CN105965521A - Robot intelligent pore-opening device - Google Patents

Robot intelligent pore-opening device Download PDF

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Publication number
CN105965521A
CN105965521A CN201610500899.2A CN201610500899A CN105965521A CN 105965521 A CN105965521 A CN 105965521A CN 201610500899 A CN201610500899 A CN 201610500899A CN 105965521 A CN105965521 A CN 105965521A
Authority
CN
China
Prior art keywords
cutting
robot
double
boring
column
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
CN201610500899.2A
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Chinese (zh)
Inventor
谢金山
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.)
YONGSHENG MACHINERY INDUSTRY (KUNSHAN) Co Ltd
Original Assignee
YONGSHENG MACHINERY INDUSTRY (KUNSHAN) Co Ltd
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 YONGSHENG MACHINERY INDUSTRY (KUNSHAN) Co Ltd filed Critical YONGSHENG MACHINERY INDUSTRY (KUNSHAN) Co Ltd
Priority to CN201610500899.2A priority Critical patent/CN105965521A/en
Publication of CN105965521A publication Critical patent/CN105965521A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0211Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0247Driving means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1035Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base

Abstract

The invention relates to a robot intelligent pore-opening device which comprises an outer rail, wherein a double-column portal frame is arranged on the outer rail; a control cabinet is mounted on the double-column portal frame; a base of the double-column portal frame is provided with a portal travelling drive device; the robot cutting device comprises a cutting robot; the cutting robot is mounted on a lifting supporting base in a suspended manner; the tail end of the cutting robot is provided with a laser detector; the lifting supporting base and a beam of the double-column portal frame are connected through a movable slide plate; a transverse drive device and a lifting drive device are arranged on the movable slide plate; and racks and guide rails are arranged on the beam and the lifting supporting base. The robot intelligent pore-opening device can open pores at different positions, in different directions and at different bevel angles in workpieces with different thicknesses and different radians; and the tail end of the cutting robot is provided with the laser detector, so that pore-opening positions, angles and radians can be guaranteed to be completely correct, and therefore, pore-opening operation saves both time and labor.

Description

A kind of intelligent robot boring device
Technical field:
The present invention relates to vessel fabrication field, be specifically related to a kind of intelligent robot boring device.
Background technology:
Due to technological requirement and the needs of maintenance, on the cylinder or end socket of container, often offer the hole of all size or adapter is installed, such as nozzle openings such as manhole, hand hole, visor hole, material import and export adapter and installation Pressure gauge, relief valve, liquid level meter, temperature instrumentations.Generally, this some holes is all to rule further according to drawing after cylinder, seal head molding, then uses the equipment such as flame cutting or plasma cutting to carry out manual perforate.Such perforate mode not only bore size, groove accuracy, groove face roughness easily produce deviation, and perforate efficiency is low, labor intensity big, have impact on production cycle and the manufacturing cost of container.
Although some robot building business have developed cutting robot at present, but in actual applications, owing to nonstandard container is the most, and the factor such as flatness put by forming errors, cylinder or end socket is affected, likely result in position of opening and produce deviation, hole shape generation error, the lighter needs to take more time to reprocess, make up, and serious even results in cylinder or end socket is scrapped.
Summary of the invention:
The invention aims to the problem that the perforate efficiency in the presence of solution prior art is low, labor intensity big, perforate quality cannot be protected, and a kind of intelligentized boring device is provided.
It is an object of the invention to be achieved through the following technical solutions: a kind of intelligent robot boring device, including double-column planer frame, robotic cutting device, outside track, switch board, double-column planer frame it is provided with on described outside track, being provided with switch board on described double-column planer frame, described double-column planer frame base is provided with gantry travel driving unit;Described robotic cutting device includes cutting robot, described cutting robot hangs and is installed on lifting support, the end of described cutting robot is provided with laser detector, it is connected by moving slide board between described lifting support with double-column planer frame crossbeam, it is provided with lateral driver device on described moving slide board, being horizontally arranged with tooth bar and guide rail on described double-column planer frame crossbeam, described lateral driver device is connected with the rack gear of described horizontally set by gear;Being provided with lifting drive on described moving slide board, described lifting support is vertically arranged with tooth bar and guide rail, described lifting drive is connected with described longitudinally disposed rack gear by gear.
Further, described cutting robot comprises planning and the computer system controlling cutting and hand held machines people's programmable controller.
Preferably, in order to make control cable along with not producing winding when robotic cutting device moves together with portal frame, it is provided with the first drag chain on described double-column planer frame crossbeam, second drag chain is set on the lifting support of described robotic cutting device, below described switch board, outside track direction is provided with the 3rd drag chain.
Preferably, the most accurate in order to make track portal frame run, described outside track limit is installed with the tooth bar along outside track direction.
Preferably, in order to realize offering diverse location, different directions, the hole of different bevel angle on different-thickness, different radian workpiece, the motion number of axle of described cutting robot is more than four axles.
Preferably, in order to avoid cutting robot breaks burning torch when action, described cutting robot is provided with anticollision sensor, and described anticollision sensor is provided with rifle folder, and described rifle folder connects burning torch.
Preferably, in order to adapt to the perforate of longer cylinder, the lower section of described portal frame arranges at least two inner orbits, and described inner orbit arranges slidably workpiece support device.
Preferably, in order to adapt to the cutting of big current parameters, described burning torch is designed as water-cooled burning torch.
Compared with prior art, usefulness of the present invention is: be arranged on portal frame by being hung by cutting robot, freely-movable by the multiaxis of cutting machine human body, and cutting robot makees on crossbeam laterally, vertically moves, and move before and after being equipped with portal frame, thus realize offering diverse location, different directions, the hole of different bevel angle on different-thickness, different radian workpiece (cylinder or end socket);Simultaneously as be mounted with laser detector at cutting machine robot end, thus automatically measuring so that the parameter in system is revised automatically of position of opening can be realized, therefore can ensure the most correct of position of opening, direction, shape and bevel angle.
Accompanying drawing illustrates:
Fig. 1 is the axonometric chart of one embodiment of the invention.
Fig. 2 is the structural representation of cutting robot.
In figure: 1-double-column planer frame, 11-crossbeam, 12-column, 13-base, 14-lateral driver device, 15, 25, 31-tooth bar, 16, 26-guide rail, 17-the first drag chain, 18-gantry travel driving unit, 2-robotic cutting device, 21-cutting robot, 211-anticollision sensor, 212-rifle presss from both sides, 213-laser detector, 214-burning torch, 215-planning and the computer system of control cutting, 216-hand held machines people's programmable controller, 22-lifting support, 23-moving slide board, 24-lifting drive, 27-the second drag chain, 3-outside track, 4-switch board, 41-the 3rd drag chain, 5-slidably workpiece support device, 51-inner orbit.
Detailed description of the invention:
Below in conjunction with the accompanying drawings and detailed description of the invention describes the present invention:
According to a kind of intelligent robot boring device shown in Fig. 1, including double-column planer frame 1, robotic cutting device 2, outside track 3, switch board 4, it is provided with double-column planer frame 1 on described outside track 3, on described double-column planer frame 1, switch board 4 is installed, described double-column planer frame 1 includes crossbeam 11, column 12 and base 13, described base 13 is provided with gantry travel driving unit 18, described robotic cutting device 2 includes cutting robot 21, described cutting robot 21 hangs and is installed on lifting support 22, the end of described cutting robot 21 is provided with laser detector 213, it is connected by moving slide board 23 between described lifting support 22 with double-column planer frame 1 crossbeam 11;Being provided with lateral driver device 14 on described moving slide board 23, described double-column planer frame 1 crossbeam 11 is horizontally arranged with tooth bar 15 and guide rail 16, described lateral driver device 14 is in transmission connection by the tooth bar 15 of gear with described horizontally set;Being provided with lifting drive 24 on described moving slide board 23, described lifting support 22 is vertically arranged with tooth bar 25 and guide rail 26, described lifting drive 24 is in transmission connection with described longitudinally disposed tooth bar 25 by gear.
According to Fig. 2, described cutting robot 21 comprises planning and the computer system 215 controlling cutting and hand held machines people's programmable controller 216.
Another embodiment, difference is: according to Fig. 1, it is provided with the first drag chain 17 on described double-column planer frame 1 crossbeam 11, the lifting support 22 of described robotic cutting device 2 arranges the second drag chain 27, below described switch board 4, outside track 3 direction is provided with the 3rd drag chain 41.
Another embodiment, difference is: according to Fig. 1, and described outside track 3 limit is installed with the tooth bar 31 along outside track direction.
Another embodiment, difference is: according to Fig. 2, and the motion number of axle of described cutting robot 21 is more than four axles.
Another embodiment, difference is: according to Fig. 2, and described cutting robot 21 is provided with anticollision sensor 211, and described anticollision sensor 211 is provided with rifle folder 212, and burning torch 214 is connected with described rifle folder 212 by bolt.
Another embodiment, difference is: according to Fig. 1, and the lower section of described portal frame 1 arranges at least two inner orbits 51, described inner orbit 51 arranges the turning rolls of slidably workpiece support device 5(such as support cylinder and/or supports the chassis of end socket).
Another embodiment, difference is: described burning torch 214 is water-cooled burning torch.
In the specific implementation, first in the computer system 215 of planning and control cutting, perforated parameters is inputted, and generate perforate task and convey to cutting robot 21, then the workpiece treating perforate is positioned on the slidably workpiece support device 5 below portal frame 1, by lifting drive 14 and lateral driver device 24, robotic cutting device 2 is adjusted to suitable height and position, laser detector 213 is used to be scanned workpiece obtaining the actual coordinate seeking site, and the actual coordinate seeking site is fed back to system, the theoretical deviation seeking between site in site and system is sought so that acquisition is actual, it is transferred to cutting robot 21 by system balance perforate trajector deviation and after revising initial trace point and obtaining actual path point, cutting robot 21 carries out perforate according to the actual path point obtained to workpiece.
It is emphasized that: be the most only presently preferred embodiments of the present invention, not the present invention is made any pro forma restriction, every any simple modification, equivalent variations and modification made above example according to the technical spirit of the present invention, all still falls within the range of technical solution of the present invention.

Claims (8)

  1. null1. an intelligent robot boring device,It is characterized in that: include double-column planer frame (1)、Robotic cutting device (2)、Outside track (3)、Switch board (4),Double-column planer frame (1) it is provided with on described outside track (3),On described double-column planer frame (1), switch board (4) is installed,Described double-column planer frame (1) base (13) is provided with gantry travel driving unit (18),Described robotic cutting device (2) includes cutting robot (21),Described cutting robot (21) hangs and is installed on lifting support (22),The end of described cutting robot (21) is provided with laser detector (213),It is connected by moving slide board (23) between described lifting support (22) with double-column planer frame (1) crossbeam (11),Lateral driver device (14) it is provided with on described moving slide board (23),Tooth bar (15) and guide rail (16) it is horizontally arranged with on described double-column planer frame (1) crossbeam (11),Described lateral driver device (14) is in transmission connection by the tooth bar (15) of gear with described horizontally set;Lifting drive (24) it is provided with on described moving slide board (23), being vertically arranged with tooth bar (25) and guide rail (26) on described lifting support (22), described lifting drive (24) is in transmission connection with described longitudinally disposed tooth bar (25) by gear.
  2. Intelligent robot boring device the most according to claim 1, it is characterised in that: described cutting robot (21) comprises planning and the computer system (215) controlling cutting and hand held machines people's programmable controller (216).
  3. Intelligent robot boring device the most according to claim 1, it is characterized in that: on described double-column planer frame (1) crossbeam (11), be provided with the first drag chain (17), arranging the second drag chain (27) on the lifting support (22) of described robotic cutting device (2), described switch board (4) lower section is provided with the 3rd drag chain (41) along outside track (3) direction.
  4. Intelligent robot boring device the most according to claim 1, it is characterised in that: it is installed with the tooth bar (31) along outside track direction on described outside track (3) limit.
  5. Intelligent robot boring device the most according to claim 1, it is characterised in that: the motion number of axle of described cutting robot (21) is more than four axles.
  6. 6. according to the intelligent robot boring device described in any one of claim 1 to 5, it is characterized in that: described cutting robot (21) is provided with anticollision sensor (211), being provided with rifle folder (212) on described anticollision sensor (211), described rifle folder (212) connects burning torch (214).
  7. Intelligent robot boring device the most according to claim 1, it is characterised in that: the lower section of described portal frame (1) arranges at least two inner orbits (51), and described inner orbit (51) arranges slidably workpiece support device (5).
  8. Intelligent robot boring device the most according to claim 6, it is characterised in that: described burning torch (214) is water-cooled burning torch.
CN201610500899.2A 2016-06-30 2016-06-30 Robot intelligent pore-opening device Pending CN105965521A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610500899.2A CN105965521A (en) 2016-06-30 2016-06-30 Robot intelligent pore-opening device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610500899.2A CN105965521A (en) 2016-06-30 2016-06-30 Robot intelligent pore-opening device

Publications (1)

Publication Number Publication Date
CN105965521A true CN105965521A (en) 2016-09-28

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106624375A (en) * 2016-11-16 2017-05-10 亚太绿建(北京)科技集团有限公司 Intelligent omnibearing laser cutting working station
CN108581062A (en) * 2018-05-12 2018-09-28 芜湖泰庆电子科技有限公司 A kind of smart-cut equipment of flexibly cleavable a variety of objects
CN108581225A (en) * 2018-05-12 2018-09-28 芜湖泰庆电子科技有限公司 A kind of industrial smart-cut equipment
CN108723563A (en) * 2018-05-29 2018-11-02 哈尔滨焊接研究所院有限公司 A kind of nuclear power stainless steel complex pipes all positon cutting equipment
CN109396557A (en) * 2018-09-28 2019-03-01 北京市机械施工有限公司 A kind of intersection cutting method and device
CN110576203A (en) * 2019-08-09 2019-12-17 上海友升铝业有限公司 Drilling equipment with drill bit capable of adjusting three-dimensional angle and drilling method adopting drilling equipment

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EP1072353B1 (en) * 1999-07-27 2005-05-04 Promotec S.r.l. Metal plate cutting machine
CN101596650A (en) * 2009-06-22 2009-12-09 山东中德设备有限公司 A kind of multifunctional welding and cutting device
JP2012250271A (en) * 2011-06-06 2012-12-20 Daihen Corp Welding robot system
CN103192159A (en) * 2013-04-23 2013-07-10 中国电子科技集团公司第三十八研究所 Workstation system with welding robots for radar structural parts
CN203664930U (en) * 2014-01-07 2014-06-25 南京斯托克机器人系统有限公司 Robot laser cutting device
CN204430584U (en) * 2015-01-21 2015-07-01 山西戴尔蒙德不锈钢科技有限公司 The inside and outside vertical automatic welding of circumferential seams connection device of planer-type pipeline
JP2015163407A (en) * 2014-02-28 2015-09-10 ファナック株式会社 Welding torch detection device, and welding robot system
CN204997257U (en) * 2015-09-02 2016-01-27 哈尔滨工程大学 Integrative machine people of multi -functional five planer -types welding
CN205766184U (en) * 2016-06-30 2016-12-07 永胜机械工业(昆山)有限公司 Intelligent robot boring device

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1072353B1 (en) * 1999-07-27 2005-05-04 Promotec S.r.l. Metal plate cutting machine
CN101596650A (en) * 2009-06-22 2009-12-09 山东中德设备有限公司 A kind of multifunctional welding and cutting device
JP2012250271A (en) * 2011-06-06 2012-12-20 Daihen Corp Welding robot system
CN103192159A (en) * 2013-04-23 2013-07-10 中国电子科技集团公司第三十八研究所 Workstation system with welding robots for radar structural parts
CN203664930U (en) * 2014-01-07 2014-06-25 南京斯托克机器人系统有限公司 Robot laser cutting device
JP2015163407A (en) * 2014-02-28 2015-09-10 ファナック株式会社 Welding torch detection device, and welding robot system
CN204430584U (en) * 2015-01-21 2015-07-01 山西戴尔蒙德不锈钢科技有限公司 The inside and outside vertical automatic welding of circumferential seams connection device of planer-type pipeline
CN204997257U (en) * 2015-09-02 2016-01-27 哈尔滨工程大学 Integrative machine people of multi -functional five planer -types welding
CN205766184U (en) * 2016-06-30 2016-12-07 永胜机械工业(昆山)有限公司 Intelligent robot boring device

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106624375A (en) * 2016-11-16 2017-05-10 亚太绿建(北京)科技集团有限公司 Intelligent omnibearing laser cutting working station
CN106624375B (en) * 2016-11-16 2018-09-14 亚太绿建(北京)科技集团有限公司 A kind of intelligent omnibearing laser cutting work station
CN108581062A (en) * 2018-05-12 2018-09-28 芜湖泰庆电子科技有限公司 A kind of smart-cut equipment of flexibly cleavable a variety of objects
CN108581225A (en) * 2018-05-12 2018-09-28 芜湖泰庆电子科技有限公司 A kind of industrial smart-cut equipment
CN108723563A (en) * 2018-05-29 2018-11-02 哈尔滨焊接研究所院有限公司 A kind of nuclear power stainless steel complex pipes all positon cutting equipment
CN108723563B (en) * 2018-05-29 2020-05-29 东北石油大学 Nuclear power stainless steel complex pipe fitting all-position cutting equipment
CN109396557A (en) * 2018-09-28 2019-03-01 北京市机械施工有限公司 A kind of intersection cutting method and device
CN110576203A (en) * 2019-08-09 2019-12-17 上海友升铝业有限公司 Drilling equipment with drill bit capable of adjusting three-dimensional angle and drilling method adopting drilling equipment
CN110576203B (en) * 2019-08-09 2020-11-10 上海友升铝业有限公司 Drilling equipment with drill bit capable of adjusting three-dimensional angle and drilling method adopting drilling equipment

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