CN111673766B

CN111673766B - Industrial cutting robot

Info

Publication number: CN111673766B
Application number: CN202010569128.5A
Authority: CN
Inventors: 刘晨辉
Original assignee: Jiangxi Lianlu Intelligent Equipment Co ltd
Current assignee: Jiangxi Weisheng Electronics Co ltd
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2021-12-10
Anticipated expiration: 2040-06-19
Also published as: CN111673766A

Abstract

The invention relates to a cutting robot, in particular to an industrial cutting robot, which comprises a movable chassis, a moving mechanism, a rotating mechanism, a lifting mechanism, a mechanical arm I, a clamping mechanism, a mechanical arm II and a processing mechanism, can move through moving mechanism drive device, slewing mechanism drives elevating system, arm I, clamping mechanism, arm II and processing agency rotate the adjustment position of processing, elevating system drives arm I, clamping mechanism, arm II and processing agency go up and down, the adjustment position of processing, arm I can a plurality of angles move and stretch out and draw back, it carries out multi-angle motion to drive clamping mechanism, clamping mechanism can carry out the clamping to the tubular product of different diameters, arm II can a plurality of angles move and stretch out and draw back, arm II drives processing agency and carries out multi-angle motion, processing agency carries out multiple processing to tubular product.

Description

Industrial cutting robot

Technical Field

The invention relates to a cutting robot, in particular to an industrial cutting robot.

Background

For example, the publication number CN208644439U discloses a CO2 non-metal three-dimensional laser cutting robot, which comprises a workbench for positioning and installing a workpiece to be processed, a cutting robot fixedly installed at one side of the workbench, and a CO2 laser installed at the rear side of the cutting robot; the front end of the cutting robot is provided with a laser cutting head, and the laser cutting head is movably arranged above the workbench; the upper part of the laser cutting head is connected with a cooling circulating water pipe, and the lower part of the laser cutting head is connected with a compressed air conveying pipeline; the CO2 laser is fixedly arranged on the laser working frame, and the CO2 laser is connected with a laser cutting head at the front end of the cutting robot through a CO2 light path output pipeline; the utility model has the defect that the length required by the interception of the pipes placed at different positions cannot be achieved.

Disclosure of Invention

The invention aims to provide an industrial cutting robot which can cut required lengths of pipes placed at different positions.

The purpose of the invention is realized by the following technical scheme:

the utility model provides an industrial cutting robot, is including removing chassis, moving mechanism, slewing mechanism, elevating system, arm I, clamping mechanism, arm II and processing agency, removing and being connected with four moving mechanism on the chassis, the middle part that removes the chassis is connected with slewing mechanism, and the last fixedly connected with elevating system of slewing mechanism, two arms I of elevating system's middle part fixedly connected with all are connected with clamping mechanism on two arms I, and elevating system's upper end is connected with arm II, fixedly connected with processing agency on arm II.

As further optimization of the technical scheme, the industrial cutting robot comprises a movable chassis, swing motors I, swing connecting rods I and a rotating support, wherein the swing motors I are fixedly connected to the front side and the rear side of the movable chassis, the two swing connecting rods I are fixedly connected to output shafts of the two swing motors I, and the rotating support is fixedly connected to the middle of the movable chassis.

As a further optimization of the technical scheme, the industrial cutting robot comprises a moving mechanism, wherein the moving mechanism comprises a swing motor II, a swing connecting rod II, a moving wheel I and a moving wheel II, an output shaft of the swing motor II is fixedly connected with the swing connecting rod II, the swing connecting rod II is rotatably connected with the moving wheel I and the moving wheel II, the moving wheel I and the moving wheel II are in transmission connection through a crawler belt, the diameter of the moving wheel I is larger than that of the moving wheel II, and the four swing connecting rods I are fixedly connected with the swing motor II.

As a further optimization of the technical scheme, the industrial cutting robot comprises a rotating mechanism, a rotating motor, a sun gear, planet gears, a gear ring and a mounting platform, wherein the rotating motor is fixedly connected to a movable underframe, the sun gear is fixedly connected to an output shaft of the rotating motor, a plurality of planet gears are meshed and driven at the outer side of the sun gear, the planet gears are rotatably connected to the movable underframe, the outer sides of the planet gears are meshed and driven with the gear ring, the gear ring is rotatably connected to a rotating support, and the mounting platform is fixedly connected to the gear ring.

As further optimization of the technical scheme, the industrial cutting robot comprises a lifting mechanism I, a telescopic support and a transverse support, wherein the telescopic end of the telescopic mechanism I is fixedly connected with the telescopic support, the transverse support is fixedly connected onto the telescopic support, and the telescopic mechanism I is fixedly connected onto an installation platform.

As a further optimization of the technical scheme, the industrial cutting robot comprises a mechanical arm I, a telescopic mechanism II, a driving motor I, a swing arm I, a driving motor II, a swing arm II, a telescopic mechanism III, a swing arm III, a telescopic mechanism IV and a clamping wheel I, wherein the telescopic end of the telescopic mechanism II is fixedly connected with the driving motor I, the output shaft of the driving motor I is fixedly connected with the swing arm I, the swing arm I is fixedly connected with the driving motor II, the output shaft of the driving motor II is fixedly connected with the swing arm II, the swing arm II is fixedly connected with the telescopic mechanism III, the telescopic end of the telescopic mechanism III is fixedly connected with the swing arm III, the swing arm III is fixedly connected with the telescopic mechanism IV, the telescopic mechanism IV is rotatably connected with the clamping wheel I, and the left side and the right side of a telescopic support are fixedly connected with the telescopic mechanism II.

As a further optimization of the technical scheme, the industrial cutting robot comprises a clamping motor I, a clamping bottom plate, a clamping motor II, a telescopic mechanism V and a clamping wheel II, wherein the two ends of an output shaft of the clamping motor I are both connected with the clamping bottom plate through threads, the thread turning directions of the two ends of the output shaft of the clamping motor I are opposite, the clamping motor II is fixedly connected to the inner sides of the two clamping bottom plates, the telescopic mechanism V is fixedly connected to the output shaft of the two clamping motors II, the telescopic ends of the two telescopic mechanisms V are both rotatably connected with the clamping wheel II, the clamping motor I is fixedly connected to the two swing arms III, and the two clamping bottom plates are both slidably connected to the two swing arms III.

As a further optimization of the technical scheme, the industrial cutting robot comprises a mechanical arm II, a transverse moving motor, a driving motor III, a swinging arm IV, a driving motor IV, a swinging arm V, a telescopic mechanism VI, a swinging arm VI and a driving motor V, wherein the transverse moving motor is fixedly connected to a transverse moving support, the driving motor III is connected to an output shaft of the transverse moving motor through threads, the driving motor III is slidably connected to the transverse moving support, the swinging arm IV is fixedly connected to an output shaft of the driving motor III, the driving motor IV is fixedly connected to the swinging arm IV, the swinging arm V is fixedly connected to an output shaft of the driving motor IV, the telescopic mechanism VI is fixedly connected to the swinging arm V, the telescopic end of the telescopic mechanism VI is fixedly connected to the swinging arm VI, and the driving motor V is fixedly connected to the swinging arm VI.

As further optimization of the technical scheme, the industrial cutting robot comprises a processing rotary table, telescopic mechanisms VII, a processing motor I, a cutting tool, a processing motor II and a punching tool, wherein the processing rotary table is fixedly connected to an output shaft of a driving motor V, the processing rotary table is fixedly connected with the two telescopic mechanisms VII, telescopic ends of the two telescopic mechanisms VII are respectively and fixedly connected with the processing motor I and the processing motor II, the output shaft of the processing motor I is fixedly connected with the cutting tool, and the output shaft of the processing motor II is fixedly connected with the punching tool.

The industrial cutting robot has the beneficial effects that:

the invention relates to an industrial cutting robot which can move through a moving mechanism driving device, a rotating mechanism drives a lifting mechanism, a mechanical arm I, a clamping mechanism, a mechanical arm II and a machining mechanism to rotate and adjust machining positions, the lifting mechanism drives the mechanical arm I, the clamping mechanism, the mechanical arm II and the machining mechanism to lift and adjust the machining positions, the mechanical arm I can move and stretch at multiple angles to drive the clamping mechanism to move at multiple angles, the clamping mechanism can clamp pipes with different diameters, the mechanical arm II can move and stretch at multiple angles, the mechanical arm II drives the machining mechanism to move at multiple angles, and the machining mechanism performs multiple kinds of machining on the pipes.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.

FIG. 1 is a first schematic view of the overall structure of the industrial cutting robot of the present invention;

FIG. 2 is a schematic view of the overall structure of the industrial cutting robot of the present invention;

FIG. 3 is a schematic view of the mobile chassis of the present invention;

FIG. 4 is a schematic view of the moving mechanism of the present invention;

FIG. 5 is a schematic view of the rotating mechanism of the present invention;

FIG. 6 is a schematic view of the lift mechanism of the present invention;

FIG. 7 is a schematic view of a robotic arm I of the present invention;

FIG. 8 is a schematic structural view of a clamping mechanism of the present invention;

FIG. 9 is a schematic view of the construction of the robot arm II of the present invention;

fig. 10 is a schematic view of the structure of the processing mechanism of the present invention.

In the figure: a mobile chassis 1; a moving chassis 101; a swing motor I102; a swing connecting rod I103; a rotating bracket 104; a moving mechanism 2; a swing motor II 201; a swing connecting rod II 202; a moving wheel I203; a moving wheel II 204; a rotating mechanism 3; a rotating motor 301; a sun gear 302; a planet gear 303; a ring gear 304; a mounting platform 305; a lifting mechanism 4; a telescoping mechanism I401; a telescoping support 402; a traverse bracket 403; a mechanical arm I5; a telescoping mechanism II 501; a driving motor I502; a swing arm I503; a driving motor II 504; swing arm II 505; a telescoping mechanism III 506; a swing arm III 507; a telescoping mechanism IV 508; a clamping wheel I509; a clamping mechanism 6; a clamping motor I601; clamping the bottom plate 602; a clamping motor II 603; a telescoping mechanism V604; a clamping wheel II 605; a mechanical arm II 7; a traverse motor 701; a drive motor III 702; the swing arm IV 703; a driving motor IV 704; swing arm V705; a telescoping mechanism VI 706; a swing arm VI 707; a drive motor V708; a processing mechanism 8; a processing turntable 801; the telescopic mechanism VII 802; a processing motor I803; a cutting tool 804; processing a motor II 805; a hole punch blade 806.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The first embodiment is as follows:

the embodiment is described below with reference to fig. 1 to 10, and an industrial cutting robot comprises a moving chassis 1, moving mechanisms 2, rotating mechanisms 3, lifting mechanisms 4, mechanical arms i 5, clamping mechanisms 6, mechanical arms ii 7 and processing mechanisms 8, wherein the moving chassis 1 is connected with the four moving mechanisms 2, the middle part of the moving chassis 1 is connected with the rotating mechanisms 3, the rotating mechanisms 3 are fixedly connected with the lifting mechanisms 4, the middle parts of the lifting mechanisms 4 are fixedly connected with the two mechanical arms i 5, the two mechanical arms i 5 are both connected with the clamping mechanisms 6, the upper ends of the lifting mechanisms 4 are connected with the mechanical arms ii 7, and the mechanical arms ii 7 are fixedly connected with the processing mechanisms 8; can move through 2 drive arrangement of moving mechanism, 3 drive elevating system 4 of slewing mechanism, arm I5, clamping machine constructs 6, arm II 7 and processing machine construct 8 and rotate the adjustment position of processing, elevating system 4 drive arm I5, clamping machine constructs 6, arm II 7 and processing machine construct 8 and go up and down, the adjustment position of processing, arm I5 can a plurality of angles move and stretch out and draw back, it carries out multi-angle motion to drive clamping machine and construct 6, clamping machine constructs 6 can carry out the clamping to the tubular product of different diameters, arm II 7 can a plurality of angles move and stretch out and draw back, arm II 7 drives processing machine and constructs 8 and carries out multi-angle motion, processing machine constructs 8 and carries out multiple processing to the tubular product.

The second embodiment is as follows:

the present embodiment is described below with reference to fig. 1 to 10, and the present embodiment further describes the first embodiment, where the moving chassis 1 includes a moving chassis 101, a swing motor i 102, a swing link i 103, and a rotating bracket 104, the swing motor i 102 is fixedly connected to both front and rear sides of the moving chassis 101, two swing links i 103 are fixedly connected to output shafts of the two swing motors i 102, and the rotating bracket 104 is fixedly connected to a middle portion of the moving chassis 101.

The third concrete implementation mode:

the embodiment is described below with reference to fig. 1 to 10, and the second embodiment is further described in the present embodiment, the moving mechanism 2 includes a swing motor ii 201, a swing link ii 202, a moving wheel i 203 and a moving wheel ii 204, the swing link ii 202 is fixedly connected to an output shaft of the swing motor ii 201, the moving wheel i 203 and the moving wheel ii 204 are rotatably connected to the swing link ii 202, the moving wheel i 203 and the moving wheel ii 204 are connected by crawler transmission, the diameter of the moving wheel i 203 is larger than that of the moving wheel ii 204, and the swing motors ii 201 are fixedly connected to the four swing links i 103.

The fourth concrete implementation mode:

the following describes the present embodiment with reference to fig. 1 to 10, and the third embodiment is further described in the present embodiment, where the rotating mechanism 3 includes a rotating motor 301, a sun gear 302, planet gears 303, a ring gear 304, and a mounting platform 305, the rotating motor 301 is fixedly connected to the moving chassis 101, the sun gear 302 is fixedly connected to an output shaft of the rotating motor 301, a plurality of planet gears 303 are engaged with the outer side of the sun gear 302, the plurality of planet gears 303 are rotatably connected to the moving chassis 101, the outer sides of the plurality of planet gears 303 are engaged with the ring gear 304, the ring gear 304 is rotatably connected to the rotating support 104, and the mounting platform 305 is fixedly connected to the ring gear 304.

The fifth concrete implementation mode:

the following describes the present embodiment with reference to fig. 1 to 10, and the fourth embodiment is further described in the present embodiment, the lifting mechanism 4 includes a telescopic mechanism i 401, a telescopic bracket 402, and a traverse bracket 403, the telescopic end of the telescopic mechanism i 401 is fixedly connected to the telescopic bracket 402, the traverse bracket 403 is fixedly connected to the telescopic bracket 402, and the telescopic mechanism i 401 is fixedly connected to the mounting platform 305.

The sixth specific implementation mode:

the embodiment is described below with reference to fig. 1 to 10, and the embodiment further describes the fifth embodiment, the robot i 5 includes a telescoping mechanism ii 501, a driving motor i 502, a swing arm i 503, a driving motor ii 504, a swing arm ii 505, a telescoping mechanism iii 506, a swing arm iii 507, a telescoping mechanism iv 508 and a clamping wheel i 509, the telescoping end of the telescoping mechanism ii 501 is fixedly connected with the driving motor i 502, the output shaft of the driving motor i 502 is fixedly connected with the swing arm i 503, the swing arm i 503 is fixedly connected with the driving motor ii 504, the output shaft of the driving motor ii 504 is fixedly connected with the swing arm ii 505, the swing arm ii 505 is fixedly connected with the telescoping mechanism iii 506, the telescoping end of the telescoping mechanism iii 506 is fixedly connected with the swing arm iii 507, the telescoping mechanism iv 508 is fixedly connected with the swing arm iii 507, and the clamping wheel i 509 is rotatably connected with the telescoping mechanism iv 508, the left side and the right side of the telescopic bracket 402 are both fixedly connected with telescopic mechanisms II 501.

The seventh embodiment:

the embodiment is described below with reference to fig. 1 to 10, and the sixth embodiment is further described, where the clamping mechanism 6 includes a clamping motor i 601, a clamping base plate 602, a clamping motor ii 603, a telescopic mechanism v 604 and a clamping wheel ii 605, two ends of an output shaft of the clamping motor i 601 are both connected with the clamping base plate 602 through threads, two ends of an output shaft of the clamping motor i 601 have opposite thread directions, the inner sides of the two clamping base plates 602 are both fixedly connected with the clamping motor ii 603, the output shafts of the two clamping motors ii 603 are fixedly connected with the telescopic mechanism v 604, the telescopic ends of the two telescopic mechanisms v 604 are both rotatably connected with the clamping wheel ii 605, the two swing arms iii 507 are both fixedly connected with the clamping motor i 601, and the two swing arms iii 507 are both slidably connected with the clamping base plate 602.

The specific implementation mode is eight:

the following describes the present embodiment with reference to fig. 1 to 10, and the present embodiment further describes an embodiment seven, where the robot arm ii 7 includes a traverse motor 701, a driving motor iii 702, a swing arm iv 703, a driving motor iv 704, a swing arm v 705, a telescopic mechanism vi 706, a swing arm vi 707, and a driving motor v 708, the traverse motor 701 is fixedly connected to the traverse bracket 403, the driving motor iii 702 is connected to an output shaft of the traverse motor 701 through a thread, the driving motor iii 702 is slidably connected to the traverse bracket 403, the swing arm iv 703 is fixedly connected to an output shaft of the driving motor iii 702, the driving motor iv 704 is fixedly connected to the swing arm iv 703, the swing arm v 705 is fixedly connected to an output shaft of the driving motor iv 704, the telescopic mechanism vi 706 is fixedly connected to the swing arm v 705, and the telescopic end of the telescopic mechanism vi 706 is fixedly connected to the swing arm vi 707, a driving motor V708 is fixedly connected to the swing arm VI 707.

The specific implementation method nine:

the following describes the present embodiment with reference to fig. 1 to 10, and the present embodiment further describes an eighth embodiment, where the processing mechanism 8 includes a processing turntable 801, a telescopic mechanism vii 802, a processing motor i 803, a cutting tool 804, a processing motor ii 805 and a punching tool 806, the processing turntable 801 is fixedly connected to an output shaft of a driving motor v 708, the processing turntable 801 is fixedly connected to two telescopic mechanisms vii 802, telescopic ends of the two telescopic mechanisms vii 802 are respectively and fixedly connected to a processing motor i 803 and a processing motor ii 805, an output shaft of the processing motor i 803 is fixedly connected to the cutting tool 804, and an output shaft of the processing motor ii 805 is fixedly connected to the punching tool 806.

The industrial cutting robot of the invention has the working principle that:

when the device is used, the moving mechanism 2 is started, power capable of driving the moving wheel I203 or the moving wheel II 204 to rotate is arranged on the moving wheel I203 or the moving wheel II 204, the power is not shown in the figure, the moving wheel I203 and the moving wheel II 204 are in transmission connection through a crawler, the moving wheel I203 and the moving wheel II 204 rotate to drive the device to move, power capable of driving the clamping wheel I509 and the clamping wheel II 605 to rotate is arranged on the clamping wheel I509 and the clamping wheel II 605, and the power is not shown in the figure; starting the swing motor II 201, enabling an output shaft of the swing motor II 201 to start rotating, enabling the output shaft of the swing motor II 201 to drive the swing connecting rod II 202 to swing, and adjusting an angle between a track between the moving wheel I203 and the moving wheel II 204 and the ground, so that the moving mechanism 2 has certain obstacle crossing capability; the swing motor I102 is started, an output shaft of the swing motor I102 drives the swing connecting rod I103 to rotate, the swing connecting rod I103 drives the corresponding swing motor II 201 to swing, and the two swing motors II 201 can incline when matched and move, so that the rotating mechanism 3, the lifting mechanism 4, the mechanical arm I5, the clamping mechanism 6, the mechanical arm II 7 and the processing mechanism 8 incline, and more use requirements are met; the telescopic mechanism I401, the telescopic mechanism II 501, the telescopic mechanism III 506, the telescopic mechanism IV 508, the telescopic mechanism V604, the telescopic mechanism VI 706 and the telescopic mechanism VII 802 can be hydraulic cylinders or electric push rods; the rotating motor 301 is started, the output shaft of the rotating motor 301 starts to rotate, the output shaft of the rotating motor 301 drives the sun gear 302 to rotate, the sun gear 302 drives the plurality of planet gears 303 to rotate, the plurality of planet gears 303 drive the gear ring 304 to rotate, the gear ring 304 drives the mounting platform 305 to rotate, and the mounting platform 305 drives the lifting mechanism 4, the mechanical arm I5, the clamping mechanism 6, the mechanical arm II 7 and the machining mechanism 8 to rotate to adjust the machining position; starting the telescopic mechanism I401, enabling the telescopic end of the telescopic mechanism I401 to move, enabling the telescopic end of the telescopic mechanism I401 to drive the telescopic bracket 402 and the transverse moving bracket 403 to move, enabling the horizontal heights of the telescopic bracket 402 and the transverse moving bracket 403 to change, enabling the lifting mechanism 4 to drive the mechanical arm I5, the clamping mechanism 6, the mechanical arm II 7 and the machining mechanism 8 to lift, and adjusting machining positions; when the telescopic mechanism II 501 is started, the telescopic end of the telescopic mechanism II 501 starts to rotate, the telescopic end of the telescopic mechanism II 501 drives the driving motor I502, the swing arm I503, the driving motor II 504, the swing arm II 505, the telescopic mechanism III 506, the swing arm III 507, the telescopic mechanism IV 508, the clamping wheel I509 and the clamping mechanism 6 to move transversely, and the clamping position of the clamping mechanism 6 is adjusted; when the driving motor I502 is started, an output shaft of the driving motor I502 drives the swing arm I503, the driving motor II 504, the swing arm II 505, the telescopic mechanism III 506, the swing arm III 507, the telescopic mechanism IV 508, the clamping wheel I509 and the clamping mechanism 6 to move, and the clamping position of the clamping mechanism 6 is adjusted; when the driving motor II 504 is started, an output shaft of the driving motor II 504 drives the swing arm II 505, the telescopic mechanism III 506, the swing arm III 507, the telescopic mechanism IV 508, the clamping wheel I509 and the clamping mechanism 6 to move, and the clamping position of the clamping mechanism 6 is adjusted; when the telescopic mechanism III 506 is started, the telescopic end of the telescopic mechanism III 506 drives the swing arm III 507, the telescopic mechanism IV 508, the clamping wheel I509 and the clamping mechanism 6 to move, and the clamping position of the clamping mechanism 6 is adjusted; when the telescopic mechanism IV 508 is started, the clamping wheel I509 and the clamping wheel II 605 are attached to the outer wall of the pipe according to the diameter of the clamped pipe, and the pipe is clamped; the two ends of an output shaft of a clamping motor I601 are both connected with clamping bottom plates 602 through threads, the thread turning directions of the two ends of the output shaft of the clamping motor I601 are opposite, the clamping motor I601 drives two clamping bottom plates 602 to approach or separate from each other when being started, the two clamping bottom plates 602 respectively drive two clamping motors II 603, two telescopic mechanisms V604 and two clamping wheels II 605 to approach or separate from each other, the deflection angle of the telescopic mechanisms V604 is adjusted when the clamping motor II 603 is started, the telescopic mechanisms V604 are adjusted according to the diameter of a pipe to be clamped, a mechanical arm I5 can move and stretch at multiple angles to drive the clamping mechanism 6 to move at multiple angles, and the clamping mechanism 6 can clamp pipes with different diameters; when the traversing motor 701 is started, the transverse position of the mechanical arm II 7 is adjusted, the mechanical arm II 7 drives the machining mechanism 8 to move, so that the transverse position of the machining mechanism 8 is adjusted, the position of the machining mechanism 8 is adjusted when the driving motor III 702 and the driving motor IV 704 are started, the stretching of the mechanical arm II 7 is adjusted when the stretching mechanism VI 706 is started, and the position of the machining mechanism 8 is adjusted according to the position of a pipe; the driving motor V708 is started to adjust the rotation angle of the processing turntable 801 to complete the switching of the cutting tool 804 and the punching tool 806, other processing tools can be mounted on the processing turntable 801, and the switching of the tools is completed by starting the driving motor V708; the processing motor I803 is started to drive the cutting tool 804 to rotate, and the corresponding telescopic mechanism VII 802 is started to enable the cutting tool 804 to cut the pipe; the processing motor II 805 is started to drive the punching cutter 806 to rotate, and the corresponding telescopic mechanism VII 802 is started to enable the punching cutter 806 to punch the pipe; when punching, the clamping wheel I509 and the clamping wheel II 605 can be matched to rotate, so that the pipe is driven to rotate, and the punching cutter 806 can punch different positions of the pipe.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims

1. The utility model provides an industry cutting robot, is including removing chassis (1), moving mechanism (2), slewing mechanism (3), elevating system (4), arm I (5), clamping machine structure (6), arm II (7) and processing agency (8), its characterized in that: the four-dimensional mechanical arm moving mechanism is characterized in that four moving mechanisms (2) are connected to the moving chassis (1), the rotating mechanism (3) is connected to the middle of the moving chassis (1), the lifting mechanism (4) is fixedly connected to the rotating mechanism (3), two mechanical arms I (5) are fixedly connected to the middle of the lifting mechanism (4), clamping mechanisms (6) are connected to the two mechanical arms I (5), a mechanical arm II (7) is connected to the upper end of the lifting mechanism (4), and a processing mechanism (8) is fixedly connected to the mechanical arm II (7);

the movable chassis (1) comprises a movable chassis (101), swing motors I (102), swing connecting rods I (103) and a rotating support (104), the swing motors I (102) are fixedly connected to the front side and the rear side of the movable chassis (101), two swing connecting rods I (103) are fixedly connected to output shafts of the two swing motors I (102), and the rotating support (104) is fixedly connected to the middle of the movable chassis (101);

the moving mechanism (2) comprises a swing motor II (201), a swing connecting rod II (202), moving wheels I (203) and moving wheels II (204), the swing connecting rod II (202) is fixedly connected to an output shaft of the swing motor II (201), the moving wheels I (203) and the moving wheels II (204) are rotatably connected to the swing connecting rod II (202), the moving wheels I (203) and the moving wheels II (204) are in transmission connection through a crawler belt, the diameter of the moving wheels I (203) is larger than that of the moving wheels II (204), and the swing motors II (201) are fixedly connected to the four swing connecting rods I (103);

the rotating mechanism (3) comprises a rotating motor (301), a sun wheel (302), planet wheels (303), a gear ring (304) and a mounting platform (305), the rotating motor (301) is fixedly connected to the movable underframe (101), the sun wheel (302) is fixedly connected to an output shaft of the rotating motor (301), a plurality of planet wheels (303) are in meshing transmission with the outer side of the sun wheel (302), the planet wheels (303) are all rotatably connected to the movable underframe (101), the outer sides of the planet wheels (303) are in meshing transmission with the gear ring (304), the gear ring (304) is rotatably connected to the rotating support (104), and the mounting platform (305) is fixedly connected to the gear ring (304);

the lifting mechanism (4) comprises a telescopic mechanism I (401), a telescopic support (402) and a transverse support (403), the telescopic end of the telescopic mechanism I (401) is fixedly connected with the telescopic support (402), the transverse support (403) is fixedly connected to the telescopic support (402), and the telescopic mechanism I (401) is fixedly connected to the mounting platform (305);

the mechanical arm I (5) comprises a telescopic mechanism II (501), a driving motor I (502), a swing arm I (503), a driving motor II (504), a swing arm II (505), a telescopic mechanism III (506), a swing arm III (507), a telescopic mechanism IV (508) and a clamping wheel I (509), the telescopic end of the telescopic mechanism II (501) is fixedly connected with the driving motor I (502), the output shaft of the driving motor I (502) is fixedly connected with the swing arm I (503), the swing arm I (503) is fixedly connected with the driving motor II (504), the output shaft of the driving motor II (504) is fixedly connected with the swing arm II (505), the swing arm II (505) is fixedly connected with the telescopic mechanism III (506), the telescopic end of the telescopic mechanism III (506) is fixedly connected with the swing arm III (507), and the swing arm III (507) is fixedly connected with the telescopic mechanism IV (508), the telescopic mechanism IV (508) is rotatably connected with a clamping wheel I (509), and the left side and the right side of the telescopic bracket (402) are fixedly connected with a telescopic mechanism II (501);

clamping machine constructs (6) including clamping motor I (601), clamping bottom plate (602), clamping motor II (603), telescopic machanism V (604) and clamping wheel II (605), there are clamping bottom plate (602) at the both ends of clamping motor I (601) output shaft all through threaded connection, the both ends screw thread of clamping motor I (601) output shaft is to opposite, the equal fixedly connected with clamping motor II (603) in inboard of two clamping bottom plate (602), fixedly connected with telescopic machanism V (604) on the output shaft of two clamping motor II (603), the flexible end of two telescopic machanism V (604) all rotates and is connected with clamping wheel II (605), equal fixedly connected with clamping motor I (601) on two swing arms III (507), equal sliding connection has two clamping bottom plates (602) on two swing arms III (507).

2. An industrial cutting robot as claimed in claim 1, wherein: the mechanical arm II (7) comprises a traversing motor (701), a driving motor III (702), a swinging arm IV (703), a driving motor IV (704), a swinging arm V (705), a telescopic mechanism VI (706), a swinging arm VI (707) and a driving motor V (708), the traversing motor (701) is fixedly connected to the traversing bracket (403), an output shaft of the traversing motor (701) is connected with the driving motor III (702) through threads, the driving motor III (702) is slidably connected to the traversing bracket (403), the output shaft of the driving motor III (702) is fixedly connected with the swinging arm IV (703), the swinging arm IV (703) is fixedly connected to the swinging arm IV (704), the output shaft of the driving motor IV (704) is fixedly connected with the swinging arm V (705), the telescopic mechanism VI (706) is fixedly connected to the V (705), and a swinging arm VI (707) is fixedly connected to the telescopic end of the telescopic mechanism VI (706), and a driving motor V (708) is fixedly connected to the swing arm VI (707).

3. An industrial cutting robot as claimed in claim 2, wherein: the processing mechanism (8) comprises a processing turntable (801), telescopic mechanisms VII (802), a processing motor I (803), a cutting tool (804), a processing motor II (805) and a punching tool (806), the processing turntable (801) is fixedly connected to an output shaft of a driving motor V (708), the processing turntable (801) is fixedly connected with the two telescopic mechanisms VII (802), the telescopic ends of the two telescopic mechanisms VII (802) are respectively fixedly connected with the processing motor I (803) and the processing motor II (805), the output shaft of the processing motor I (803) is fixedly connected with the cutting tool (804), and the output shaft of the processing motor II (805) is fixedly connected with the punching tool (806).