this special work object.

Contents of the invention

The purpose of the utility model is to provide a container pipe intersecting line cutting robot mechanism for special processing objects such as container opening cutting and pipe intersecting line cutting.

The purpose of this utility model is achieved in that:

The utility model container takeover intersecting line cutting robot mechanism is characterized in that it includes a lifting arm, a telescopic arm, a rotating arm, an attitude arm, a first-third rotating joint shaft, a first-second moving joint shaft, and a base. The first rotating joint shaft is installed on the lifting arm, the clamper is connected to the first rotating joint shaft, the lifting arm and the telescopic arm are connected through the first moving joint shaft, and the telescopic arm and the rotating arm are connected through the second moving joint shaft , the rotating arm and the attitude arm are connected through the second rotating joint axis, and the attitude arm is connected to the base through the third rotating joint axis.

The utility model can also include:

1. It also includes the torch, which is installed on the holder.

2. The rotation axis of the second swivel joint shaft is perpendicular to the rotation axis of the third swivel joint shaft, the movement direction of the second moving joint shaft is perpendicular to the rotation axis of the second swivel joint shaft, and the first The axis of the rotating joint axis is perpendicular to the axis of the first moving joint axis.

The advantage of the utility model is that the utility model adopts a serial structure and has five degrees of freedom, two of which are moving joints and three are rotating joints, for the special processing of container opening cutting and pipe intersecting line cutting. The object is to realize the cutting of the opening on the intersecting line of the container and the cutting of the intersecting line of the connecting pipe itself. The utility model has greater flexibility and practicability.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the schematic diagram when container opening cutting;

Fig. 3 is a schematic diagram when cutting the intersecting line of the pipe itself.

Detailed ways

The utility model is described in more detail below in conjunction with accompanying drawing example:

Combined with Figures 1 to 3, in order to realize the cutting of the intersecting line of the container and the cutting of the intersecting line of the pipe itself, the attitude of the other four joints relative to the axis of the pipe is mainly adjusted from one rotary joint connected to the base. , after adjusting the posture, according to the operation requirements, the end effector clamps the torch to perform specific operations; the four joints connected from the end effector to the base can also be directly linked to realize the cutting and connection of the intersecting line of the container Self-intersecting line cutting operations, etc. Relative to its fixed installation position, that is, the first rotary joint relative to the base is defined as a U joint; the second rotary joint is defined as an A joint. When the robot is installed on a cross arm, gantry or other mechanism through the base Above, by rotating the U joint, align the rotation center of the A joint with the axis of the joint and make it coincide as much as possible; the third joint is defined as R for the movement joint, and the R joint mainly realizes the change in the radius direction of the joint; the fourth movement The joint is defined as H, and the H joint mainly realizes the movement in the direction of taking over the busbar; the fifth rotary joint is defined as S, and the gripper is installed on the S joint. According to specific operation requirements, the gripper can hold different operation tools and realize different operations.

The base 12 can be installed on the cross arm, gantry or other mechanisms according to the working conditions on site, so as to place the robot above the work object; the U joint is installed on the base 12, and the U joint is composed of the attitude arm 10 and the rotation joint axis III11 The rotation axis of the rotation joint III11 is perpendicular to the installation surface of the base 12; the A joint is installed on the attitude arm 10, and the A joint is composed of the rotation arm 8 and the rotation joint axis II9, wherein the rotation axis of the rotation joint axis II9 It is perpendicular to the rotation axis of the rotary joint axis III11. Usually, the container has a large weight and volume, and it is difficult to adjust the posture. Generally, the container is placed horizontally on the ground or on a rolling tire frame, so the A is adjusted through the movement of the U joint. The joint rotation axis is aligned with the takeover axis; the R joint is installed on the rotating arm 8, and the R joint is composed of the telescopic arm 6 and the moving joint axis II7, and the moving direction of the moving joint axis II7 is the same as the rotation axis of the rotating joint axis II9. Vertical, the main function of the R joint is to adapt to the change of the radial movement when cutting the intersecting line of the container and cutting the intersecting line of the pipe itself; the end of the telescopic arm 6 is installed on the H joint, which is composed of the lifting arm 4 and the moving joint shaft Composed of I5, the lifting arm 4 can move along the moving joint axis I5. The main function of the H joint is to adapt to the change of the movement amount of the busbar when the container intersecting line is cut and the pipe itself is cut; the S joint is installed with the lifting arm 4. The end part is composed of the holder 2 and the rotary joint shaft I3. The axis of the rotary joint shaft I3 is perpendicular to the axis of the moving joint shaft I5. When cutting, install the torch on the holder and make the torch 1 The axis of the axis and the axis of the rotary joint shaft II9 are on the same plane. When the container intersecting line opening cutting and the pipe itself intersecting line cutting, the holder 2 completes the cutting operation with the torch. The driving mode of each axis can be determined according to the use environment, positioning accuracy, repeat positioning accuracy and specific operation conditions.

Claims (3)

1. The robot mechanism of the container taking over the intersecting wire cutting is characterized by: including a lifting arm, a telescopic arm, a rotating arm, an attitude arm, the first-third rotating joint shaft, the first-second moving joint shaft, a base, the first A rotating joint shaft is installed on the lifting arm, the clamper is connected to the first rotating joint shaft, the lifting arm and the telescopic arm are connected through the first moving joint shaft, and the telescopic arm and the rotating arm are connected through the second moving joint shaft. The rotating arm and the attitude arm are connected through the second rotating joint axis, and the attitude arm is connected to the base through the third rotating joint axis. 2. The robot mechanism for intersecting line cutting of container joints according to claim 1, characterized in that: it also includes a torch, and the torch is installed on the holder. 3. The robot mechanism for intersecting line cutting of container pipes according to claim 1 or 2, characterized in that: the rotation axis of the second rotary joint shaft is perpendicular to the rotation axis of the third rotary joint shaft, and the second The movement direction of the second moving joint axis is perpendicular to the rotation axis of the second rotating joint axis, and the axis of the first rotating joint axis is perpendicular to the axis of the first moving joint axis.

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