CN105689785A - Steel strip tube internal support ring-cutting robot - Google Patents
Steel strip tube internal support ring-cutting robot Download PDFInfo
- Publication number
- CN105689785A CN105689785A CN201610277352.0A CN201610277352A CN105689785A CN 105689785 A CN105689785 A CN 105689785A CN 201610277352 A CN201610277352 A CN 201610277352A CN 105689785 A CN105689785 A CN 105689785A
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- CN
- China
- Prior art keywords
- arm
- motor
- screw
- swing arm
- pipe
- 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.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 title abstract description 7
- 239000010959 steel Substances 0.000 title abstract description 7
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 241000763859 Dyckia brevifolia Species 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 229910000997 High-speed steel Inorganic materials 0.000 abstract 2
- 230000003014 reinforcing effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D21/00—Machines or devices for shearing or cutting tubes
- B23D21/14—Machines or devices for shearing or cutting tubes cutting inside the tube
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Sawing (AREA)
Abstract
The invention discloses a steel strip tube internal support ring-cutting robot which comprises a high-speed steel saw blade, a saw blade clamp, a servo motor, a sawing arm, a ring-cutting swinging arm and an electric cylinder, wherein the high-speed steel saw blade is directly connected onto the output shaft of the servo motor through the saw blade clamp; the servo motor is fixed on a motor flange at the top end of the sawing arm; the sawing arm is mounted inside a sliding track of the ring-cutting swinging arm; two ends of the electric cylinder are fixed between the sawing arm and the ring-cutting swinging arm. By adopting the steel strip tube internal support ring-cutting robot, construction inside an adit can be achieved, stable support can be provided, a good cutting effect can be achieved, and the high expense of transportation of a cut large-diameter steel strip reinforcing tube can be reduced for a factory.
Description
Technical field
The present invention relates to a kind of municipal construction equipment, be specifically related to a kind of can the in-pipe robot of on-site cutting heavy caliber steel-belt-pipe, belong to construction robot technical field。
Background technology
Along with steel strip reinforced PE helical bellows is in a large amount of uses on the market, it is necessary to the improvement of a series of new technologies, for the problem that heavy caliber steel strip reinforced PE helical bellows is difficult to carry out on-the-spot sawing at the construction field (site)。Need a kind of can the pipe robot of on-the-spot sawing, reduce the high expense that steel-belt-pipe transports after producer's sawing again。
Summary of the invention
For the problems referred to above, the present invention provides a kind of steel-belt-pipe pipe inner support ring cutting robot, and it carries out the fixing of sawing arm by arranging pipe inner supporting structure, steadily cuts。
The technical scheme that the present invention takes is: a kind of steel-belt-pipe pipe inner support ring cutting robot, including HSS sawblade, blade clamp, servomotor, sawing arm, ring cutting swing arm, electricity cylinder, three pipe inner support feet, 6 the first poles, 3 the second poles, pipe robot car body, lead screw motor, lead screw motor flange, car body wheel, yielding coupling, two lead screw shaft bearings, two-way leading screw, 3 triangle pole pedestals, connecting pin, three leading screw sliding nuts, fixing bolt, swing arm motor, worm gear, two arm shaft bearings, two leading screw bearings, two swing arm bearings, two worm shaft bearings, two worm bearings, worm screw, endless screw electric motor flange, it is characterized in that: described HSS sawblade is direct-connected on the output shaft of servomotor by blade clamp, described servomotor is fixed on the motor flange on sawing arm top;Described sawing arm is arranged in the slide rail of ring cutting swing arm, and described electric cylinder two ends are fixed between sawing arm and ring cutting swing arm;Described pipe inner support foot is connected by connecting pin and the first pole and the second pole, and two second poles in the same direction are parallel;Described pipe robot car body fixedly mounts two lead screw shaft bearings and two arm shaft bearings and two worm shaft bearings;Fixedly mounting lead screw motor on described lead screw motor flange, the motor shaft of described lead screw motor is connected with two-way leading screw by yielding coupling, and described two-way leading screw arranges the screw thread of two sections of contrary rotation directions;Described triangle pole pedestal is connected by fixing bolt and three leading screw sliding nuts;Described swing arm motor is fixed on pipe robot car body by endless screw electric motor flange, the motor shaft of swing arm motor is connected with worm screw by shaft coupling, described worm screw drives worm gear, described worm gear to drive the ring cutting swing arm being arranged in two arm shaft bearings by two swing arm bearings to rotate。
Further, described pipe inner support foot can be strutted or gather by two-way leading screw。
Further, described pipe robot car body wheel face is provided with driving mechanism。
Owing to present invention employs technique scheme, the invention have the advantages that the present invention can construct in tunnel, line stabilization of going forward side by side supports, and cutting effect is good, the high expense transported after reducing producer's cutting of heavy caliber steel band reinforced pipe。
Accompanying drawing explanation
Fig. 1 is the entirety assembling perspective view of the present invention。
Fig. 2 is the subassembly perspective view of another angle of the present invention。
Drawing reference numeral: 1-HSS sawblade;2-blade clamp;3-servomotor;4-sawing arm;5-ring cutting swing arm;6-electricity cylinder;7-pipe inner support foot;8-the first pole;9-the second pole;10-pipe robot car body;11-lead screw motor;12-lead screw motor flange;13-car body wheel;14-yielding coupling;15-lead screw shaft bearing;The two-way leading screw of 16-;17-triangle pole pedestal;18-connecting pin;19-leading screw sliding nut;20-fixes bolt;21-swing arm motor;22-worm gear;23-arm shaft bearing;24-leading screw bearing;25-swing arm bearing;26-worm shaft bearing;27-worm bearing;28-worm screw;29-endless screw electric motor flange。
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described, and illustrative examples and explanation in this invention are used for explaining the present invention, but not as a limitation of the invention。
Such as Fig. 1, shown in Fig. 2, a kind of steel-belt-pipe pipe inner support ring cutting robot, including HSS sawblade 1, blade clamp 2, servomotor 3, sawing arm 4, ring cutting swing arm 5, electricity cylinder 6, three pipe inner support feet 7, 6 the first poles 8, 3 the second poles 9, pipe robot car body 10, lead screw motor 11, lead screw motor flange 12, car body wheel 13, yielding coupling 14, two lead screw shaft bearings 15, two-way leading screw 16, 3 triangle pole pedestals 17, connecting pin 18, three leading screw sliding nuts 19, fixing bolt 20, swing arm motor 21, worm gear 22, two arm shaft bearings 23, two leading screw bearings 24, two swing arm bearings 25, two worm shaft bearings 26, two worm bearings 27, worm screw 28, endless screw electric motor flange 29, it is characterized in that: described HSS sawblade 1 is direct-connected on the output shaft of servomotor 3 by blade clamp 2, described servomotor 3 is fixed on the motor flange on sawing arm 4 top;Described sawing arm 4 is arranged in the slide rail of ring cutting swing arm 5, and described electric cylinder 6 two ends are fixed between sawing arm 4 and ring cutting swing arm 5;Described pipe inner support foot 7 is connected with the first pole 8 and the second pole 9 by connecting pin 18, and two second poles 9 in the same direction are parallel;Described pipe robot car body 10 fixedly mounts two lead screw shaft bearings 15 and two arm shaft bearings 23 and two worm shaft bearings 26;Fixedly mounting lead screw motor 11 on described lead screw motor flange 12, the motor shaft of described lead screw motor 11 is connected with two-way leading screw 16 by yielding coupling 14, and described two-way leading screw 16 arranges the screw thread of two sections of contrary rotation directions;Described triangle pole pedestal 17 is connected with three leading screw sliding nuts 19 by fixing bolt 20;Described swing arm motor 21 is fixed on pipe robot car body 10 by endless screw electric motor flange 29, the motor shaft of swing arm motor 21 is connected with worm screw 28 by shaft coupling, described worm screw 28 drives worm gear 22, described worm gear 22 to drive the ring cutting swing arm 5 being arranged in two arm shaft bearings 23 by two swing arm bearings 25 to rotate。
Described pipe inner support foot 7 can be strutted or gather by two-way leading screw 16。
Described pipe robot car body wheel 13 side is provided with driving mechanism。
The operation principle of the present invention is: the present invention is in use, control pipe robot car body wheel 13 first by person to walk and need the position of sawing in pipe, then lead screw motor 11 is driven, make pipe inner support foot 7 open and contact tube wall to be supported, next step drives electricity cylinder 6 to make HSS sawblade 1 close to tube wall, next step starts servomotor 3 makes HSS sawblade 1 start working, then opening swing arm motor 21 makes ring cutting swing arm 5 start hoop rotation, electricity cylinder 6 is opened simultaneously, make the slow straight-line feed of sawing arm 4, thus steel-belt-pipe is cut, realize the pipe internal cutting of job site。
Claims (3)
1. a steel-belt-pipe pipe inner support ring cutting robot, including HSS sawblade (1), blade clamp (2), servomotor (3), sawing arm (4), ring cutting swing arm (5), electricity cylinder (6), three pipes inner support foot (7), 6 the first poles (8), 3 the second poles (9), pipe robot car body (10), lead screw motor (11), lead screw motor flange (12), car body wheel (13), yielding coupling (14), two lead screw shaft bearings (15), two-way leading screw (16), 3 triangle pole pedestals (17), connecting pin (18), three leading screw sliding nuts (19), fixing bolt (20), swing arm motor (21), worm gear (22), two arm shaft bearings (23), two leading screw bearings (24), two swing arm bearings (25), two worm shaft bearings (26), two worm bearings (27), worm screw (28), endless screw electric motor flange (29), it is characterised in that: described HSS sawblade (1) is direct-connected on the output shaft of servomotor (3) by blade clamp (2), and described servomotor (3) is fixed on the motor flange on sawing arm (4) top;Described sawing arm (4) is arranged in the slide rail of ring cutting swing arm (5), and described electric cylinder (6) two ends are fixed between sawing arm (4) and ring cutting swing arm (5);Described pipe inner support foot (7) is connected with the first pole (8) and the second pole (9) by connecting pin (18), and two second poles (9) in the same direction are parallel;Described pipe robot car body (10) is upper fixedly mounts two lead screw shaft bearings (15) and two arm shaft bearings (23) and two worm shaft bearings (26);Described lead screw motor flange (12) fixedly mounts lead screw motor (11), the motor shaft of described lead screw motor (11) is connected with two-way leading screw (16) by yielding coupling (14), and described two-way leading screw (16) arranges the screw thread of two sections of contrary rotation directions;Described triangle pole pedestal (17) is connected with three leading screw sliding nuts (19) by fixing bolt (20);Described swing arm motor (21) is fixed on pipe robot car body (10) by endless screw electric motor flange (29), the motor shaft of swing arm motor (21) is connected with worm screw (28) by shaft coupling, described worm screw (28) drives worm gear (22), described worm gear (22) to drive the ring cutting swing arm (5) being arranged on two arm shaft bearings (23) by two swing arm bearings (25) to rotate。
2. a kind of steel-belt-pipe according to claim 1 pipe inner support ring cutting robot, it is characterised in that: described pipe inner support foot (7) can be strutted or gather by two-way leading screw (16)。
3. a kind of steel-belt-pipe according to claim 1 pipe inner support ring cutting robot, it is characterised in that: described pipe robot car body wheel (13) side is provided with driving mechanism。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610277352.0A CN105689785B (en) | 2016-05-01 | 2016-05-01 | A kind of steel-belt-pipe pipe inner support ring cutting robot |
Applications Claiming Priority (1)
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CN201610277352.0A CN105689785B (en) | 2016-05-01 | 2016-05-01 | A kind of steel-belt-pipe pipe inner support ring cutting robot |
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CN105689785A true CN105689785A (en) | 2016-06-22 |
CN105689785B CN105689785B (en) | 2017-12-12 |
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CN201610277352.0A Active CN105689785B (en) | 2016-05-01 | 2016-05-01 | A kind of steel-belt-pipe pipe inner support ring cutting robot |
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CN106272396A (en) * | 2016-10-31 | 2017-01-04 | 哈尔滨理工大学 | A kind of electric grasping manipulator |
CN106312172A (en) * | 2016-10-08 | 2017-01-11 | 北京轩宇智能科技有限公司 | Supporting device |
CN106363228A (en) * | 2016-10-08 | 2017-02-01 | 北京轩宇智能科技有限公司 | Cutting equipment |
CN106424901A (en) * | 2016-10-08 | 2017-02-22 | 北京轩宇智能科技有限公司 | Cutting device |
CN106825736A (en) * | 2017-03-14 | 2017-06-13 | 覃小倩 | A kind of pipe cutting apparatus |
CN107052461A (en) * | 2017-03-14 | 2017-08-18 | 覃小倩 | A kind of pipe cutting method |
CN107282955A (en) * | 2017-08-26 | 2017-10-24 | 宣城尤达美智能科技有限公司 | A kind of robot device |
CN107355637A (en) * | 2017-07-31 | 2017-11-17 | 广州大学 | Segment type clean robot for central air-conditioning pipe |
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CN108637374A (en) * | 2018-06-20 | 2018-10-12 | 中铁工程装备集团有限公司 | A kind of old tube coupling revolution cutter device |
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CN106312172B (en) * | 2016-10-08 | 2018-11-16 | 北京轩宇智能科技有限公司 | Support device |
CN106272396A (en) * | 2016-10-31 | 2017-01-04 | 哈尔滨理工大学 | A kind of electric grasping manipulator |
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EP3441171A1 (en) * | 2017-08-10 | 2019-02-13 | Tyco Electronics (Shanghai) Co. Ltd. | Pipe cutting apparatus |
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