CN102909504A - Intersecting line cutting robot mechanism for container adapter tube - Google Patents

Intersecting line cutting robot mechanism for container adapter tube Download PDF

Info

Publication number
CN102909504A
CN102909504A CN2012103929010A CN201210392901A CN102909504A CN 102909504 A CN102909504 A CN 102909504A CN 2012103929010 A CN2012103929010 A CN 2012103929010A CN 201210392901 A CN201210392901 A CN 201210392901A CN 102909504 A CN102909504 A CN 102909504A
Authority
CN
China
Prior art keywords
arm
joint shaft
axle
rotating
joint axle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN2012103929010A
Other languages
Chinese (zh)
Inventor
赵亚楠
陈东良
姚建均
王臣业
刘富强
刘贺平
常艳艳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN2012103929010A priority Critical patent/CN102909504A/en
Publication of CN102909504A publication Critical patent/CN102909504A/en
Pending legal-status Critical Current

Links

Images

Landscapes

  • Manipulator (AREA)

Abstract

The invention aims at providing an intersecting line cutting robot mechanism for a container adapter tube, which comprises a lifting arm, a telescopic arm, a rotating arm, a posture arm, a first rotating joint shaft, a second rotating joint shaft, a third rotating joint shaft, a first moving joint shaft, a second moving joint shaft and a pedestal, wherein the first rotating joint shaft is mounted on the lifting arm; a holder is connected with the first rotating joint shaft; the lifting arm is connected with the telescopic arm by the first moving joint shaft; the telescopic arm is connected with the rotating arm by the second moving joint shaft; the rotating arm is connected with the posture arm by the second rotating joint shaft; and the posture is connected with the pedestal by the third rotating joint shaft. The mechanism adopts a series structure, has five freedom degrees, including two moving joints and three rotating joints, can achieve intersecting line open pore cutting of a container and intersecting line cutting of the adapter tube intersected with the container for the special processing objects, and is higher in flexibility and practicability.

Description

Container intersection line cutting machine robot mechanism
Technical field
What the present invention relates to is a kind of robot for cutting operation.
Background technology
At present, the various forms of intersection perforate cuttings of extensive use are cut with the adapter of passing through mutually with it self intersection in the engineerings such as oil, chemical industry, boiler, pressure vessel and pipeline; Industrial serially connected robot architecture has four kinds of basic structures: cartesian coordinate robot, cylindrical robot, polar robot, climbing robot and typical multi-joint series winding robot, these robots are all because the restriction of self structure all is difficult to adapt to the particular surroundings of pipe end.For realizing perforated container cutting and taking over the manipulating object of self intersection cutting, be badly in need of a kind of industrial robot new construction that to finish several work and can win this special operation object in the reality.
Summary of the invention
The object of the present invention is to provide for perforated container cutting and take over the container intersection line cutting machine robot mechanism that self intersection cuts this special processing object.
The object of the present invention is achieved like this:
Container intersection line cutting machine robot mechanism of the present invention, it is characterized in that: comprise lifting arm, telescopic arm, turning arm, attitude arm, first-Di, three rotary joint axles, the first-the second linear joint axle, pedestal, the first rotary joint axle is installed on the lifting arm, clamper connects the first rotary joint axle, link to each other by the first linear joint axle between lifting arm and the telescopic arm, link to each other by the second linear joint axle between telescopic arm and the turning arm, link to each other by the second rotary joint axle between turning arm and the attitude arm, the attitude arm connects pedestal by the 3rd rotary joint axle.
The present invention can also comprise:
1, also comprise burning torch, burning torch is installed on the clamper.
2, the axis of rotation of the axis of rotation of described the second rotary joint axle and the 3rd rotary joint axle is perpendicular, the axis of rotation of the direction of motion of the second linear joint axle and the second rotary joint axle is perpendicular, and the axle center of the axle center of the first rotary joint axle and the first linear joint axle is perpendicular.
Advantage of the present invention is: the present invention adopts series-mode frame, have five frees degree, wherein two is linear joint, three is cradle head, for perforated container cutting with take over self intersection and cut this special processing object, realization is in container intersection perforate cutting and the cutting of the adapter of passing through mutually with it self intersection, and the present invention has greater flexibility and practicality.
Description of drawings
Fig. 1 is structural representation of the present invention;
Schematic diagram when Fig. 2 is the perforated container cutting;
Schematic diagram when Fig. 3 cuts for adapter self intersection.
The specific embodiment
For example the present invention is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～3, in order to realize container intersection perforate cutting and to take over the operation etc. of self intersection cutting, a rotary joint that begins in succession from pedestal is adjusted all the other four joints with respect to the attitude of taking over the axle center mainly, after adjusting attitude, according to job requirements, end effector clamping burning torch carries out concrete operation; Also can directly link and realize container intersection perforate cutting and take over self intersection cutting operation etc. in its four joints that link to each other from the end effector to the pedestal.Put with respect to its installation fixing position, namely be defined as the U joint with respect to first rotary joint of pedestal place; Second rotary joint is defined as the A joint, when robot is installed in by pedestal in spider, portal frame or other mechanisms, by rotation U joint, the pivot in A joint is aimed at the adapter axle center and it is overlapped as far as possible; The 3rd joint is that linear joint is defined as R, and the variation on the radial direction is mainly realized taking in the R joint; The 4th linear joint is defined as H, and the motion on the generatrix direction is mainly realized taking in the H joint; The 5th rotary joint is defined as S, installing holder on the S joint.According to concrete job requirements, clamper just can the different power tool of clamping, just can realize different operations.
Pedestal 12 can be installed in spider, portal frame or other mechanisms according to the field operation condition, robot is placed on the manipulating object top; The U joint is installed on the pedestal 12, and the U joint is made of attitude arm 10 and rotary joint axle III11, and the axis of rotation of rotary joint III11 is perpendicular to the installed surface of pedestal 12; The A joint is installed on the attitude arm 10, the A joint is made of turning arm 8 and rotary joint axle II9, wherein the axis of rotation of the axis of rotation of rotary joint axle II9 and rotary joint axle III11 is perpendicular, generally container dead weight and volume are all larger, be difficult to carry out the attitude adjustment, generally place vessel level on the ground or the roller moulding bed on, therefore adjust A joint axis of rotation by the motion in U joint and aim at and take over the axle center; The R joint is installed on the turning arm 8, the R joint is made of telescopic arm 6 and linear joint axle II7, and the axis of rotation of the direction of motion of linear joint axle II7 and rotary joint axle II9 is perpendicular, and the Main Function in R joint is the variation of amount of radial movement when adapting to container intersection perforate cutting and taking over self intersection cutting; The end of telescopic arm 6 is installed in the H joint, it is comprised of lifting arm 4 and linear joint axle I5, lifting arm 4 can move along linear joint axle I5, and the Main Function in H joint is the momental variation of generatrix direction when adapting to container intersection perforate cutting and taking over self intersection cutting; The end of lifting arm 4 is installed in the S joint, it is comprised of clamper 2 and rotary joint axle I3, the axle center of rotary joint axle I3 is vertical with the axle center of linear joint axle I5, at clamper burning torch is installed during cutting, and the axle center that makes the axle center of burning torch 1 and rotary joint axle II9 in one plane, container intersection perforate cutting and when taking over self intersection cutting, clamper 2 are finished cutting operation with burning torch.Wherein the type of drive of each axle can be determined according to environment for use, positioning accuracy, repetitive positioning accuracy and concrete operation situation.

Claims (3)

1. container intersection line cutting machine robot mechanism, it is characterized in that: comprise lifting arm, telescopic arm, turning arm, attitude arm, first-Di, three rotary joint axles, the first-the second linear joint axle, pedestal, the first rotary joint axle is installed on the lifting arm, clamper connects the first rotary joint axle, link to each other by the first linear joint axle between lifting arm and the telescopic arm, link to each other by the second linear joint axle between telescopic arm and the turning arm, link to each other by the second rotary joint axle between turning arm and the attitude arm, the attitude arm connects pedestal by the 3rd rotary joint axle.
2. container intersection line cutting machine robot mechanism according to claim 1, it is characterized in that: also comprise burning torch, burning torch is installed on the clamper.
3. container intersection line cutting machine robot mechanism according to claim 1 and 2, it is characterized in that: the axis of rotation of the axis of rotation of described the second rotary joint axle and the 3rd rotary joint axle is perpendicular, the axis of rotation of the direction of motion of the second linear joint axle and the second rotary joint axle is perpendicular, and the axle center of the axle center of the first rotary joint axle and the first linear joint axle is perpendicular.
CN2012103929010A 2012-10-17 2012-10-17 Intersecting line cutting robot mechanism for container adapter tube Pending CN102909504A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012103929010A CN102909504A (en) 2012-10-17 2012-10-17 Intersecting line cutting robot mechanism for container adapter tube

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012103929010A CN102909504A (en) 2012-10-17 2012-10-17 Intersecting line cutting robot mechanism for container adapter tube

Publications (1)

Publication Number Publication Date
CN102909504A true CN102909504A (en) 2013-02-06

Family

ID=47608211

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2012103929010A Pending CN102909504A (en) 2012-10-17 2012-10-17 Intersecting line cutting robot mechanism for container adapter tube

Country Status (1)

Country Link
CN (1) CN102909504A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104959978A (en) * 2015-07-03 2015-10-07 佛山市新恒萃材料科技有限公司 Pipe fitting operation robot
CN110340504A (en) * 2019-07-19 2019-10-18 集美大学诚毅学院 A kind of pipe communicated wire cutting device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101797751A (en) * 2010-01-26 2010-08-11 哈尔滨工程大学 Industrial robot structure with seven tandem shafts for pipe end operations
CN101797750A (en) * 2010-01-26 2010-08-11 哈尔滨工程大学 Industrial planer type multi-shaft tandem type robot structure
KR20110080835A (en) * 2010-01-07 2011-07-13 (주)청송산업기계 A supporter of welding carriage
CN202894632U (en) * 2012-10-17 2013-04-24 哈尔滨工程大学 Container connecting pipe intersecting wire-electrode cutting robot mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110080835A (en) * 2010-01-07 2011-07-13 (주)청송산업기계 A supporter of welding carriage
CN101797751A (en) * 2010-01-26 2010-08-11 哈尔滨工程大学 Industrial robot structure with seven tandem shafts for pipe end operations
CN101797750A (en) * 2010-01-26 2010-08-11 哈尔滨工程大学 Industrial planer type multi-shaft tandem type robot structure
CN202894632U (en) * 2012-10-17 2013-04-24 哈尔滨工程大学 Container connecting pipe intersecting wire-electrode cutting robot mechanism

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104959978A (en) * 2015-07-03 2015-10-07 佛山市新恒萃材料科技有限公司 Pipe fitting operation robot
CN110340504A (en) * 2019-07-19 2019-10-18 集美大学诚毅学院 A kind of pipe communicated wire cutting device
CN110340504B (en) * 2019-07-19 2021-06-18 集美大学诚毅学院 Pipeline intersecting line cutting device

Similar Documents

Publication Publication Date Title
CN101559597B (en) Multifunctional gantry type seven-shaft industrial robot
CN103753528B (en) There is the light-duty motion arm of collapsible six degree of freedom of joints axes orthogonality relation
CN102039592B (en) Multi-body magnetic adsorption type adaptive wall climbing robot
CN204818482U (en) Multiaxis automatic weld cutting equipment
CN204913115U (en) Five degrees of freedom welding cutting machine people
CN102672714B (en) High-rigidity high-precision five-coordinate parallel power head
CN101559598A (en) Multifunctional gantry type six-shaft industrial robot
CN105081633A (en) Five-degree-of-freedom welding cutting robot
CN103495971A (en) Five degree-of-freedom combined robot platform
CN203171187U (en) Welding system
CN203726501U (en) Foldable light type mechanical arm capable of following and monitoring target
CN101844284B (en) Centring gesture correcting member of full-position welding robot
CN101797750A (en) Industrial planer type multi-shaft tandem type robot structure
CN104647365A (en) Hydraulic-driven multi-joint industrial robot
CN202894632U (en) Container connecting pipe intersecting wire-electrode cutting robot mechanism
CN204183101U (en) The two main spindle numerical control of full hydraulic drive open type rubs under water and connects soldering equipment
CN107498539A (en) A kind of asymmetric double robot arm device
CN104353931A (en) Full-hydraulic drive open-type double-main-shaft numerical control underwater stitch welding equipment
CN201669516U (en) Centering posture adjusting part of all position welding robot
CN101797751B (en) Industrial robot structure with seven tandem shafts for pipe end operations
CN204471374U (en) A kind of hydraulic-driven multi-joint industrial robot
CN203830765U (en) Universal drilling machine
CN102909504A (en) Intersecting line cutting robot mechanism for container adapter tube
CN108202231B (en) Working platform capable of realizing bidirectional simultaneous deflection angle
CN203887368U (en) Combined operation arm of pipe cutting robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C02 Deemed withdrawal of patent application after publication (patent law 2001)
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20130206