CN105689785A - Steel strip tube internal support ring-cutting robot - Google Patents

Steel strip tube internal support ring-cutting robot Download PDF

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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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China
Prior art keywords
arm
motor
screw
swing arm
pipe
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Granted
Application number
CN201610277352.0A
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Chinese (zh)
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CN105689785B (en
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不公告发明人
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Jiangsu Golden Cat Robot Technology Co Ltd
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Individual
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    • 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

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  • 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

A kind of steel-belt-pipe pipe inner support ring cutting robot
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。
CN201610277352.0A 2016-05-01 2016-05-01 A kind of steel-belt-pipe pipe inner support ring cutting robot Active CN105689785B (en)

Priority Applications (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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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
CN107363321A (en) * 2017-08-26 2017-11-21 广州奇达瑞盛环保科技有限公司 A kind of sewage pipe processing unit
CN107387025A (en) * 2017-08-17 2017-11-24 中国矿业大学(北京) A kind of recyclable coal bed gas extraction borehole stability attending device
CN107717079A (en) * 2016-08-31 2018-02-23 刘检军 A kind of intelligent pipeline cutting robot
CN108114837A (en) * 2017-12-31 2018-06-05 合肥林翔智能科技有限公司 A kind of spray printing device for steel pipe
CN108114836A (en) * 2017-12-31 2018-06-05 合肥林翔智能科技有限公司 A kind of steel tube jet printing device
CN108213999A (en) * 2017-08-26 2018-06-29 广州市领能光电科技有限公司 A kind of improved-type robot device
CN108213507A (en) * 2017-08-26 2018-06-29 方小刚 A kind of improved bridge equipment
CN108213553A (en) * 2018-01-19 2018-06-29 镇江倍斯特曼新材料研究有限公司 A kind of processing unit (plant) of metal works
CN108213554A (en) * 2017-08-26 2018-06-29 姚新连 A kind of modified sewage pipe processing unit
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
EP3441171A1 (en) * 2017-08-10 2019-02-13 Tyco Electronics (Shanghai) Co. Ltd. Pipe cutting apparatus
CN109454293A (en) * 2018-10-16 2019-03-12 徐州市久发工程机械有限责任公司 A kind of large diameter steel pipe inner sidewall groover
CN109759771A (en) * 2019-01-30 2019-05-17 北京石油化工学院 A kind of inner bearing type Large diameter pipe end docking hydraulic synchronization correction centralizer
CN110052657A (en) * 2019-05-06 2019-07-26 上海誉帆环境科技有限公司 A kind of pipeline inside diced system
CN109296868B (en) * 2018-11-14 2019-09-27 燕山大学 A kind of pipe robot for pipeline docking
CN110549017A (en) * 2019-10-03 2019-12-10 张子和 Adjusting device of built-in pipeline cutting machine
CN110722202A (en) * 2019-09-10 2020-01-24 江西理工大学应用科学学院 Steel pipe intelligent processing device controlled by PLC
CN111112730A (en) * 2020-02-11 2020-05-08 郭云美 Convenient-to-use bridge stainless steel railing cutting equipment and implementation method thereof
CN111113535A (en) * 2019-12-31 2020-05-08 浙江泽安电力设备有限公司 Equipment for producing and processing power pipeline
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CN111923123A (en) * 2020-08-28 2020-11-13 济南高瓴机械科技有限公司 Cutting machine in pipeline
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CN107717079A (en) * 2016-08-31 2018-02-23 刘检军 A kind of intelligent pipeline cutting robot
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
CN106424901B (en) * 2016-10-08 2018-11-16 北京轩宇智能科技有限公司 Cutter device
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
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
CN107355637B (en) * 2017-07-31 2022-11-11 广州大学 Sectional cleaning robot for central air-conditioning pipeline
CN107355637A (en) * 2017-07-31 2017-11-17 广州大学 Segment type clean robot for central air-conditioning pipe
EP3441171A1 (en) * 2017-08-10 2019-02-13 Tyco Electronics (Shanghai) Co. Ltd. Pipe cutting apparatus
CN107387025A (en) * 2017-08-17 2017-11-24 中国矿业大学(北京) A kind of recyclable coal bed gas extraction borehole stability attending device
CN108213554A (en) * 2017-08-26 2018-06-29 姚新连 A kind of modified sewage pipe processing unit
CN107363321A (en) * 2017-08-26 2017-11-21 广州奇达瑞盛环保科技有限公司 A kind of sewage pipe processing unit
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
CN108213999A (en) * 2017-08-26 2018-06-29 广州市领能光电科技有限公司 A kind of improved-type robot device
CN108213507A (en) * 2017-08-26 2018-06-29 方小刚 A kind of improved bridge equipment
CN108114836A (en) * 2017-12-31 2018-06-05 合肥林翔智能科技有限公司 A kind of steel tube jet printing device
CN108114837A (en) * 2017-12-31 2018-06-05 合肥林翔智能科技有限公司 A kind of spray printing device for steel pipe
CN108213553A (en) * 2018-01-19 2018-06-29 镇江倍斯特曼新材料研究有限公司 A kind of processing unit (plant) of metal works
CN108213553B (en) * 2018-01-19 2019-08-27 仪征市青山铸造有限公司 A kind of processing unit (plant) of metal works
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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