CN102554967A - Water jet cutting actuating device - Google Patents
Water jet cutting actuating device Download PDFInfo
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- CN102554967A CN102554967A CN2010106031861A CN201010603186A CN102554967A CN 102554967 A CN102554967 A CN 102554967A CN 2010106031861 A CN2010106031861 A CN 2010106031861A CN 201010603186 A CN201010603186 A CN 201010603186A CN 102554967 A CN102554967 A CN 102554967A
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Abstract
The invention belongs to the technical field of cutting control, and particularly relates to a water jet cutting control device, which comprises an X-direction moving module, a Y-direction moving module, a Z-direction moving module, a theta-direction moving module and a cutting device. The X-direction moving module is used as a base, the Y-direction moving module is supported on the X-direction moving module and can integrally slide in an X-direction, the Z-direction moving module is supported on the Y-direction moving module, not only can integrally slide in a Y-direction, but also can slide in the X-direction along with the Y-direction moving module, and can also slide in a Z-direction by the aid of a self component of the Z-direction moving module, the theta-direction moving module is positioned inside the Z-direction moving module and can rotate, and the cutting device is connected to the lower end of the theta-direction moving module. The water jet cutting control device solves technical problems that degrees of freedom of an existing water jet cutting device are few and a vertical cutting stroke of the existing water jet cutting device is short, and technical effects with multiple degrees of freedom, a long vertical cutting stroke and convenience in transportation and assembly are realized.
Description
Technical field
The invention belongs to cutting control technology field, be specifically related to a kind of water jet cutting actuating unit.
Background technology
Because characteristics efficient, cold conditions that the water jet cutting has; The water jet cutting machine is with its high-energy-density, good jet controllability and material adaptability; Can realize deep penetration and comprehensive cutting, in industry, have widely and use all kinds of soft, hard materials.
It should be noted that existing water water jet cutting machine can only carry out the plane cutting based on two frees degree usually, can not realize the cutting to large-scale shield arbitrary orientation, arbitrary shape.
Be widely used in industrial numerical control machine and have multiple degrees of freedom, can comprehensive workpiece be processed and cut.Even if but planar degrees of freedom forms the heavy duty machine tools that reach 4～8m, the stroke of its vertical free degree also only limits to 1.6m, can not satisfy the vertical cutting stroke of large-scale shield; In addition, Digit Control Machine Tool has very strong processing specific aim, and the processing that it is only applicable to a certain type part usually is difficult to realize the cutting of arbitrary shape; At last, the incorporate design of Digit Control Machine Tool causes it to be not easy to dismounting, causes hard transportation, makes it can only be confined to the fixed location operation.
Summary of the invention
The technical issues that need to address of the present invention provide a kind of water jet cutting actuating unit, and it has multiple degrees of freedom, high accuracy, big vertically cutting stroke, can realize the cutting of arbitrary orientation, arbitrary shape, and be convenient to the transportation assembling.
Technical scheme of the present invention is described below:
A kind of water jet cutting actuating unit; Comprise X to motion module, Y to motion module, Z to motion module, θ to motion module and water jet cutting machine; Its overall positions relation is: is pedestal with X to motion module; Y is supported in X on motion module to motion module, can integral body carry out X to slip; Z is supported in Y on motion module to motion module, both can integral body carry out Y to slip, can carry out X to slip to motion module with Y again, can also rely on self assembly to carry out Z to slip; It is inner to motion module that θ is positioned at Z to motion module, can be rotated motion; The water jet cutting machine is connected in θ to the motion module lower end.
X comprises two X to brace summer and one first motor beam to motion module, and two X place to the brace summer opposing parallel, and first motor beam is installed in two X between brace summer, and its two ends are individually fixed in the end of two X to the corresponding side of brace summer; Each X is equipped with an X to guide rail to brace summer, and each X is equipped with two X to the guide rail slide block on guide rail; Each X all is equipped with X to ball-screw to the brace summer top, and each X is equipped with an X to feed screw nut to ball-screw; Each X all is equipped with synchronous band at X is fixed with an end from first motor beam to brace summer with the direction that is parallel to first motor beam on ball-screw; X is installed to motor on first motor beam, two X all are connected to motor with X to the synchronous band of brace summer;
Y comprises two Y to brace summer and one second motor beam to motion module, and two Y place to the brace summer opposing parallel, and second motor beam is installed in two Y between brace summer, and its two ends are individually fixed in the end of two Y to the corresponding side of brace summer; Two truss plates are to be installed on two Y perpendicular to Y between brace summer to the direction of brace summer, and it lays respectively at the head and the tail two ends of Y to brace summer; Each Y is equipped with a Y to guide rail to brace summer, and each Y is equipped with two Y to the guide rail slide block on guide rail, and one of them Y is equipped with Y to ball-screw to the brace summer top, and Y is equipped with a Y to feed screw nut to ball-screw; To the brace summer top, it is connected to feed screw nut with Y to nut seat through Y, can slide to guide rail along Y in two Y for dolly plate floor board framing; Y is installed to motor on second motor beam;
Y is installed on X to motion module top perpendicular to X to the direction of brace summer to brace summer with Y to motion module; Wherein, Each X all passes the end relevant position of two Y to brace summer to ball-screw, and X is connected to the truss plate of motion module with Y to nut seat through X to feed screw nut; The truss plate is supported in X to guide rail slide block top, and Y can whole be slided to guide rail along X to motion module;
Z to motion module comprise Z to support bar, rail support bar, guide post, Z to ball-screw, urceolus, guide cylinder, Z to motor and dolly plate, wherein Z to support bar, rail support bar, guide post, Z to the height of ball-screw and urceolus preferably all greater than 4m; Dolly plate top be equipped with Z to support bar, rail support bar, guide post and Z to ball-screw, the dolly plate below be equipped with drive Z to the Z of ball-screw motion to motor and guide cylinder, urceolus runs through dolly plate; Urceolus, Z all vertically place to support bar to ball-screw and Z, and the three forms a line successively in the past backward, and rail support bar and guide post vertically are installed on the left and right sides of Z to ball-screw respectively; The rail support bar is provided with Z to guide rail, and said Z is equipped with Z to the guide rail slide block to guide rail, and the guide post outside is with the fairlead that can move up and down along guide post; The part that urceolus is positioned at the dolly plate top is provided with the urceolus connector; Urceolus connector middle part be installed on the Z of Z on ball-screw and be connected to feed screw nut; Urceolus connector two ends are connected with the outside fairlead of guide post to the guide rail slide block with the Z of rail support bar respectively, and the part that urceolus is positioned at the dolly plate below stretches into the guide cylinder that is fixed in the dolly plate below;
Z is connected to the dolly plate base plate of motion module with Y to the dolly plate of motion module, and Z can whole be slided to guide rail along Y with the dolly plate base plate to motion module;
θ comprises that to motion module inner core, the two pairs of deep groove ball bearings and thrust ball bearing combination and θ are to motor; Wherein, inner core is inner to the urceolus of motion module in Z through each a pair of deep groove ball bearing of upper and lower side and thrust ball bearing aggregate erection, and urceolus and guide cylinder are stretched out in its lower end; θ is installed on the inner core top to motor, and its drive inner cylinder rotatablely moves in urceolus inside;
The cutting head of water jet cutting machine is connected in the inner core lower end, and other assemblies of water jet cutting machine are connected through pressure duct with cutting head.
As improvement of the present invention, said X can also comprise two horizontal adjustment bars and four vertical adjustment nuts to motion module.Wherein, two horizontal adjustment bars are to be installed on two X perpendicular to X between brace summer to the direction of brace summer, and two horizontal adjustment bars lay respectively at the head and the tail two ends of X to brace summer; Four vertical adjustment nuts, its install respectively with in the end lower end of two X to brace summer.In addition, can also be separately installed with height-adjustable frame supporting leg below the said vertical adjustment nut.
As further improvement of the present invention, the inwall of Z guide cylinder in motion module can liner of interference fit, and the material of liner is preferably polytetrafluoroethylene (PTFE), and its inwall can have several rectangular channels.
The cutting head of water jet cutting machine according to the invention can be directly connected in the inner core lower end through flange; Also can be connected with manipulator through flange, manipulator is connected in the inner core lower end through special-purpose jockey.
The special-purpose jockey of said manipulator comprises inner core link, connecting cylinder and manipulator link; Wherein, the inner core link is and the measure-alike circle in said inner core lower end, which is provided with the screw screw; Connecting cylinder is a cylinder, is positioned at middle part, inner core link below; The manipulator link is positioned at the connecting cylinder below, and its shape is identical with said manipulator upper surface shape, and is provided with the screw screw.As preferred version, the special-purpose jockey of manipulator can also be provided with the some reinforcements that are supported between inner core link and the manipulator link.
Beneficial effect of the present invention comprises:
(1) X has guaranteed the cutting of four frees degree can realize that kinematic accuracy can reach 0.5mm to being cut the cutting of cylindrical shell arbitrary orientation, arbitrary shape to motion module to motion module and θ to motion module, Z to motion module, Y;
(2) Z in motion module Z to support bar, rail support bar, guide post, Z to the height of ball-screw and urceolus all greater than 4m, make device vertical motion stroke of the present invention reach 3.9m, satisfied the vertical split requirement of large-scale shield;
(3) device of the present invention adopts modularized design; X is divided into two X and to brace summer and three of one first motor beam module is installed to motion module is removable; Y need not dismounting to motion module and as one module is installed, Z to motion module with θ to motion module integral body as a motion module, can five installation modules are placed apart during transportation; Conserve space is convenient to deposit; Only need adopt such as conventional union pieces such as bolt, shop bolts during installation and can be combined into one, device repetition installation accuracy can reach 0.1mm;
(4) X makes an X to the rotation of two X of motor ability Synchronization Control to ball-screw through synchronous band in motion module, provides safeguard for realizing the high accuracy cutting;
(5) X installs the horizontal adjustment bar and both can regulate the depth of parallelism of two X to brace summer according to actual conditions in motion module, can play the effect of X to motion module of reinforcing again;
(6) X installs vertically adjustment nut in motion module, has further ensured the levelness of X to motion module;
(7) X vertically is equipped with height-adjustable frame supporting leg below the adjustment nut in motion module, can be according to the high flexible adjusting device level height of institute's cutting parts;
(8) Z urceolus, Z in motion module all vertically places to support bar to ball-screw and Z; The three forms a line successively in the past backward; Rail support bar and guide post vertically are installed on the left and right sides of Z to ball-screw respectively; Make Z to support bar, rail support bar and guide post stroke rounded projections arranged, the moment of torsion of Z when ball-screw rotates can be evenly distributed to Z on support bar, rail support bar and guide post, and stroke is stablized stressed;
(9) Z urceolus connector two ends in motion module are connected with the outside fairlead of guide post to the guide rail slide block with the Z of rail support bar respectively; The part that urceolus is positioned at the dolly plate below stretches into the guide cylinder that is fixed in the dolly plate below; Z play the guiding role to the part that urceolus is positioned at the dolly plate top to guide rail slide block and fairlead; Guide cylinder play the guiding role to the part that urceolus is positioned at dolly plate below, make urceolus along Z to move more stable;
(10) Z liner of guide cylinder inwall interference fit in motion module; Its material is a polytetrafluoroethylene (PTFE); Its inwall has several rectangular channels; Both can reduce the friction between urceolus and the guide cylinder, when again can be in accomplishing water after the cutting urceolus being risen to guide cylinder through the water water conservancy diversion back pool that adhere to of rectangular channel with urceolus;
(11) cutting head of water jet cutting machine and inner core have multiple connected mode in this device, and when diameter was cut less than the cylindrical shell of 3.6m, cutting head was directly connected in the inner core lower end through flange; When diameter is cut less than the cylindrical shell of 3.97m greater than 3.6m; Cutting head is connected with manipulator through flange; Manipulator is connected in the inner core lower end through special-purpose jockey, because the owned a plurality of frees degree of manipulator, and avoiding obstacles automatically; Highly sensitive anticollision detection, warning and defencive function are arranged, therefore make this device can accomplish cutting accurately more flexibly;
(12) this device is used to connect the special-purpose jockey of manipulator, can realize convenient connection of different model manipulator and Z motion module inner core; The design of reinforcement makes special-purpose jockey performance more reliable and more stable.
Description of drawings
Fig. 1 is a water jet cutting actuating unit stereogram of the present invention;
Fig. 2 is a water jet cutting actuating unit front view of the present invention;
Fig. 3 is a water jet cutting actuating unit vertical view of the present invention;
Fig. 4 is a water jet cutting actuating unit X motion module front view of the present invention;
Fig. 5 is a water jet cutting actuating unit X motion module vertical view of the present invention;
Fig. 6 is a water jet cutting actuating unit Z motion module front view of the present invention;
Fig. 7 is the left view of Fig. 6;
Fig. 8 is the A-A profile of Fig. 6;
Fig. 9 is the special-purpose jockey front view of manipulator of the present invention;
Figure 10 is the special-purpose jockey vertical view of manipulator of the present invention.
Wherein, 1-X is to brace summer, 2-first motor beam, and 3-X is to guide rail, and 4-X is to the guide rail slide block, and 5-X is to ball-screw, and 6-X is to feed screw nut; 7-is with synchronously, and 8-X is to motor, 9-horizontal adjustment bar, and 10-vertically adjusts nut, and 11-Y is to brace summer, and 12-Y is to motor; 13-truss plate, 14-Y be to ball-screw, and 15-Z is to support bar, 16-rail support bar, and the 17-guide post, 18-Z is to ball-screw; 19-urceolus, 20-guide cylinder, 21-Z be to motor, 22-dolly plate, 23-fairlead, 24-urceolus connector; 25-inner core, 26-θ be to motor, 27-inner core link, 28-connecting cylinder, 29-manipulator link, 30-reinforcement.
The specific embodiment
Describe the present invention below in conjunction with accompanying drawing and embodiment:
Shown in Fig. 1～3, a kind of water jet cutting actuating unit of the present invention, comprise X to motion module, Y to motion module, Z to motion module, θ to motion module and water jet cutting machine.X mainly is made up of to the brace summer 1 and first motor beam 2 X to motion module; Y mainly is made up of to the motor beam 11 and second motor beam Y to motion module; Z mainly is made up of to ball-screw 18, urceolus 19 to support bar 15, rail support bar 16, guide post 17, Z Z to motion module, and θ mainly is made up of to motor 26 with θ inner core 25 to motion module.Its overall positions relation is: is pedestal with X to motion module, and Y is supported in X on motion module to motion module, can integral body carry out X to slip; Z is supported in Y on motion module to motion module, both can integral body carry out Y to slip, can carry out X to slip to motion module with Y again, can also rely on self assembly to carry out Z to slip; It is inner to motion module that θ is positioned at Z to motion module, can be rotated motion; The water jet cutting machine is connected in θ to the motion module lower end.
Shown in Fig. 4～5; X comprises that to motion module two X are to brace summer 1 and one first motor beam 2; Two X place to brace summer 1 opposing parallel, and first motor beam 2 is installed in two X between brace summer 1, and its two ends are individually fixed in the end of two X to brace summer 1 a corresponding side; Each X is equipped with an X to guide rail 3 to brace summer 1, and each X is equipped with two X to guide rail slide block 4 on guide rail 3; Each X all is equipped with X to ball-screw 5 to brace summer 1 top; Each X to ball-screw 5 be equipped with an X to feed screw nut 6 and an X to nut seat, two X on first motor beam 2 between the ball-screw 5, be provided with through synchronously with 7 for X power is provided to nut seat X to motor 8; Described synchronously with 7, X to ball-screw 5 and X to feed screw nut 6 can with X to motor 8 be converted into X to the X of nut seat to rectilinear motion, X is 3.6m to effective helical pitch of ball-screw 5 in the present embodiment; Each X is fixed with first motor beam 2 at X to brace summer 1 on ball-screw 5 a end all is equipped with the direction that is parallel to first motor beam 2 is with 7 synchronously; X is installed to motor 8 on first motor beam 2; Its optimum position is the middle part of first motor beam 2; Two X are with 7 all to be connected to motor 8 with X to brace summer 1 synchronously; This design can realize that an X drives two X to ball-screw 5 rotations simultaneously to motor 8, provides safeguard for realizing the high accuracy cutting.
Shown in Fig. 1～3; Y comprises that to motion module two Y are to brace summer 11 and one second motor beam; Two Y place to brace summer 11 opposing parallel, and second motor beam is installed in two Y between brace summer 11, and its two ends are individually fixed in the end of two Y to brace summer 11 corresponding sides; Two truss plates 13 are to be installed on two Y perpendicular to Y between brace summer 11 to the direction of brace summer 11, and it lays respectively at the head and the tail two ends of Y to brace summer 11; Each Y is equipped with a Y to guide rail to brace summer 11; Each Y is equipped with two Y to the guide rail slide block on guide rail; One of them Y is equipped with Y to ball-screw 14 to brace summer 11 tops; Y to ball-screw 14 be equipped with a Y to feed screw nut and a Y to nut seat, on second motor beam, promising Y provides Y from power to nut seat is installed to motor 12 to an end of ball-screw 14 near Y; Said Y to ball-screw 14 and Y to feed screw nut can with Y to motor 12 be converted into Y to the Y of nut seat to rectilinear motion; Dolly plate floor board framing in two Y to the Y of brace summer 11 to guide rail slide block top, it is connected to feed screw nut with Y to nut seat through Y,, under the guide effect of guide rail slide block, can slide to guide rail along Y at Y.
Y is installed on X to motion module top perpendicular to X to the direction of brace summer 1 to brace summer 11 with Y to motion module; Wherein, Each X all passes the end relevant position of two Y to brace summer 11 to ball-screw 5, and X is connected to the truss plate 13 of motion module with Y to nut seat through X to feed screw nut 6; Truss plate 13 is supported in X to guide rail slide block 4 tops, and under the guide effect of guide rail slide block 4, Y can whole carry out X to slip along X to guide rail 3 to motion module at X.
Shown in Fig. 6～8, Z to motion module comprise Z to support bar 15, rail support bar 16, guide post 17, Z to ball-screw 18, urceolus 19, guide cylinder 20, Z to motor 21 and dolly plate 22.Wherein, dolly plate 22 tops be equipped with Z to support bar 15, rail support bar 16, guide post 17 and Z to ball-screw 18, dolly plate 22 belows be equipped with drive Z to the Z of ball-screw 18 motions to motor 21 and guide cylinder 20, urceolus 19 runs through dolly plate 22.Urceolus 19, Z all vertically place to support bar 15 to ball-screw 18 and Z; The three forms a line successively in the past backward; Rail support bar 16 vertically is installed on the left and right sides of Z to ball-screw 18 respectively with guide post 17; This design makes Z to support bar 15, rail support bar 16 and guide post 17 stroke rounded projections arranged, and the moment of torsion of Z when ball-screw 18 rotations can be evenly distributed to Z on support bar 15, rail support bar 16 and guide post 17, and stroke is stablized stressed; Rail support bar 16 is provided with Z to guide rail, and said Z is equipped with Z to the guide rail slide block to guide rail, and guide post 17 outsides are with the fairlead 23 that can move up and down along guide post 17; The part that urceolus 19 is positioned at dolly plate 22 tops is provided with urceolus connector 24, urceolus connector 24 middle parts be installed on the Z of Z on ball-screw 18 and be connected to feed screw nut, by Z to feed screw nut drive urceolus 19 along Z to moving up and down; Urceolus connector 24 two ends are connected with guide post 17 outside fairleads 23 to the guide rail slide block with the Z of rail support bar 16 respectively; The part that urceolus 19 is positioned at dolly plate 22 belows stretches into the guide cylinder 20 that is fixed in dolly plate 22 belows; Z play the guiding role to the part that guide rail slide block and 23 pairs of urceolus 19 of fairlead are positioned at dolly plate 22 tops, and the part that 20 pairs of urceolus 19 of guide cylinder are positioned at dolly plate 22 belows play the guiding role.
For having satisfied the vertical split requirement of large-scale shield; Device vertical motion stroke of the present invention need reach more than the 3.9m; Therefore, in the present embodiment Z to support bar 15, rail support bar 16, guide post 17, Z to the height of ball-screw 18 and urceolus 19 all greater than 4m, be preferably 4.2m.In addition; Because urceolus 19 needs in that to reach under the prerequisite of rigidity requirement quality light as far as possible, the external diameter of urceolus 19 is 219mm in the present embodiment, and wall thickness is 28mm; Material is the 0Cr18Ni9 with better corrosion resistance, to realize that deflection is in 0.7mm under its situation of bearing the cutting reaction force.At last, the external diameter of guide cylinder 20 is 245mm in the present embodiment, and long is 500mm, and wall thickness is 22mm.
Z is connected to the dolly plate base plate of motion module with Y to the dolly plate 22 of motion module, and Z can whole be slided to guide rail along Y with the dolly plate base plate to motion module, and then slides to guide rail 3 along X to motion module with Y.
θ comprises that to motion module inner core 25, the two pairs of deep groove ball bearings and thrust ball bearing combination and θ are to motor 26; Wherein, in urceolus 19 inside of Z to motion module, urceolus 19 and guide cylinder 20 are stretched out in its lower end through each a pair of deep groove ball bearing of upper and lower side and thrust ball bearing aggregate erection for inner core 25; θ is installed on inner core 25 upper ends to motor 26, and its drive inner cylinder 25 rotatablely moves in urceolus 19 inside.
The cutting head of water jet cutting machine is connected in inner core 25 lower ends, and other assemblies of water jet cutting machine are connected through pressure duct with cutting head.Cutting head is directly connected in inner core 25 lower ends through flange in the present embodiment, and this direct-connected mode is applicable to the cylindrical shell of cutting diameter less than 3.6m.
The described water jet cutting machine of present embodiment is the high-pressure grinding material water jet cutting machine, and its performance parameter is maximum pressure 380MPa, and rated operating pressure 320MPa can cut the following stainless steel material of 50mm.It should be noted that water jet cutting machine of the present invention is not limited to above-mentioned high-pressure grinding material water jet cutting machine, all cutter sweeps that can realize the water jet cutting function are all within protection domain of the present invention.
Device of the present invention adopts modularized design; X is divided into two X and to brace summer 1 and 2 three of one first motor beam module is installed to motion module is removable; Y need not dismounting to motion module and as one module is installed, Z to motion module with θ to motion module integral body as a motion module, can five installation modules are placed apart during transportation; Conserve space is convenient to deposit; Only need adopt such as conventional union pieces such as bolt, shop bolts during installation and can be combined into one, device repetition installation accuracy can reach 0.1mm;
Use of the present invention is described below:
(1) module is installed through being combined into one with above-mentioned five such as conventional union pieces such as bolt, shop bolts;
(2) X is connected with the line of cut path control system to motor 26 with θ to motor 21 to motor 12, Z to motor 8, Y, wherein, the line of cut path control system is a general knowledge as well known to those skilled in the art;
(3) start power supply, under the instruction of line of cut path control system, X precuts according to track to the cutting head of motor 26 control water jet cutting machines to motor 21 and θ to motor 12, Z to motor 8, Y;
(4) precut errorless back starts the water jet cutting machine, on precut track, cuts.
The difference of present embodiment and embodiment 1 is:
X also comprises two horizontal adjustment bars 9 and four vertical adjustment nuts 10 to motion module.Wherein, two horizontal adjustment bars 9 are to be installed on two X perpendicular to X between brace summer 1 to the direction of brace summer 1, and two horizontal adjustment bars 9 lay respectively at the head and the tail two ends of X to brace summer 1; Four vertical adjustment nuts 10, its install respectively with in the end lower end of two X to brace summer 1.In addition, said vertical adjustment nut 10 belows can also be separately installed with height-adjustable frame supporting leg.
Horizontal adjustment bar 9 both can be regulated the distance of two X to brace summer 1 two ends according to actual conditions, thereby adjusted its depth of parallelism, can play the effect of X to motion module of reinforcing again; Vertically adjustment nut 10 has further ensured the levelness of X to motion module; Height-adjustable frame supporting leg can be according to the high flexible adjusting device level height of institute's cutting parts.
Embodiment 3
The difference of present embodiment and above-mentioned two embodiment is:
Inwall interference fit one liner of Z guide cylinder 20 in motion module, the material of liner is preferably polytetrafluoroethylene (PTFE), and its inwall can have several rectangular channels.
This design both can reduce the friction between urceolus 19 and the guide cylinder 20, when again can be in accomplishing water after the cutting urceolus 19 being risen to guide cylinder 20 through the water water conservancy diversion back pool that adhere to of rectangular channel with urceolus 19.
Embodiment 4
The difference of present embodiment and above-mentioned three embodiment is:
The cutting head of the water jet cutting machine of present embodiment is connected with manipulator through flange, and manipulator is connected in inner core 25 lower ends through special-purpose jockey, and this connected mode is applicable to that cutting diameter is greater than the cylindrical shell of 3.6m less than 3.97m.
Shown in Fig. 9～10, the special-purpose jockey of said manipulator comprises inner core link 27, connecting cylinder 28 and manipulator link 29; Wherein, inner core link 27 is and the measure-alike circle in said inner core 25 lower ends, which is provided with the screw screw; Connecting cylinder 28 is a cylinder, is positioned at middle part, inner core link 27 belows; Manipulator link 29 is positioned at connecting cylinder 28 belows, and its shape is identical with said manipulator upper surface shape, and is provided with the screw screw.As preferred version, the special-purpose jockey of manipulator can also be provided with the some reinforcements 30 that are supported between inner core link 27 and the manipulator link 29.
Manipulator model in the present embodiment is storehouse card KR16; Because the owned a plurality of frees degree of manipulator; And avoiding obstacles has highly sensitive anticollision detection, warning and defencive function automatically, therefore makes device of the present invention can accomplish cutting accurately more flexibly.It should be noted that to be applicable to that manipulator of the present invention is not limited to storehouse card KR16 type manipulator, any equipment with manipulator function all is applicable to the present invention.
Claims (10)
1. water jet cutting actuating unit is characterized in that: this device comprise X to motion module, Y to motion module, Z to motion module, θ to motion module and water jet cutting machine, wherein,
X comprises that to motion module two X are to brace summer (1) and one first motor beam (2); Two X place to brace summer (1) opposing parallel; First motor beam (2) is installed in two X between brace summer (1), and its two ends are individually fixed in the end of two X to the corresponding side of brace summer (1); Each X is equipped with an X to guide rail (3) to brace summer (1), and each X is equipped with two X to guide rail slide block (4) on guide rail (3); Each X all is equipped with X to ball-screw (5) to brace summer (1) top, and each X is equipped with an X to feed screw nut (6) to ball-screw (5); Each X goes up an end that is fixed with first motor beam (2) to brace summer (1) at X to ball-screw (5) and with the direction that is parallel to first motor beam (2) synchronous band (7) is installed all; X is installed to motor (8) on first motor beam (2), two X all are connected to motor (8) with X to the synchronous band (7) of brace summer (1);
Y comprises that to motion module two Y are to brace summer (11) and one second motor beam; Two Y place to brace summer (11) opposing parallel; Second motor beam is installed in two Y between brace summer (11), and its two ends are individually fixed in the end of two Y to the corresponding side of brace summer (11); Two truss plates (13) are to be installed on two Y perpendicular to Y between brace summer (11) to the direction of brace summer (11), and it lays respectively at the head and the tail two ends of Y to brace summer (11); Each Y is equipped with a Y to guide rail to brace summer (11), and each Y is equipped with two Y to the guide rail slide block on guide rail, and one of them Y is equipped with Y to ball-screw (14) to brace summer (11) top, and Y is equipped with a Y to feed screw nut to ball-screw (14); To brace summer (11) top, it is connected to feed screw nut with Y to nut seat through Y, can slide to guide rail along Y in two Y for dolly plate floor board framing; Y is installed to motor (12) on second motor beam;
Y is installed on X to motion module top perpendicular to X to the direction of brace summer (1) to brace summer (11) with Y to motion module; Wherein, Each X all passes the end relevant position of two Y to brace summer (11) to ball-screw (5), and X is connected to the truss plate (13) of motion module with Y to nut seat through X to feed screw nut (6); Truss plate (13) is supported in X to guide rail slide block (4) top, and Y can whole be slided to guide rail (3) along X to motion module;
Z to motion module comprise Z to support bar (15), rail support bar (16), guide post (17), Z to ball-screw (18), urceolus (19), guide cylinder (20), Z to motor (21) and dolly plate (22); Wherein, Dolly plate (22) top be equipped with Z to support bar (15), rail support bar (16), guide post (17) and Z to ball-screw (18); Dolly plate (22) below be equipped with drive Z to the Z of ball-screw (18) motion to motor (21) and guide cylinder (20), urceolus (19) runs through dolly plate (22); Urceolus (19), Z all vertically place to support bar (15) to ball-screw (18) and Z, and the three forms a line successively in the past backward, and rail support bar (16) and guide post (17) vertically are installed on the left and right sides of Z to ball-screw (18) respectively; Rail support bar (16) is provided with Z to guide rail, and said Z is equipped with Z to the guide rail slide block to guide rail, and guide post (17) outside is with the fairlead (23) that can move up and down along guide post (17); The part that urceolus (19) is positioned at dolly plate (22) top is provided with urceolus connector (24); Urceolus connector (24) middle part be installed on the Z of Z on ball-screw (18) and be connected to ball-screw (18) nut; Urceolus connector (24) two ends are connected with the outside fairlead (23) of guide post (17) to the guide rail slide block with the Z of rail support bar (16) respectively, and the part that urceolus (19) is positioned at dolly plate (22) below stretches into the guide cylinder (20) that is fixed in dolly plate (22) below;
Z is connected to the dolly plate base plate of motion module with Y to the dolly plate (22) of motion module, and Z can whole be slided to guide rail along Y with the dolly plate base plate to motion module;
θ comprises that to motion module inner core (25), the two pairs of deep groove ball bearings and thrust ball bearing combination and θ are to motor (26); Wherein, in urceolus (19) inside of Z to motion module, urceolus (19) and guide cylinder (20) are stretched out in its lower end to inner core (25) through each a pair of deep groove ball bearing of upper and lower side and thrust ball bearing aggregate erection; θ is installed on inner core (25) top to motor (26), and its drive inner cylinder (25) rotatablely moves in urceolus (19) inside;
The cutting head of water jet cutting machine is connected in inner core (25) lower end, and other assemblies of water jet cutting machine are connected through pressure duct with cutting head.
2. water jet cutting actuating unit according to claim 1 is characterized in that:
Said X also comprises two horizontal adjustment bars (9) to motion module, and it is to be installed on two X perpendicular to X between brace summer (1) to the direction of brace summer (1), and two horizontal adjustment bars (9) lay respectively at the head and the tail two ends of X to brace summer (1).
3. water jet according to claim 1 and 2 cutting actuating unit is characterized in that: said X also comprises four vertically adjustment nuts (10) to motion module, its install respectively with in the end lower end of two X to brace summer (1).
4. water jet cutting actuating unit according to claim 3, it is characterized in that: said vertical adjustment nut (10) below is separately installed with height-adjustable frame supporting leg.
5. water jet according to claim 1 cutting actuating unit is characterized in that: Z in motion module Z to support bar (15), rail support bar (16), guide post (17), Z to the height of ball-screw (18) and urceolus (19) all greater than 4m.
6. water jet cutting actuating unit according to claim 1, it is characterized in that: liner of said guide cylinder (20) inwall interference fit, the liner inwall has several rectangular channels.
7. water jet cutting actuating unit according to claim 1, it is characterized in that: the cutting head of said water jet cutting machine is connected in inner core (25) lower end through flange.
8. water jet cutting actuating unit according to claim 1, it is characterized in that: the cutting head of said water jet cutting machine is connected with manipulator through flange, and manipulator is connected in inner core (25) lower end through special-purpose jockey.
9. the special-purpose jockey of manipulator according to claim 8, it comprises inner core link (27), connecting cylinder (28) and manipulator link (29); Wherein, inner core link (27) is and the measure-alike circle in the said inner core of claim 9 (25) lower end, which is provided with the screw screw; Connecting cylinder (28) is a cylinder, is positioned at middle part, inner core link (27) below; Manipulator link (29) is positioned at connecting cylinder (28) below, and its shape is identical with the said manipulator of claim 9 upper surface shape, and is provided with the screw screw.
10. the special-purpose jockey of manipulator according to claim 9 is characterized in that: also be provided with the some reinforcements (30) that are supported between inner core link (27) and the manipulator link (29).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010603186.1A CN102554967B (en) | 2010-12-23 | 2010-12-23 | Water jet cutting actuating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010603186.1A CN102554967B (en) | 2010-12-23 | 2010-12-23 | Water jet cutting actuating device |
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| CN102554967A true CN102554967A (en) | 2012-07-11 |
| CN102554967B CN102554967B (en) | 2014-03-26 |
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| CN103817450A (en) * | 2014-03-18 | 2014-05-28 | 江苏理工学院 | Automatic plate boundary detecting and cutting device and cutting method |
| CN104625969A (en) * | 2015-02-09 | 2015-05-20 | 合肥工业大学 | Ultrahigh pressure water jet-based compressor housing opening and disassembling equipment and control method of equipment |
| CN105666334A (en) * | 2016-02-25 | 2016-06-15 | 北京科技大学 | Motion trail control device based on abrasive water jet cutting |
| CN105835124A (en) * | 2016-05-03 | 2016-08-10 | 公安部上海消防研究所 | Multiple-degree-of-freedom feeding device based on high-pressure water jet |
| CN105856326A (en) * | 2016-05-12 | 2016-08-17 | 柳州市富英华工贸有限公司 | High pressure water cutting machine for carpet |
| CN106564094A (en) * | 2016-10-28 | 2017-04-19 | 重庆泰奥豪骋科技有限公司 | Waterjet cutting machine for automobile inner ornaments and machining method |
| CN112123602A (en) * | 2020-10-11 | 2020-12-25 | 魏爱敏 | Splicing-convenient template for cutting ceramic tile size for architectural decoration engineering |
| CN113664124A (en) * | 2021-08-20 | 2021-11-19 | 中铁四局集团第二工程有限公司 | Cutting machine for steel strand of railway box girder anchor recess |
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| CN112123602A (en) * | 2020-10-11 | 2020-12-25 | 魏爱敏 | Splicing-convenient template for cutting ceramic tile size for architectural decoration engineering |
| CN113664124A (en) * | 2021-08-20 | 2021-11-19 | 中铁四局集团第二工程有限公司 | Cutting machine for steel strand of railway box girder anchor recess |
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