CN110253599A - A kind of high pressure waterjet machine people - Google Patents
A kind of high pressure waterjet machine people Download PDFInfo
- Publication number
- CN110253599A CN110253599A CN201910638002.6A CN201910638002A CN110253599A CN 110253599 A CN110253599 A CN 110253599A CN 201910638002 A CN201910638002 A CN 201910638002A CN 110253599 A CN110253599 A CN 110253599A
- Authority
- CN
- China
- Prior art keywords
- water
- high pressure
- mechanical arm
- pressure waterjet
- machine people
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Classifications
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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
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of high pressure waterjet machine people, including mechanical arm system, high pressure waterjet system and driving walking mechanism, mechanical arm system is installed in the driving walking mechanism, high pressure waterjet system is installed on the mechanical arm system, solves the problems, such as that current cutting equipment needs to drag electric wire and non intelligentization；The present invention uses the combining form of Multi-freedom-degreemanipulator manipulator and high pressure waterjet, also ensures that certain cutting accuracy while guaranteeing certain cutting speed；Electric energy is provided for robot whole system by high-performance lithium battery pack, voltage and current needed for guaranteeing the work of system modules.Detection to lithium battery group electricity is realized by power detecting controller, prompts whether to charge by remaining capacity and charging complete；It is identified by the RFID label tag that the RFID reader installed in robot reads charged area, and is automatically performed interface docking and charges.
Description
Technical field
The present invention relates to industrial robot fields to refer specifically to a kind of water-jet cutting machine particular for cutting robot field
Device people.
Background technique
With the development of modern industry, to the continuous improvement of the quality of cutting and required precision, for improving production efficiency,
Production cost is reduced, the equipment requirement of the automatic cutting function with high-intelligentization is also being promoted.The development of cutting machine has to
The requirement of modern mechanical processing industry development is adapted to, carries out raw material cutting, the processing mainly carried out with physical method, product is still
So keep the fundamental characteristics of raw material.In the industry, current cutting robot self structure can not be adjusted arbitrarily, and automatic
Change degree is not high.Various cutting situations needed for the present invention is directed to construction site, such as: the cutting of reinforcing bar, the cutting of concrete
Deng.
Summary of the invention
In view of the deficiencies of the prior art, it the present invention provides a kind of high pressure waterjet machine people, solves in cutting robot
Self structure cannot be adjusted arbitrarily, and the problem that intelligence degree is low.
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of high pressure waterjet machine people, including
Mechanical arm system, high pressure waterjet system and driving walking mechanism, are equipped with mechanical arm system in the driving walking mechanism, described
High pressure waterjet system is installed, the mechanical arm system includes fixed underpan, mechanical arm pedestal, turntable, institute on mechanical arm system
It states fixed underpan to be fixed in driving walking mechanism, and is connect between mechanical arm pedestal by turntable, the mechanical arm pedestal
It is disposed with second mechanical arm, first mechanical arm and high pressure waterjet system, the mechanical arm pedestal and the second machine from the bottom to top
It is connected between tool arm by third servo motor, for driving second mechanical arm to move；The second mechanical arm is mechanical with first
It is connected between arm by the second servo motor, for driving first mechanical arm to move；The first mechanical arm and high pressure waterjet system
It is connected between system by first servo motor, for driving high pressure waterjet system motion；
The high pressure waterjet system includes water knife spray head, water cutter head sensor integration module, water knife pedestal, super-pressure water pump, supplies
Water water pipe and water supply pump are equipped with water knife spray head and water cutter head sensor integration module, side peace on the water knife pedestal
Equipped with super-pressure water pump, bottom hexagon socket head cap screw is connect with first servo motor；The water supply pump and water supply water pipe phase
Connection, the water supply water pipe are connected with super-pressure water pump, wherein the water supply pump is defeated after pressurization by the water of water inlet
Out to water supply water pipe, water is delivered to super-pressure water pump by water supply water pipe, and super-pressure water pump extrudes after water pressurizes from water knife spray head,
Form super-pressure water flow cutting；
The driving walking mechanism is four-wheel drive structure.
The water knife spray head includes nozzle, and the nozzle includes tail portion abrasive material channel and high pressure aquaporin.
The driving walking mechanism is cube, is mounted on ultrasonic distance sensor and laser on four sides
Sensor, each of which side are mounted on 2 ultrasonic distance sensors and 1 laser sensor, and 2 ultrasonic distances pass
Sensor is separately mounted to the two sides of laser sensor.
The high pressure waterjet machine people further includes robot handheld remote controler, and the robot handheld remote controler passes through wireless
It is communicated between communication unit and high pressure waterjet machine people.
The wireless communication unit includes WIFI module and wireless screen transmission module.
The water cutter head sensor module includes infrared distance sensor and camera, the infrared distance in cutting process
The sensor moment monitors depth of cut.Camera will cut picture real-time transmission to hand-held remote controller screen.
The high pressure waterjet machine people provides electric energy by high-performance lithium battery pack for robot whole system, and passes through electricity
Group charger completes the connection charging of high-performance lithium battery pack.
The lithium battery group realizes detection to lithium battery group electricity by power detecting controller, by remaining capacity come
Whether prompt charges and charging complete；It is carried out by the RFID label tag that the RFID reader installed in robot reads charged area
Identification, and be automatically performed interface docking and charge.
The beneficial effects of the present invention are: solving current cutting equipment by this high pressure waterjet machine people and needing to drag electric wire
And the problem of non intelligentization；The present invention uses the combining form of Multi-freedom-degreemanipulator manipulator and high pressure waterjet, is guaranteeing certain cutting
Certain cutting accuracy is also ensured that while speed；Electric energy is provided for robot whole system by high-performance lithium battery pack, is protected
Voltage and current needed for the work of card system modules.The detection to lithium battery group electricity is realized by power detecting controller,
It prompts whether to charge by remaining capacity and charging complete；Charged area is read by the RFID reader installed in robot
RFID label tag identified, and be automatically performed interface docking charge.
Detailed description of the invention
Fig. 1 high pressure waterjet machine people structural representation Fig. 1 of the present invention；
Fig. 2 high pressure waterjet machine people structural representation Fig. 2 of the present invention；
Fig. 3 high pressure waterjet machine people's structural front view of the present invention；
The water knife nozzle structure schematic diagram of Fig. 4 robot of the present invention；
Fig. 5 wireless communication unit operation schematic diagram of the present invention；
Appended drawing reference: 1. water knife spray heads, 2. water cutter head sensor integration modules, 3. water knife pedestals, 4. super-pressure water pumps, 5. first
Servo motor, 6. first mechanical arms, 7. second servo motors, 8. second mechanical arms, 9. third servo motors, 10. mechanical arm bottoms
Seat, 11. turntables, 12. fixed underpans, 13. emergency stop switch, 14. power switches, 15. charging interfaces, 16. ultrasonic distances
Sensor, 17. wheels, 18. water supply water pipes, 19. water pipes buckle, 20. water supply pumps, 21. laser sensors, 22. mechanical arms limit
Position device, 23. feed water inlets, 24. installation bolts, 25. hydraulic supports.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings, to be specifically described the technical program.
As shown in Figure 1-3, a kind of high pressure waterjet machine people, including mechanical arm system, high pressure waterjet system and driving walking
Mechanism is equipped with mechanical arm system in the driving walking mechanism, high pressure waterjet system, institute is equipped on the mechanical arm system
Stating mechanical arm system includes fixed underpan (12), mechanical arm pedestal (10), turntable (11), and the fixed underpan (12) is fixed on drive
In dynamic walking mechanism, and connect between mechanical arm pedestal (10) by turntable (11), the mechanical arm pedestal (10) by down toward
On be disposed with second mechanical arm (8), first mechanical arm (6) and high pressure waterjet system, the mechanical arm pedestal (10) and the
It is connected between two mechanical arms (8) by third servo motor (9), for driving second mechanical arm (8) to move；Described second is mechanical
It is connect between arm (8) and first mechanical arm (6) by the second servo motor (7), for driving first mechanical arm (6) to move；Institute
It states and is connected between first mechanical arm (6) and high pressure waterjet system by first servo motor (5), for driving high pressure waterjet system
Movement；
The high pressure waterjet system includes water knife spray head (1), water cutter head sensor integration module (2), water knife pedestal (3), superelevation
Water pump (4), water supply water pipe (18) and water supply pump (20) are equipped with water knife spray head (1) and water on the water knife pedestal (3)
Cutter head sensor integration module (2), side are equipped with super-pressure water pump (4), bottom hexagon socket head cap screw and the first servo electricity
Machine (5) connection；The water supply pump (20) is connected with water supply water pipe (18), the water supply water pipe (18) and super-pressure water pump
(4) it is connected, wherein the water supply pump (20) by the water of water inlet, supply water to water supply water pipe (18) by the output after pressurization
Water is delivered to super-pressure water pump (4) by water pipe (18), and super-pressure water pump (4) extrudes after water pressurizes from water knife spray head (1), is formed
Super-pressure water flow cutting；
The driving walking mechanism is four-wheel drive structure.
The water knife spray head (1) includes nozzle (28), and the nozzle includes tail portion abrasive material channel (26) and high pressure aquaporin
(27).
The driving walking mechanism is cube, is mounted on ultrasonic distance sensor and laser on four sides
Sensor, each of which side are mounted on 2 ultrasonic distance sensors and 1 laser sensor, and 2 ultrasonic distances pass
Sensor is separately mounted to the two sides of laser sensor.
The high pressure waterjet machine people further includes robot handheld remote controler, and the robot handheld remote controler passes through wireless
It is communicated between communication unit and high pressure waterjet machine people.
The wireless communication unit includes WIFI module and wireless screen transmission module.
The water cutter head sensor module includes infrared distance sensor and camera, the infrared distance in cutting process
The sensor moment monitors depth of cut.Camera will cut picture real-time transmission to hand-held remote controller screen.
The high pressure waterjet machine people provides electric energy by high-performance lithium battery pack for robot whole system, and passes through electricity
Group charger completes the connection charging of high-performance lithium battery pack.
The lithium battery group realizes detection to lithium battery group electricity by power detecting controller, by remaining capacity come
Whether prompt charges and charging complete；It is carried out by the RFID label tag that the RFID reader installed in robot reads charged area
Identification, and be automatically performed interface docking and charge.
In one embodiment, specifically: the water cutter head uses hard alloy to spray water with high pressure cutting as shown in Figure 4
Nozzle guarantees the cutting accuracy and cut coverage of robot, and spray head tail portion can add pomegranate automatically in water flow cutting
Cutting speed and cutting force can be greatly improved in stone powder, pomegranate stone powder.
The first servo motor is used to control the rotation of water knife pedestal and determines the phase of water knife pedestal and first mechanical arm
To position, guarantee that water knife is in suitable cutting position.
The first mechanical arm can provide longer impulse stroke and more freedom degrees for whole device.It is described
The second servo motor be used for drive first mechanical arm rotation and control first mechanical arm and second mechanical arm opposite position
It sets, it is ensured that water knife is in suitable operating position.
The second mechanical arm can be used for supporting the movement of first mechanical arm, and provide longer work for whole device
Make stroke and more freedom degrees.
The third servo motor is used to drive the rotation of second mechanical arm and controls second mechanical arm and mechanical arm
The relative position of pedestal.
The mechanical arm pedestal is a pedestal in irregular shape, and servo motor is equipped on mechanical arm pedestal, water pump,
Second mechanical arm.It is existing in structure to have done certain simplification and guarantee again entirely although its shape is irregular but by making rational planning for
Pedestal has certain support strength.
The turntable is a round turntable, and there is servo drive motor driving in inside and bottom is supported by thrust ball bearing,
To realize 360 ° of circular base plate rotations.
The fixed underpan is a plinth, and quadrangle is provided with foot pad, and four side middle lines are provided with link bolt hole, for interior
The fixation of hex bolts.
The emergency stop switch is evenly distributed with four emergency stop switch in working face quadrangle, and to be connected in parallel.With
Robot manipulating task is prevented in emergency circumstances artificially cutting off the power.
The power switch is used to control the open and close of robot.
The charging interface can carry out quick charge to robot.
8 ultrasonic distance sensors are evenly distributed with and four wall of robot chassis, the reality for robot working environment
When monitor, to prevent situation of causing danger.
Its wheel hub structure of the wheel is eight spoke supports, and tire is vacuum gas filling tire.
The water supplying pipe is high-pressure water water supplying pump.
The water pipe buckles the arrangement route for fixing water supplying pipe.
Water pump one end access mouth of a river is delivered in the water supplying pipe of water outlet after being pressurized water, and water pump is high pressure waterjet
Sufficient water source and certain hydraulic pressure are provided.
The laser sensor can carry out laser scanning modeling, the mould of building ambient enviroment and required cutting material object
Type.
The mechanical arm limiting device prevents mechanical arm from accident occurs for limiting the slewing area of second mechanical arm
Self structure is damaged beyond itself impulse stroke.
The filling pipe end provides enough water supply for water pump, and connector is using threaded connection.
The hexagon socket head cap screw is installation bolt, and fixed underpan is installed on working face.
The hydraulic support is evenly arranged on four side middle line of chassis, and hydraulic device opening will be entire behind traveling to operating position
Working face supports.
Robot man-machine interaction unit 31 realizes the information exchange between people and robot.Operator by remote-control handle into
Row relevant operation, operational order are transmitted to the central control unit 26 of robot, the information that the processing of central control unit 20 receives
Liquid crystal display is completed afterwards to show.
Robot realizes the acquisition to image by high-definition camera, image recognition, passes through WIFI module and wireless screen
Transmission module is transferred on hand-held remote controller liquid crystal display and is shown, is cut manually according to the acquisition 3-D graphic of image
Cut path planning.
Robot power supply provides electric energy by high-performance lithium battery pack for robot whole system, is completed by group charger
Battery pack connection charging, when requiring continuous service, can also carry out battery pack and change.Each seed ginseng is converted out by electric pressure converter
Several voltage and currents, voltage and current needed for guaranteeing the work of system modules are realized by power detecting controller to lithium electricity
Whether the detection of pond group electricity is prompted to charge by remaining capacity and charging complete, charged area identification uses active RFID
Location technology identified by the RFID label tag that the RFID reader installed in robot reads charged area, and automatic complete
It charges at interface docking.
Claims (8)
1. a kind of high pressure waterjet machine people, including mechanical arm system, high pressure waterjet system and driving walking mechanism, the driving row
It walks and mechanical arm system is installed in mechanism, high pressure waterjet system is installed on the mechanical arm system, which is characterized in that the machine
Tool arm system includes fixed underpan (12), mechanical arm pedestal (10), turntable (11), and the fixed underpan (12) is fixed on driving row
Walk in mechanism, and connect between mechanical arm pedestal (10) by turntable (11), the mechanical arm pedestal (10) from the bottom to top according to
It is secondary to be provided with second mechanical arm (8), first mechanical arm (6) and high pressure waterjet system, the mechanical arm pedestal (10) and the second machine
It is connected between tool arm (8) by third servo motor (9), for driving second mechanical arm (8) to move；The second mechanical arm
(8) it is connect between first mechanical arm (6) by the second servo motor (7), for driving first mechanical arm (6) to move；It is described
It is connected between first mechanical arm (6) and high pressure waterjet system by first servo motor (5), for driving high pressure waterjet system to transport
It is dynamic；
The high pressure waterjet system includes water knife spray head (1), water cutter head sensor integration module (2), water knife pedestal (3), superelevation
Water pump (4), water supply water pipe (18) and water supply pump (20) are equipped with water knife spray head (1) and water on the water knife pedestal (3)
Cutter head sensor integration module (2), side are equipped with super-pressure water pump (4), bottom hexagon socket head cap screw and the first servo electricity
Machine (5) connection；The water supply pump (20) is connected with water supply water pipe (18), the water supply water pipe (18) and super-pressure water pump
(4) it is connected, wherein the water supply pump (20) by the water of water inlet, supply water to water supply water pipe (18) by the output after pressurization
Water is delivered to super-pressure water pump (4) by water pipe (18), and super-pressure water pump (4) extrudes after water pressurizes from water knife spray head (1), is formed
Super-pressure water flow cutting；
The driving walking mechanism is four-wheel drive structure.
2. a kind of high pressure waterjet machine people according to claim 1, which is characterized in that the water knife spray head (1) includes spray
Mouth (28), the nozzle include tail portion abrasive material channel (26) and high pressure aquaporin (27).
3. a kind of high pressure waterjet machine people according to claim 1, which is characterized in that the driving walking mechanism is cube
Body is mounted on ultrasonic distance sensor and laser sensor on four sides, each of which side is mounted on 2 ultrasounds
Wave range sensor and 1 laser sensor, 2 ultrasonic distance sensors are separately mounted to the two of laser sensor
Side.
4. a kind of high pressure waterjet machine people according to claim 1, which is characterized in that the high pressure waterjet machine people also wraps
Include robot handheld remote controler, the robot handheld remote controler pass through between wireless communication unit and high pressure waterjet machine people into
Row communication.
5. a kind of high pressure waterjet machine people according to claim 4, which is characterized in that the wireless communication unit includes
WIFI module and wireless screen transmission module.
6. a kind of high pressure waterjet machine people according to claim 1, which is characterized in that the water cutter head sensor module
Including infrared distance sensor and camera, the infrared distance sensor moment monitors depth of cut, camera in cutting process
Picture real-time transmission will be cut to hand-held remote controller screen.
7. a kind of high pressure waterjet machine people according to claim 1, which is characterized in that the high pressure waterjet machine people passes through
High-performance lithium battery pack provides electric energy for robot whole system, and completes high-performance lithium battery pack by group charger and connect
Connect charging.
8. a kind of high pressure waterjet machine people according to claim 7, which is characterized in that the lithium battery group is examined by power supply
It surveys controller and realizes detection to lithium battery group electricity, prompt whether to charge by remaining capacity and charging complete；Pass through machine
The RFID label tag that the RFID reader installed on device people reads charged area identifies, and is automatically performed interface docking and is filled
Electricity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910638002.6A CN110253599A (en) | 2019-07-16 | 2019-07-16 | A kind of high pressure waterjet machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910638002.6A CN110253599A (en) | 2019-07-16 | 2019-07-16 | A kind of high pressure waterjet machine people |
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| Publication Number | Publication Date |
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| CN110253599A true CN110253599A (en) | 2019-09-20 |
Family
ID=67926269
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| CN201910638002.6A Pending CN110253599A (en) | 2019-07-16 | 2019-07-16 | A kind of high pressure waterjet machine people |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110786172A (en) * | 2019-12-18 | 2020-02-14 | 陕西中建建乐智能机器人有限公司 | Garden trimming robot |
| CN110899852A (en) * | 2019-12-11 | 2020-03-24 | 常德市鼎城区正荣机械制造有限公司 | Full-automatic pulley shaft production line |
| CN111097741A (en) * | 2019-12-31 | 2020-05-05 | 哈密天诚新能源设备维护有限公司 | Arm formula photovoltaic board belt cleaning device |
| CN112215312A (en) * | 2020-09-17 | 2021-01-12 | 北京卫星制造厂有限公司 | On-orbit multi-target body radio frequency identification and pose measurement system |
| CN112743714A (en) * | 2019-10-31 | 2021-05-04 | 公准精密工业股份有限公司 | Method for recycling thermosetting high polymer material in any shape |
| CN113146476A (en) * | 2021-03-30 | 2021-07-23 | 荣召清 | Self-feedback high-precision optical lens machining device and using method thereof |
| CN113427403A (en) * | 2021-08-12 | 2021-09-24 | 北京大学口腔医学院 | Water jet cutting device |
| CN118081801A (en) * | 2024-04-25 | 2024-05-28 | 安徽新境界自动化技术有限公司 | Mechanical arm driving and controlling integrated speed reducer for polishing |
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| CN113427403A (en) * | 2021-08-12 | 2021-09-24 | 北京大学口腔医学院 | Water jet cutting device |
| WO2023016073A1 (en) * | 2021-08-12 | 2023-02-16 | 北京大学口腔医学院 | Waterjet cutting device |
| CN118081801A (en) * | 2024-04-25 | 2024-05-28 | 安徽新境界自动化技术有限公司 | Mechanical arm driving and controlling integrated speed reducer for polishing |
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