CN102554967B - Water jet cutting actuating device - Google Patents
Water jet cutting actuating device Download PDFInfo
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- CN102554967B CN102554967B CN201010603186.1A CN201010603186A CN102554967B CN 102554967 B CN102554967 B CN 102554967B CN 201010603186 A CN201010603186 A CN 201010603186A CN 102554967 B CN102554967 B CN 102554967B
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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 device.
Background technology
Because water jet cutting has feature efficient, cold conditions, water jet cutting machine is with its high-energy-density, good jet controllability and adaptability for materials, can realize deep penetration and comprehensive cutting to all kinds of soft, hard materials, in industry, have a wide range of applications.
It should be noted that existing water jet cutting machine can only carry out the plane cutting based on two frees degree conventionally, can not realize the cutting to large-scale shield arbitrary orientation, arbitrary shape.
Be widely used in industrial numerical control machine and there is multiple degrees of freedom, can comprehensive workpiece be processed and be 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 meet 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 is conventionally difficult to realize the cutting of arbitrary shape; Finally, the integrated design of Digit Control Machine Tool causes it to be not easy to dismounting, causes transportation difficulty, makes it can only be confined to fixed location operation.
Summary of the invention
The technical issues that need to address of the present invention are to provide a kind of Water jet cutting actuating device, and it has multiple degrees of freedom, high accuracy, large vertically cutting stroke, can realize the cutting of arbitrary orientation, arbitrary shape, and be convenient to transportation assembling.
Technical scheme of the present invention is as described below:
A kind of Water jet cutting actuating device, comprise that X-direction motion module, Y-direction motion module, Z-direction motion module, θ are to motion module and water jet cutting machine, its overall positions is closed: take X-direction motion module as pedestal, Y-direction motion module is supported on X-direction motion module, can integral body carry out X-direction slip; Z-direction motion module is supported on Y-direction motion module, both can integral body carry out Y-direction slip, can carry out X-direction slip with Y-direction motion module again, can also rely on self assembly to carry out Z-direction slip; It is inner that θ is positioned at Z-direction motion module to motion module, can be rotated; Water jet cutting machine is connected in θ to motion module lower end.
X-direction motion module comprises two X-direction brace summers and first motor beam, and two X-direction brace summer opposing parallel are placed, and the first motor beam is arranged between two X-direction brace summers, and its two ends are individually fixed in the end of two corresponding sides of X-direction brace summer; Each X-direction brace summer is equipped with an X-direction guide rail, is equipped with two X-direction guide rail slide blocks on each X-direction guide rail; Each X-direction brace summer top is all provided with X-direction ball-screw, and each X-direction ball-screw is provided with an X-direction feed screw nut; The one end that is fixed with the first motor beam at X-direction brace summer on each X-direction ball-screw is all provided with Timing Belt to be parallel to the direction of the first motor beam; X-direction motor is installed in the first motor beam, and the Timing Belt of two X-direction brace summers is all connected with X-direction motor;
Y-direction motion module comprises two Y-direction brace summers and second motor beam, and two Y-direction brace summer opposing parallel are placed, and the second motor beam is arranged between two Y-direction brace summers, and its two ends are individually fixed in the end of two corresponding sides of Y-direction brace summer; Two truss plates are installed between two Y-direction brace summers with the direction perpendicular to Y-direction brace summer, and it lays respectively at the head and the tail two ends of Y-direction brace summer; Each Y-direction brace summer is equipped with a Y-direction guide rail, is equipped with two Y-direction guide rail slide blocks on each Y-direction guide rail, and one of them Y-direction brace summer top is provided with Y-direction ball-screw, and Y-direction ball-screw is provided with a Y-direction feed screw nut; A dolly plate floor board framing is in two Y-direction brace summer tops, and it is connected with Y-direction feed screw nut by Y-direction nut seat, can slide along Y-direction guide rail; Y-direction motor is installed in the second motor beam;
Y-direction motion module is installed on X-direction motion module top with Y-direction brace summer perpendicular to the direction of X-direction brace summer, wherein, each X-direction ball-screw is all through the relevant position, end of two Y-direction brace summers, and X-direction feed screw nut is connected with the truss plate of Y-direction motion module by X-direction nut seat; Truss plate is supported in X-direction guide rail slide block top, and Y-direction motion module can whole be slided along X-direction guide rail;
Z-direction motion module comprises Z-direction support bar, guide supporting bar, guide post, Z-direction ball-screw, urceolus, guide cylinder, Z-direction motor and dolly plate, and wherein the height of Z-direction support bar, guide supporting bar, guide post, Z-direction ball-screw and urceolus is preferably all greater than 4m; Dolly plate top is provided with Z-direction support bar, guide supporting bar, guide post and Z-direction ball-screw, and dolly plate below is provided with Z-direction motor and the guide cylinder that drives the motion of Z-direction ball-screw, and urceolus runs through dolly plate; Urceolus, Z-direction ball-screw and Z-direction support bar are all vertically placed, and three forms a line successively from front to back, and guide supporting bar and guide post are vertically installed on respectively the left and right sides of Z-direction ball-screw; Guide supporting bar is provided with Z-direction guide rail, and described Z-direction guide rails assembling has Z-direction guide rail slide block, and guide post outer cover has the fairlead that can move up and down along guide post; The part that urceolus is positioned at dolly plate top is provided with urceolus connector, urceolus connector middle part is connected with the Z-direction feed screw nut being installed on Z-direction ball-screw, urceolus connector two ends are connected with the fairlead of guide post outside with the Z-direction guide rail slide block of guide supporting bar respectively, and the part that urceolus is positioned at dolly plate below stretches into the guide cylinder that is fixed on dolly plate below;
The dolly plate of Z-direction motion module is connected with the dolly plate base plate of Y-direction motion module, and Z-direction motion module can whole be slided along Y-direction guide rail with dolly plate base plate;
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, the urceolus that inner core is installed on Z-direction motion module by each a pair of deep groove ball bearing of upper and lower side and thrust ball bearing combination is inner, and urceolus and guide cylinder are stretched out in its lower end; θ is installed on inner core top to motor, and it drives inner core to move at urceolus internal rotating;
The cutting head of water jet cutting machine is connected in inner core lower end, and other assemblies of water jet cutting machine are connected by pressure duct with cutting head.
As improvement of the present invention, described X-direction motion module can also comprise two horizontal adjustment bars and four vertical adjusting nuts.Wherein, two horizontal adjustment bars are installed between two X-direction brace summers with the direction perpendicular to X-direction brace summer, and two horizontal adjustment bars lay respectively at the head and the tail two ends of X-direction brace summer; Four vertical adjusting nuts, it is installed respectively and lower end, end in two X-direction brace summers.In addition, described vertical adjusting nut below can also be separately installed with height-adjustable frame supporting leg.
As a further improvement on the present invention, in Z-direction motion module, the inwall of guide cylinder 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 of the present invention, can be directly connected in inner core lower end by flange; Also can be connected with manipulator by flange, manipulator is connected in inner core lower end by Special connecting device.
Described manipulator Special connecting device comprises inner core link, connecting cylinder and manipulator link; Wherein, inner core link is the circle measure-alike with described inner core lower end, which is provided with screw screw; Connecting cylinder is cylinder, is positioned at middle part, inner core link below; Manipulator link is positioned at connecting cylinder below, and its shape is identical with described manipulator upper surface shape, and is provided with screw screw.As preferred version, manipulator Special connecting device can also be provided with the some reinforcements that are supported between inner core link and manipulator link.
Beneficial effect of the present invention comprises:
(1) X-direction motion module, Y-direction motion module, Z-direction motion module and θ have guaranteed the cutting of four frees degree to motion module, can realize the cutting to cut cylindrical shell arbitrary orientation, arbitrary shape, and kinematic accuracy can reach 0.5mm;
(2) in Z-direction motion module, the height of Z-direction support bar, guide supporting bar, guide post, Z-direction ball-screw and urceolus is all greater than 4m, makes device vertical motion stroke of the present invention reach 3.9m, has met the vertical split requirement of large-scale shield;
(3) device of the present invention adopts modularized design, removable two X-direction brace summers and three installation modules of first motor beam of being divided into of X-direction motion module, Y-direction motion module is without dismantling as an installation module, Z-direction motion module and θ to motion module integral body as a motion module, can five installation modules are separated during transportation, save space, be convenient to deposit; During installation, only need to adopt conventional union pieces such as bolt, shop bolt to be combined into one, device repeats installation accuracy can reach 0.1mm;
(4) in X-direction motion module, by Timing Belt, make the rotation of two X-direction ball-screws of an X-direction motor energy Synchronization Control, for realizing hi-precision cutting, provide safeguard;
(5) horizontal adjustment bar is installed in X-direction motion module and both can be regulated according to actual conditions the depth of parallelism of two X-direction brace summers, can play again the effect of reinforcing X-direction motion module;
(6) in X-direction motion module, vertical adjusting nut is installed, has further been ensured the levelness of X-direction motion module;
(7) in X-direction motion module, vertically adjusting nut below is provided with height-adjustable frame supporting leg, can be according to the high flexible adjusting device level height of institute's cutting parts;
(8) in Z-direction motion module, urceolus, Z-direction ball-screw and Z-direction support bar are all vertically placed, three forms a line successively from front to back, guide supporting bar and guide post are vertically installed on respectively the left and right sides of Z-direction ball-screw, make Z-direction support bar, guide supporting bar and guide post stroke rounded projections arranged, the moment of torsion during rotation of Z-direction ball-screw can be evenly distributed on Z-direction support bar, guide supporting bar and guide post, and stroke is stablized stressed;
(9) in Z-direction motion module, urceolus connector two ends are connected with the fairlead of guide post outside with the Z-direction guide rail slide block of guide supporting bar respectively, the part that urceolus is positioned at dolly plate below stretches into the guide cylinder that is fixed on dolly plate below, the part that Z-direction guide rail slide block and fairlead are positioned at dolly plate top to urceolus play the guiding role, the part that guide cylinder is positioned at dolly plate below to urceolus play the guiding role, and makes urceolus more stable along moving of Z-direction;
(10) liner of guide cylinder inwall interference fit in Z-direction motion module, its material is polytetrafluoroethylene (PTFE), its inwall has several rectangular channels, both can reduce the friction between urceolus and guide cylinder, while urceolus being risen to guide cylinder after can cutting again in completing water by rectangular channel by the water water conservancy diversion back pool adhering to of urceolus;
(11) in this device, the cutting head of water jet cutting machine and inner core have multiple connected mode, and when the cylindrical shell that diameter is less than to 3.6m cuts, cutting head is directly connected in inner core lower end by flange; When diameter is greater than cylindrical shell that 3.6m is less than 3.97m and is cut, cutting head is connected with manipulator by flange, manipulator is connected in inner core lower end by Special connecting device, due to the owned a plurality of frees degree of manipulator, and avoiding obstacles automatically, there are highly sensitive anticollision detection, warning and defencive function, therefore make this device can complete accurately more flexibly cutting;
(12) this device is for connecting the Special connecting device of manipulator, can realize convenient connection of different model manipulator and Z motion module inner core; The design of reinforcement makes Special connecting device performance more reliable and more stable.
Accompanying drawing explanation
Fig. 1 is Water jet cutting actuating device stereogram of the present invention;
Fig. 2 is Water jet cutting actuating device front view of the present invention;
Fig. 3 is Water jet cutting actuating device top view of the present invention;
Fig. 4 is Water jet cutting actuating device X motion module front view of the present invention;
Fig. 5 is Water jet cutting actuating device X motion module top view of the present invention;
Fig. 6 is Water jet cutting actuating device 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 manipulator Special connecting device front view of the present invention;
Figure 10 is manipulator Special connecting device top view of the present invention.
Wherein, 1-X is to brace summer, 2-the first motor beam, 3-X direction guiding rail, 4-X direction guiding rail slide block, 5-X is to ball-screw, 6-X is to feed screw nut, 7-Timing Belt, 8-X is to motor, 9-horizontal adjustment bar, the vertical adjusting nut of 10-, 11-Y is to brace summer, 12-Y is to motor, 13-truss plate, 14-Y is to ball-screw, 15-Z is to support bar, 16-guide supporting bar, 17-guide post, 18-Z is to ball-screw, 19-urceolus, 20-guide cylinder, 21-Z is to motor, 22-dolly plate, 23-fairlead, 24-urceolus connector, 25-inner core, 26-θ is to motor, 27-inner core link, 28-connecting cylinder, 29-manipulator link, 30-reinforcement.
The specific embodiment
Below in conjunction with drawings and Examples, describe the present invention:
As shown in Figures 1 to 3, a kind of Water jet cutting actuating device of the present invention, comprises that X-direction motion module, Y-direction motion module, Z-direction motion module, θ are to motion module and water jet cutting machine.X-direction motion module is mainly comprised of X-direction brace summer 1 and the first motor beam 2, Y-direction motion module is mainly comprised of Y-direction motor beam 11 and the second motor beam, Z-direction motion module is mainly comprised of Z-direction support bar 15, guide supporting bar 16, guide post 17, Z-direction ball-screw 18, urceolus 19, and θ is mainly comprised of to motor 26 inner core 25 and θ to motion module.Its overall positions is closed: take X-direction motion module as pedestal, Y-direction motion module is supported on X-direction motion module, can integral body carry out X-direction slip; Z-direction motion module is supported on Y-direction motion module, both can integral body carry out Y-direction slip, can carry out X-direction slip with Y-direction motion module again, can also rely on self assembly to carry out Z-direction slip; It is inner that θ is positioned at Z-direction motion module to motion module, can be rotated; Water jet cutting machine is connected in θ to motion module lower end.
As shown in Figures 4 and 5, X-direction motion module comprises two X-direction brace summers 1 and first motor beam 2, two X-direction brace summer 1 opposing parallel are placed, and the first motor beam 2 is arranged between two X-direction brace summers 1, and its two ends are individually fixed in the end of two corresponding sides of X-direction brace summer 1; Each X-direction brace summer 1 is equipped with an X-direction guide rail 3, is equipped with two X-direction guide rail slide blocks 4 on each X-direction guide rail 3; Each X-direction brace summer 1 top is all provided with X-direction ball-screw 5, each X-direction ball-screw 5 is provided with an X-direction feed screw nut 6 and an X-direction nut seat, is provided with by Timing Belt 7 and provides the X-direction motor 8 of power for X-direction nut seat in the first motor beam 2 between two X-direction ball-screws 5; Described Timing Belt 7, X-direction ball-screw 5 and X-direction feed screw nut 6 can be converted into X-direction motor 8 the X-direction rectilinear motion of X-direction nut seat, and in the present embodiment, effective helical pitch of X-direction ball-screw 5 is 3.6m; The one end that is fixed with the first motor beam 2 at X-direction brace summer 1 on each X-direction ball-screw 5 is all provided with Timing Belt 7 to be parallel to the direction of the first motor beam 2; In the first motor beam 2, X-direction motor 8 is installed, its optimum position is the middle part of the first motor beam 2, the Timing Belt 7 of two X-direction brace summers 1 is all connected with X-direction motor 8, this design can realize an X-direction motor 8 and drive 5 rotations of two X-direction ball-screws simultaneously, for realizing hi-precision cutting, provides safeguard.
As shown in Figures 1 to 3, Y-direction motion module comprises two Y-direction brace summers 11 and second motor beam, two Y-direction brace summer 11 opposing parallel are placed, and the second motor beam is arranged between two Y-direction brace summers 11, and its two ends are individually fixed in the end of two corresponding sides of Y-direction brace summer 11; Two truss plates 13 are installed between two Y-direction brace summers 11 with the direction perpendicular to Y-direction brace summer 11, and it lays respectively at the head and the tail two ends of Y-direction brace summer 11; Each Y-direction brace summer 11 is equipped with a Y-direction guide rail, on each Y-direction guide rail, be equipped with two Y-direction guide rail slide blocks, one of them Y-direction brace summer 11 top is provided with Y-direction ball-screw 14, Y-direction ball-screw 14 is provided with a Y-direction feed screw nut and a Y-direction nut seat, in the second motor beam, near one end of Y-direction ball-screw 14, the Y-direction motor 12 that promising Y-direction nut seat provides power is installed; Described Y-direction ball-screw 14 and Y-direction feed screw nut can be converted into Y-direction motor 12 the Y-direction rectilinear motion of Y-direction nut seat; A dolly plate floor board framing is in the Y-direction guide rail slide block top of two Y-direction brace summers 11, and it is connected with Y-direction feed screw nut by Y-direction nut seat, under the guide effect of Y-direction guide rail slide block, can slide along Y-direction guide rail.
Y-direction motion module is installed on X-direction motion module top with Y-direction brace summer 11 perpendicular to the direction of X-direction brace summer 1, wherein, each X-direction ball-screw 5 is all through the relevant position, end of two Y-direction brace summers 11, and X-direction feed screw nut 6 is connected with the truss plate 13 of Y-direction motion module by X-direction nut seat; Truss plate 13 is supported in X-direction guide rail slide block 4 tops, and under the guide effect of X-direction guide rail slide block 4, Y-direction motion module can whole be carried out X-direction slip along X-direction guide rail 3.
As shown in Fig. 6～8, Z-direction motion module comprises Z-direction support bar 15, guide supporting bar 16, guide post 17, Z-direction ball-screw 18, urceolus 19, guide cylinder 20, Z-direction motor 21 and dolly plate 22.Wherein, dolly plate 22 tops are provided with Z-direction support bar 15, guide supporting bar 16, guide post 17 and Z-direction ball-screw 18, and dolly plate 22 belows are provided with Z-direction motor 21 and the guide cylinder 20 that drives 18 motions of Z-direction ball-screw, and urceolus 19 runs through dolly plate 22.Urceolus 19, Z-direction ball-screw 18 and Z-direction support bar 15 are all vertically placed, three forms a line successively from front to back, guide supporting bar 16 and guide post 17 are vertically installed on respectively the left and right sides of Z-direction ball-screw 18, this design makes Z-direction support bar 15, guide supporting bar 16 and guide post 17 stroke rounded projections arranged, moment of torsion during 18 rotation of Z-direction ball-screw can be evenly distributed on Z-direction support bar 15, guide supporting bar 16 and guide post 17, and stroke is stablized stressed; Guide supporting bar 16 is provided with Z-direction guide rail, and described Z-direction guide rails assembling has Z-direction guide rail slide block, and guide post 17 outer cover have 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, and urceolus connector 24 middle parts are connected with the Z-direction feed screw nut being installed on Z-direction ball-screw 18, by Z-direction feed screw nut, drives urceolus 19 to move up and down along Z-direction; Urceolus connector 24 two ends are connected with the fairlead 23 of guide post 17 outsides with the Z-direction guide rail slide block of guide supporting bar 16 respectively, the part that urceolus 19 is positioned at dolly plate 22 belows stretches into the guide cylinder 20 that is fixed on dolly plate 22 belows, the part that 23 pairs of urceolus 19 of Z-direction guide rail slide block and fairlead are positioned at dolly plate 22 tops play the guiding role, 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 met the vertical split requirement of large-scale shield, more than device vertical motion stroke of the present invention need to reach 3.9m, therefore, in the present embodiment, the height of Z-direction support bar 15, guide supporting bar 16, guide post 17, Z-direction ball-screw 18 and urceolus 19 is all greater than 4m, is preferably 4.2m.In addition, because urceolus 19 need be to reach under the prerequisite of rigidity requirement quality as far as possible light, in the present embodiment, the external diameter of urceolus 19 is 219mm, and wall thickness is 28mm, material is the 0Cr18Ni9 with better corrosion resistance, with realize its bear cutting reaction force situation under deflection in 0.7mm.Finally, in the present embodiment, the external diameter of guide cylinder 20 is 245mm, and long is 500mm, and wall thickness is 22mm.
The dolly plate 22 of Z-direction motion module is connected with the dolly plate base plate of Y-direction motion module, Z-direction motion module can wholely be slided along Y-direction guide rail with dolly plate base plate, and then slide along X-direction guide rail 3 with Y-direction 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, inner core 25 is installed on urceolus 19 inside of Z-direction motion module by each a pair of deep groove ball bearing of upper and lower side and thrust ball bearing combination, and urceolus 19 and guide cylinder 20 are stretched out in its lower end; θ is installed on inner core 25 upper ends to motor 26, and it drives inner core 25 in urceolus 19 internal rotating motions.
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 by pressure duct with cutting head.In the present embodiment, cutting head is directly connected in inner core 25 lower ends by flange, and this direct-connected mode is applicable to the cylindrical shell that cutting diameter is less than 3.6m.
Water jet cutting machine described in the present embodiment is 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 water jet cutting function, all within protection domain of the present invention.
Device of the present invention adopts modularized design, removable two X-direction brace summers 1 and 2 three installation modules of first motor beam of being divided into of X-direction motion module, Y-direction motion module is without dismantling as an installation module, Z-direction motion module and θ to motion module integral body as a motion module, can five installation modules are separated during transportation, save space, be convenient to deposit; During installation, only need to adopt conventional union pieces such as bolt, shop bolt to be combined into one, device repeats installation accuracy can reach 0.1mm;
Use procedure of the present invention is as described below:
(1) above-mentioned five installation modules can be combined into one by conventional union pieces such as bolt, shop bolt;
(2) X-direction motor 8, Y-direction motor 12, Z-direction motor 21 and θ are connected with line of cut path control system to motor 26, wherein, line of cut path control system is known to the skilled person general knowledge;
(3) start power supply, under the instruction of line of cut path control system, the cutting head that X-direction motor 8, Y-direction motor 12, Z-direction motor 21 and θ control water jet cutting machine to motor 26 precuts according to track;
(4) precut errorless rear startup water jet cutting machine cuts on precut track.
Embodiment 2
The difference of the present embodiment and embodiment 1 is:
X-direction motion module also comprises two horizontal adjustment bars 9 and four vertical adjusting nuts 10.Wherein, two horizontal adjustment bars 9 are installed between two X-direction brace summers 1 with the direction perpendicular to X-direction brace summer 1, and two horizontal adjustment bars 9 lay respectively at the head and the tail two ends of X-direction brace summer 1; Four vertical adjusting nuts 10, it is installed respectively and lower end, end in two X-direction brace summers 1.In addition, described vertical adjusting nut 10 belows can also be separately installed with height-adjustable frame supporting leg.
Horizontal adjustment bar 9 both can regulate according to actual conditions the distance at two X-direction brace summer 1 two ends, thereby adjusted its depth of parallelism, can play again the effect of reinforcing X-direction motion module; Vertical adjusting nut 10, has further ensured the levelness of X-direction motion module; Height-adjustable frame supporting leg, can be according to the high flexible adjusting device level height of institute's cutting parts.
The difference of the present embodiment and above-mentioned two embodiment is:
Inwall interference fit one liner of guide cylinder 20 in Z-direction 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 guide cylinder 20, while urceolus 19 being risen to guide cylinder 20 after can cutting again in completing water by rectangular channel by the water water conservancy diversion back pool adhering to of urceolus 19.
Embodiment 4
The difference of the present embodiment and above-mentioned three embodiment is:
The cutting head of the water jet cutting machine of the present embodiment is connected with manipulator by flange, and manipulator is connected in inner core 25 lower ends by Special connecting device, and this connected mode is applicable to cutting diameter and is greater than the cylindrical shell that 3.6m is less than 3.97m.
As shown in Fig. 9～10, described manipulator Special connecting device comprises inner core link 27, connecting cylinder 28 and manipulator link 29; Wherein, inner core link 27 is the circle measure-alike with described inner core 25 lower ends, which is provided with screw screw; Connecting cylinder 28 is cylinder, is positioned at inner core link 27 middle parts, below; Manipulator link 29 is positioned at connecting cylinder 28 belows, and its shape is identical with described manipulator upper surface shape, and is provided with screw screw.As preferred version, manipulator Special connecting device can also be provided with the some reinforcements 30 that are supported between inner core link 27 and manipulator link 29.
Manipulator model in the present embodiment is storehouse card KR16; due to the owned a plurality of frees degree of manipulator; and avoiding obstacles, has highly sensitive anticollision detection, warning and defencive function automatically, therefore make device of the present invention can complete accurately more flexibly cutting.It should be noted that being applicable to manipulator of the present invention is not limited to storehouse card KR16 type manipulator, any equipment with manipulator function is all applicable to the present invention.
Claims (10)
1. a Water jet cutting actuating device, is characterized in that: this device comprises that X-direction motion module, Y-direction motion module, Z-direction motion module, θ are to motion module and water jet cutting machine, wherein,
X-direction motion module comprises two X-direction brace summers (1) and first motor beam (2), two X-direction brace summers (1) opposing parallel is placed, the first motor beam (2) is arranged between two X-direction brace summers (1), and its two ends are individually fixed in the end of the corresponding side of two X-direction brace summers (1); Each X-direction brace summer (1) is equipped with an X-direction guide rail (3), on each X-direction guide rail (3), is equipped with two X-direction guide rail slide blocks (4); Each X-direction brace summer (1) top is all provided with X-direction ball-screw (5), and each X-direction ball-screw (5) is provided with an X-direction feed screw nut (6); The upper one end that is fixed with the first motor beam (2) at X-direction brace summer (1) of each X-direction ball-screw (5) is all provided with Timing Belt (7) to be parallel to the direction of the first motor beam (2); X-direction motor (8) is installed in the first motor beam (2), and the Timing Belt (7) of two X-direction brace summers (1) is all connected with X-direction motor (8);
Y-direction motion module comprises two Y-direction brace summers (11) and second motor beam, two Y-direction brace summers (11) opposing parallel is placed, the second motor beam is arranged between two Y-direction brace summers (11), and its two ends are individually fixed in the end of the corresponding side of two Y-direction brace summers (11); Two truss plates (13) are installed between two Y-direction brace summers (11) with the direction perpendicular to Y-direction brace summer (11), and it lays respectively at the head and the tail two ends of Y-direction brace summer (11); Each Y-direction brace summer (11) is equipped with a Y-direction guide rail, on each Y-direction guide rail, be equipped with two Y-direction guide rail slide blocks, one of them Y-direction brace summer (11) top is provided with Y-direction ball-screw (14), and Y-direction ball-screw (14) is provided with a Y-direction feed screw nut; A dolly plate floor board framing is in two Y-direction brace summers (11) top, and it is connected with Y-direction feed screw nut by Y-direction nut seat, can slide along Y-direction guide rail; Y-direction motor (12) is installed in the second motor beam;
Y-direction motion module is installed on X-direction motion module top with Y-direction brace summer (11) perpendicular to the direction of X-direction brace summer (1), wherein, each X-direction ball-screw (5) is all through the relevant position, end of two Y-direction brace summers (11), and X-direction feed screw nut (6) is connected with the truss plate (13) of Y-direction motion module by X-direction nut seat; Truss plate (13) is supported in X-direction guide rail slide block (4) top, and Y-direction motion module can whole be slided along X-direction guide rail (3);
Z-direction motion module comprises Z-direction support bar (15), guide supporting bar (16), guide post (17), Z-direction ball-screw (18), urceolus (19), guide cylinder (20), Z-direction motor (21) and dolly plate (22); Wherein, dolly plate (22) top is provided with Z-direction support bar (15), guide supporting bar (16), guide post (17) and Z-direction ball-screw (18), dolly plate (22) below is provided with Z-direction motor (21) and the guide cylinder (20) that drives Z-direction ball-screw (18) motion, and urceolus (19) runs through dolly plate (22); Urceolus (19), Z-direction ball-screw (18) and Z-direction support bar (15) are all vertically placed, and three forms a line successively from front to back, and guide supporting bar (16) and guide post (17) are vertically installed on respectively the left and right sides of Z-direction ball-screw (18); Guide supporting bar (16) is provided with Z-direction guide rail, and described Z-direction guide rails assembling has Z-direction guide rail slide block, and guide post (17) outer cover has 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 is connected with Z-direction ball-screw (18) nut being installed on Z-direction ball-screw (18), urceolus connector (24) two ends are connected with the fairlead (23) of guide post (17) outside with the Z-direction guide rail slide block of guide supporting 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 on dolly plate (22) below;
The dolly plate of Z-direction motion module (22) is connected with the dolly plate base plate of Y-direction motion module, and Z-direction motion module can whole be slided along Y-direction guide rail with dolly plate base plate;
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, inner core (25) is installed on urceolus (19) inside of Z-direction motion module by each a pair of deep groove ball bearing of upper and lower side and thrust ball bearing combination, and urceolus (19) and guide cylinder (20) are stretched out in its lower end; θ is installed on inner core (25) top to motor (26), and it drives inner core (25) to move at urceolus (19) internal rotating;
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 by pressure duct with cutting head.
2. Water jet cutting actuating device according to claim 1, is characterized in that:
Described X-direction motion module also comprises two horizontal adjustment bars (9), and it is installed between two X-direction brace summers (1) with the direction perpendicular to X-direction brace summer (1), and two horizontal adjustment bars (9) lay respectively at the head and the tail two ends of X-direction brace summer (1).
3. Water jet cutting actuating device according to claim 1 and 2, is characterized in that:
Described X-direction motion module also comprises four vertical adjusting nuts (10), its install respectively with in the lower end, end of two X-direction brace summers (1).
4. Water jet cutting actuating device according to claim 3, is characterized in that:
Described vertical adjusting nut (10) below is separately installed with height-adjustable frame supporting leg.
5. Water jet cutting actuating device according to claim 1, is characterized in that:
In Z-direction motion module, the height of Z-direction support bar (15), guide supporting bar (16), guide post (17), Z-direction ball-screw (18) and urceolus (19) is all greater than 4m.
6. Water jet cutting actuating device according to claim 1, is characterized in that:
Liner of described guide cylinder (20) inwall interference fit, liner inwall has several rectangular channels.
7. Water jet cutting actuating device according to claim 1, is characterized in that:
The cutting head of described water jet cutting machine is connected in inner core (25) lower end by flange.
8. Water jet cutting actuating device according to claim 1, is characterized in that:
The cutting head of described water jet cutting machine is connected with manipulator by flange, and manipulator is connected in inner core (25) lower end by Special connecting device.
9. Water jet cutting actuating device according to claim 8, is characterized in that: described manipulator Special connecting device comprises inner core link (27), connecting cylinder (28) and manipulator link (29); Wherein, inner core link (27) is the circle measure-alike with described inner core (25) lower end, which is provided with screw screw; Connecting cylinder (28) is 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 described manipulator upper surface shape, and is provided with screw screw.
10. Water jet cutting actuating device according to claim 9, is characterized in that: described manipulator Special connecting device is also provided with the some reinforcements (30) that are supported between inner core link (27) and manipulator link (29).
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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 |
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| CN201010603186.1A CN102554967B (en) | 2010-12-23 | 2010-12-23 | Water jet cutting actuating device |
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| CN102554967A CN102554967A (en) | 2012-07-11 |
| CN102554967B true CN102554967B (en) | 2014-03-26 |
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| CN103817450B (en) * | 2014-03-18 | 2017-01-18 | 江苏理工学院 | Automatic plate boundary detecting and cutting device and cutting method |
| CN104625969B (en) * | 2015-02-09 | 2017-06-30 | 合肥工业大学 | Compressor opening cover dismounting equipment and its control method based on ultra-high pressure water fluid jet |
| CN105666334B (en) * | 2016-02-25 | 2018-09-25 | 北京科技大学 | Movement locus control device based on Abrasive Water Jet Machining |
| CN105835124B (en) * | 2016-05-03 | 2017-12-01 | 公安部上海消防研究所 | A kind of multiple degrees of freedom of high-pressure water jet walks knife system |
| CN105856326B (en) * | 2016-05-12 | 2018-02-23 | 柳州市富英华工贸有限公司 | Carpet high-pressure water-cutting machine |
| CN106564094B (en) * | 2016-10-28 | 2018-09-04 | 重庆泰奥豪骋科技有限公司 | A kind of automotive upholstery water cutting machine and processing method |
| CN112123602A (en) * | 2020-10-11 | 2020-12-25 | 魏爱敏 | Splicing-convenient template for cutting ceramic tile size for architectural decoration engineering |
| CN113664124B (en) * | 2021-08-20 | 2023-05-23 | 中铁四局集团第二工程有限公司 | Cutting machine for Liang Maoxue steel strands of railway box |
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