CN113172272A - Steel pipe machining device and machining method - Google Patents
Steel pipe machining device and machining method Download PDFInfo
- Publication number
- CN113172272A CN113172272A CN202110442803.2A CN202110442803A CN113172272A CN 113172272 A CN113172272 A CN 113172272A CN 202110442803 A CN202110442803 A CN 202110442803A CN 113172272 A CN113172272 A CN 113172272A
- Authority
- CN
- China
- Prior art keywords
- driving
- cutting
- steel pipe
- mobile device
- driving mechanism
- 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
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 37
- 239000010959 steel Substances 0.000 title claims abstract description 37
- 238000003754 machining Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005520 cutting process Methods 0.000 claims abstract description 83
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 16
- 210000000707 wrist Anatomy 0.000 claims description 23
- 210000000245 forearm Anatomy 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000013519 translation Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 239000002184 metal Substances 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D21/00—Machines or devices for shearing or cutting tubes
-
- 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
- B23D33/00—Accessories for shearing machines or shearing devices
- B23D33/02—Arrangements for holding, guiding, and/or feeding work during the operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a steel pipe machining device and a machining method, which relate to the technical field of pipeline machining and comprise a mechanical arm, a mechanical arm controller, a moving device controller and a cutting assembly, wherein the mechanical arm is fixed on the moving device; the manipulator controller is used for controlling the swinging of the manipulator, and the mobile device controller is used for controlling the movement of the mobile device. The moving device can drive the mechanical arm to move along a preset direction, and flexible movement can be realized. The cutting torch is fixed on the installation head on the arm, and the installation head can drive the cutting torch in three-dimensional space adjustment position, has reduced the activity space, can satisfy the processing demand of different positions, has improved cutting accuracy.
Description
Technical Field
The invention relates to the technical field of pipeline machining, in particular to a steel pipe machining device and a steel pipe machining method.
Background
In urban construction, the laying of underground pipelines is one of the important links. The underground pipeline is formed by mutually connecting a plurality of steel pipes, and after the underground pipeline is laid, the pipeline needs to be supported. The pipe support includes a cutting process for the pipe. The inside wall of steel pipe is ARC structure, and steel pipe cutting seam extends along the cambered surface, and under the narrow and small space, the removal space of cutting head receives the restriction, can not carry out accurate location to the cutting seam, influences cutting accuracy.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a steel pipe machining device and a steel pipe machining method, so as to achieve the beneficial effects of convenient movement and accurate positioning of a cutting position.
The invention provides a steel pipe machining device which comprises a mechanical arm, a mechanical arm controller, a moving device controller and a cutting assembly, wherein the mechanical arm is fixed on the moving device; the manipulator controller is used for controlling the swinging of the manipulator, and the mobile device controller is used for controlling the movement of the mobile device.
Further, the cutting assembly comprises a cutting power supply and a cutting gun which are connected through a cable, the cutting gun is fixed on the mounting head, a vision assembly is arranged on the cutting gun, and the vision assembly comprises a camera and a laser.
Further, the mechanical arm comprises a fixed seat, a large arm driving mechanism, a small arm driving mechanism and a wrist driving mechanism which are sequentially matched in a rotating mode, the mounting head is arranged at the free end of the wrist mechanism, and the fixed seat is matched with the moving device in a rotating mode.
Furthermore, the mobile device comprises a mobile platform, wherein the mobile platform is provided with a mounting hole for mounting a fixed seat, and the mobile platform is provided with a plurality of walking wheel assemblies; the walking wheel assembly comprises a driving mechanism, a walking wheel and a supporting frame, and the walking wheel can axially rotate or turn through the corresponding supporting frame.
Further, actuating mechanism is including removing the driving piece and turning to the driving piece, remove the driving piece and turn to the driving piece and link to each other with the support frame respectively, it is used for the road wheel rotation of take turns to in order to drive the mobile device removal to remove the driving piece, it is used for the road wheel of take turns to the direction in order to change the mobile device to turn to the driving piece.
Further, the mobile device controller comprises a receiving module for receiving a remote control signal and a control module in communication with the receiving module; the control module is used for acquiring a steering angle and a speed required by each walking wheel according to the remote control signal, controlling a steering driving piece to drive a corresponding support frame to drive the walking wheels to steer, and controlling a movable driving piece to drive the corresponding support frame to drive the walking wheels to move; the remote control signals comprise a remote control signal sent by a first rocker for controlling the turning motion of the mobile device and a remote control signal sent by a second rocker for controlling the translation motion of the mobile device.
Furthermore, positioning mechanism includes lift guide and the actuating mechanism of drive lift guide up-and-down motion, the lower extreme of lift guide is equipped with the mounting panel, install the electromagnetism piece on the mounting panel, be equipped with buffer spring on the mounting panel.
Furthermore, the mechanical arm is provided with a limiting part for limiting the rotation angle of each driving mechanism.
Furthermore, a first driving wheel and a first motor for driving the first driving wheel to rotate are arranged in the fixed seat, a first driven wheel is arranged at the bottom of the large arm driving mechanism, and the first driving wheel is connected with the first driven wheel through a first transmission belt; a second driving wheel and a second motor for driving the second driving wheel to rotate are arranged at the upper part of the large arm driving mechanism, a second driven wheel is arranged on the small arm driving mechanism, and the second driving wheel is connected with the second driven wheel through a second transmission belt; the forearm driving mechanism is provided with a third motor for driving the wrist driving mechanism to rotate relative to the forearm driving mechanism; the wrist driving mechanism is provided with a fourth motor for driving the mounting head to swing relative to the wrist driving mechanism; a fifth motor for driving the fixed seat to rotate relative to the movable platform is arranged on the movable platform; the first motor, the second motor, the third motor, the fourth motor and the fifth motor are respectively and electrically connected with the mechanical arm controller.
A processing method of a steel pipe processing device comprises the following steps:
the method comprises the following steps: mounting a fixed seat of the mechanical arm on a mobile platform of a mobile device;
step two: fixing the cutting gun on the mounting head;
step three: placing the mobile device on the inner side wall of the steel pipe to be processed;
step four: the method comprises the steps that the position of a mobile device is adjusted according to a position to be machined, a remote control signal sent by a first rocker and a remote control signal sent by a second rocker are identified from remote control signals, the mobile device is controlled to turn according to the received remote control signal sent by the first rocker, and the mobile device is controlled to move in a translation mode according to the received remote control signal sent by the second rocker;
step five: determining a cutting position by a vision assembly;
step six: adjusting the position of the mechanical arm according to the position to be machined, and sequentially adjusting the rotation angles of the fixed seat, the large arm driving mechanism, the small arm driving mechanism and the wrist driving mechanism to enable the mounting head to be positioned in the range of the area to be cut;
step seven: and setting the running track of the mounting head according to the position to be processed, controlling the running track of the cutting gun through the mechanical arm controller, enabling the cutting gun to move along the cutting seam, starting a cutting power supply, and finishing cutting.
The invention has the beneficial effects that:
1. the steel pipe machining device and the steel pipe machining method provided by the invention comprise the mechanical arm, the mechanical arm controller, the moving device controller and the cutting assembly, wherein the moving device can drive the mechanical arm to move and turn along a preset direction, and the moving flexibility can be improved.
2. Cutting gun among the cutting assembly fixes on the installation head on the arm, and arm and mobile device normal running fit, arm include a plurality of actuating mechanism that link to each other in proper order, normal running fit between the adjacent actuating mechanism, and the installation head can drive cutting gun at three-dimensional space adjustment position, has reduced the activity space, can satisfy the processing demand of different positions.
3. The cutting torch is provided with the vision assembly, the vision assembly comprises a camera and a laser, the camera is used for roughly positioning a welding line or a cutting seam, the laser scanning is used for quickly and accurately positioning, an accurate machining position is obtained, the mechanical arm is controlled to rotate, the cutting torch is aligned to the cutting seam, and the cutting precision is improved.
4. The mobile device adopts an industrial personal computer control mode, establishes signal communication with the mobile device controller, and controls the walking of the walking wheels so as to be convenient for moving.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic structural view of a steel pipe processing apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic view of an assembly structure of the robot arm and the moving device according to an embodiment of the present invention.
Fig. 3 is a schematic top view of the structure of fig. 2.
Figure 4 is a schematic view of a portion of the internal structure of a robotic arm in accordance with an embodiment of the present invention.
FIG. 5 is a schematic diagram of a cutting assembly in accordance with an embodiment of the present invention.
In the figure, 1, a cutting gun, 2, a moving device, 3, a fixed seat, 4, a large arm driving mechanism, 5, a small arm driving mechanism, 6, a wrist driving mechanism, 7, a mounting head, 8, a cable, 9, a vision assembly, 10, a cutting power supply, 11, a moving platform, 12, a traveling wheel, 13, a lifting guide rod, 14, a mounting plate, 15, an electromagnetic block, 16, a buffer spring, 17, a mechanical arm, 18, a second driving wheel, 19, a second driven wheel, 20, a second transmission belt, 21, a first driving wheel, 22, a first driven wheel, 23 and a first transmission belt.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following explains key terms appearing in the present invention.
As shown in fig. 1 to 3, the steel pipe processing apparatus according to the present invention includes a robot arm 17, a robot arm controller, a moving device 2, a moving device controller, and a cutting assembly. The mechanical arm 17 is fixed on the mobile device 2, and the mobile device 2 can drive the mechanical arm 17 to move along a preset direction, so that flexible movement can be realized. The free end of arm 17 is connected with installation head 7, the cutting subassembly includes cutting gun 1, cutting gun 1 is fixed on installation head 7, cutting gun 1 can dismantle with installation head 7 and be connected, in this embodiment, is equipped with the internal thread in the installation head 7, and the tip of cutting gun 1 is equipped with the external screw thread with installation head internal thread assorted, and cutting gun 1 passes through threaded connection with installation head 7, and in other embodiments, both also can adopt other connected modes that other technical personnel are familiar with. The robot arm controller is used to control the swinging of the robot arm, and the moving device controller is used to control the movement of the moving device 2. The mobile device 2 comprises a mobile platform 11, and a plurality of walking wheel assemblies are arranged on the mobile platform 11; the walking wheel assembly comprises a driving mechanism, a walking wheel 12 and a supporting frame, and the walking wheel 12 is fixed on the supporting frame. The walking wheels 12 can axially rotate or turn through corresponding support frames. In this embodiment, the number of the walking wheel assemblies is four. Actuating mechanism in the walking wheel subassembly includes the removal driving piece and turns to the driving piece, the removal driving piece links to each other with the support frame with turning to the driving piece respectively, the removal driving piece is used for the driving walking wheel 12 to rotate and removes in order to drive mobile device 2, it turns to the direction that driving piece is used for the driving walking wheel 12 to turn to in order to change mobile device 2. The mobile device controller comprises a receiving module for receiving a remote control signal and a control module in communication with the receiving module; the control module is used for acquiring the steering angle and speed required by each walking wheel 12 according to the remote control signal, controlling the steering driving piece to drive the corresponding support frame to drive the walking wheels 12 to steer, and controlling the movable driving piece to drive the corresponding support frame to drive the walking wheels 12 to move. The movement of the mobile device 2 may be controlled by a remote control, which is arranged separately from the mobile device 2. And a first rocker and a second rocker are arranged on the remote controller. The remote controller is in communication connection with the receiving module. The remote control signals comprise a remote control signal sent by a first rocker for controlling the turning motion of the mobile device and a remote control signal sent by a second rocker for controlling the translation motion of the mobile device.
As shown in fig. 4, the mechanical arm 17 includes a fixing seat 3, a large arm driving mechanism 4, a small arm driving mechanism 5 and a wrist driving mechanism 6 which are sequentially matched in a rotating manner, the mounting head 7 is arranged at a free end of the wrist mechanism 6, a mounting hole for mounting the fixing seat 3 is formed in the moving platform 11, and the fixing seat 3 is matched with the moving device 2 in a rotating manner. A first driving wheel 21 and a first motor for driving the first driving wheel 21 to rotate are arranged in the fixed seat 3, a first driven wheel 22 is arranged at the bottom of the large arm driving mechanism 4, and the first driving wheel 21 is connected with the first driven wheel 22 through a first transmission belt 23; a second driving wheel 18 and a second motor for driving the second driving wheel 18 to rotate are arranged at the upper part of the large arm driving mechanism 4, a second driven wheel 19 is arranged on the small arm driving mechanism 5, and the second driving wheel 18 is connected with the second driven wheel 19 through a second transmission belt 20; the forearm driving mechanism 5 is provided with a third motor for driving the wrist driving mechanism 6 to rotate relative to the forearm driving mechanism 5; the wrist driving mechanism 6 is provided with a fourth motor for driving the mounting head 7 to swing relative to the wrist driving mechanism 6; the moving platform 11 is provided with a fifth motor for driving the fixed seat 3 to rotate relative to the moving platform 11; the first motor, the second motor, the third motor, the fourth motor and the fifth motor are respectively electrically connected with the mechanical arm controller, and the mechanical arm controller is used for controlling the working states of the first motor, the second motor, the third motor, the fourth motor and the fifth motor.
As shown in fig. 5, the cutting assembly comprises a cutting power supply 10 and a cutting torch 1 which are connected through a cable 8, the cutting torch 1 is fixed on a mounting head 7, a clamping ring for clamping the cutting torch 1 is arranged on the mounting head 7, the cutting torch 1 is fixed in the clamping ring, and the cutting torch 1 is detachably connected with the mounting head 7. The cutting gun 1 is provided with a vision assembly 9, and the vision assembly 9 comprises a camera and a laser. The camera is used for photographing the machining position, and the laser is used for recording the construction process of cutting.
And the moving device 2 is provided with a positioning mechanism fixedly matched with the steel pipe to be processed. Positioning mechanism includes lift guide 13 and the actuating mechanism who drives lift guide 13 up-and-down motion, the vertical setting of lift guide 13, lift guide 13's lower extreme is equipped with mounting panel 14, mounting panel 14 perpendicular to lift guide 13, install electromagnetic block 15 on the mounting panel 14, mounting panel 14's both sides are equipped with buffer spring 16 respectively, buffer spring 16 highly is greater than electromagnetic block 15's height, and buffer spring 16 plays the effect of buffering. When the mobile device 2 moves to the inner cavity of the steel pipe to be processed and is close to the position to be processed, the driving mechanism is started, the lifting guide rod 13 is driven to move downwards, the electromagnetic block 15 is adsorbed at the bottom of the steel pipe to be processed, and the mobile device 2 is positioned with the steel pipe to be processed through the electromagnetic block 15.
And the mechanical arm 17 is provided with a limiting part for limiting the rotation angle of each driving mechanism. The limiting parts comprise a first limiting part, a second limiting part, a third limiting part and a fourth limiting part. Specifically, be equipped with the first locating part that is used for restricting 4 turned angles of big arm actuating mechanism on the fixing base 3, be equipped with the second locating part that is used for restricting 5 turned angles of forearm actuating mechanism on the big arm actuating mechanism 4, be equipped with the third locating part that is used for restricting 6 turned angles of wrist actuating mechanism on the forearm actuating mechanism 5, be equipped with the fourth locating part that is used for restricting the installation head 7 turned angles on the wrist actuating mechanism 6. Wherein, the rotation angle of the large arm driving mechanism 4 relative to the fixed seat 3, the rotation angle of the small arm driving mechanism 5 relative to the large arm driving mechanism 4, the rotation angle of the wrist driving mechanism 6 relative to the small arm driving mechanism 5 and the rotation angle range of the mounting head 7 relative to the wrist driving mechanism 6 are 0-120 degrees. The first limiting part, the second limiting part, the third limiting part and the third limiting part are all metal columnar bodies, the metal columnar bodies are arranged on the rotating track of the limited mechanism, and the metal columnar bodies are fixed on the corresponding mechanism through welding.
The invention provides a processing method of a steel pipe processing device, which comprises the following steps:
the method comprises the following steps: the fixing seat of the mechanical arm is installed on a moving platform of the moving device and is inserted into the installation hole in the moving platform through the fixing seat, a fifth motor for driving the fixing seat to rotate relative to the moving platform is arranged on the moving platform, and the fifth motor can drive the fixing seat to rotate relative to the moving platform.
Step two: the cutting gun is fixed on the mounting head, a clamping ring for clamping the cutting gun is arranged on the mounting head, the cutting gun is fixed in the clamping ring, and the cutting gun is detachably connected with the mounting head.
Step three: and placing the installed moving device and the mechanical arm on the inner side wall of the steel pipe to be processed.
Step four: the position of the mobile device is adjusted according to the position to be machined, the remote control signal sent by the first rocker and the remote control signal sent by the second rocker are identified from the remote control signals, the mobile device is controlled to turn according to the received remote control signal sent by the first rocker, the mobile device is controlled to move in a translation mode according to the received remote control signal sent by the second rocker, and the cutting gun is enabled to be close to the position to be cut through the operation.
Step five: the cutting position is determined through the vision assembly, the welding seam or the cutting seam is roughly positioned through the camera, and the accurate machining position is obtained through the rapid and accurate positioning of laser scanning.
Step six: and adjusting the position of the mechanical arm according to the position to be machined, and sequentially adjusting the rotation angles of the fixed seat, the large arm driving mechanism, the small arm driving mechanism and the wrist driving mechanism to enable the mounting head to be positioned in the range of the area to be cut.
Step seven: and setting the running track of the mounting head according to the position to be processed, controlling the running track of the cutting gun through the mechanical arm controller, enabling the cutting gun to move along the cutting seam, starting a cutting power supply, and finishing cutting.
The steel pipe machining device provided by the invention comprises the moving device, and the moving device can drive the mechanical arm to move along a preset direction and can realize flexible movement. Cutting torch fixes the overhead installation on the arm, and the arm includes a plurality of normal running fit's actuating mechanism in proper order, and the installation head can drive cutting torch in three-dimensional space adjustment position, has reduced the activity space, can satisfy the processing demand of different positions, has improved cutting accuracy.
Although the present invention has been described in detail by referring to the drawings in connection with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions are within the scope of the present invention/any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A steel pipe processing device is characterized in that: the steel pipe cutting machine comprises a mechanical arm (17), a mechanical arm controller, a moving device (2), a moving device controller and a cutting assembly, wherein the mechanical arm (17) is fixed on the moving device (2), an installing head (7) is arranged at the free end of the mechanical arm (17), the cutting assembly comprises a cutting gun (1), the cutting gun (1) is fixed on the installing head (7), and a positioning mechanism fixedly matched with a steel pipe to be machined is arranged on the moving device (2); the manipulator controller is used for controlling the swinging of the manipulator, and the moving device controller is used for controlling the movement of the moving device (2).
2. The steel pipe processing apparatus according to claim 1, wherein: the cutting subassembly includes cutting power (10) and cutting gun (1) that link to each other through cable (8), cutting gun (1) is fixed on installation head (7), be equipped with vision assembly (9) on cutting gun (1), vision assembly (9) include camera and laser instrument.
3. The steel pipe processing apparatus according to claim 1, wherein: arm (17) are including normal running fit's fixing base (3), big arm actuating mechanism (4), forearm actuating mechanism (5) and wrist actuating mechanism (6) in proper order, installation head (7) set up the free end at wrist mechanism (6), fixing base (3) and mobile device (2) normal running fit.
4. A steel pipe processing apparatus according to claim 3, wherein: the moving device (2) comprises a moving platform (11), wherein a mounting hole for mounting the fixed seat (3) is formed in the moving platform (11), and a plurality of walking wheel assemblies are arranged on the moving platform (11); the walking wheel assembly comprises a driving mechanism, walking wheels (12) and a supporting frame, and the walking wheels (12) can axially rotate or turn through the corresponding supporting frame.
5. The steel pipe processing apparatus according to claim 4, wherein: actuating mechanism is including removing the driving piece and turning to the driving piece, remove the driving piece and turn to the driving piece and link to each other with the support frame respectively, it is used for walking wheel (12) rotation to remove in order to drive the mobile device to remove the driving piece, it is used for walking wheel (12) to turn to the direction in order to change the mobile device to turn to the driving piece.
6. The steel pipe processing apparatus according to claim 5, wherein: the mobile device controller comprises a receiving module for receiving a remote control signal and a control module in communication with the receiving module; the control module is used for acquiring a steering angle and a speed required by each walking wheel (12) according to the remote control signal, controlling a steering driving piece to drive a corresponding support frame to drive the walking wheels (12) to steer and controlling a movable driving piece to drive the corresponding support frame to drive the walking wheels (12) to move; the remote control signals comprise a remote control signal sent by a first rocker for controlling the turning motion of the mobile device and a remote control signal sent by a second rocker for controlling the translation motion of the mobile device.
7. The steel pipe processing apparatus according to claim 1, wherein: the positioning mechanism comprises a lifting guide rod (13) and a driving mechanism for driving the lifting guide rod (13) to move up and down, a mounting plate (14) is arranged at the lower end of the lifting guide rod (13), an electromagnetic block (15) is mounted on the mounting plate (14), and a buffer spring (16) is arranged on the mounting plate (14).
8. The steel pipe processing apparatus according to claim 1, wherein: and limiting parts for limiting the rotation angle of each driving mechanism are arranged on the mechanical arm (17).
9. A steel pipe processing apparatus according to claim 3, wherein: a first driving wheel (21) and a first motor for driving the first driving wheel (21) to rotate are arranged in the fixed seat (3), a first driven wheel (22) is arranged at the bottom of the large arm driving mechanism (4), and the first driving wheel (21) is connected with the first driven wheel (22) through a first transmission belt (23); a second driving wheel (18) and a second motor for driving the second driving wheel (18) to rotate are arranged at the upper part of the large arm driving mechanism (4), a second driven wheel (19) is arranged on the small arm driving mechanism (5), and the second driving wheel (18) is connected with the second driven wheel (19) through a second transmission belt (20); the forearm driving mechanism (5) is provided with a third motor for driving the wrist driving mechanism (6) to rotate relative to the forearm driving mechanism (5); a fourth motor for driving the mounting head (7) to swing relative to the wrist driving mechanism (6) is arranged on the wrist driving mechanism (6); a fifth motor for driving the fixed seat (3) to rotate relative to the movable platform (11) is arranged on the movable platform (1); the first motor, the second motor, the third motor, the fourth motor and the fifth motor are respectively and electrically connected with the mechanical arm controller.
10. A machining method of a steel pipe machining apparatus according to any one of claims 1 to 9, characterized by comprising the steps of:
the method comprises the following steps: mounting a fixed seat of the mechanical arm on a mobile platform of a mobile device;
step two: fixing the cutting gun on the mounting head;
step three: placing the mobile device on the inner side wall of the steel pipe to be processed;
step four: the method comprises the steps that the position of a mobile device is adjusted according to a position to be machined, a remote control signal sent by a first rocker and a remote control signal sent by a second rocker are identified from remote control signals, the mobile device is controlled to turn according to the received remote control signal sent by the first rocker, and the mobile device is controlled to move in a translation mode according to the received remote control signal sent by the second rocker;
step five: determining a cutting position by a vision assembly;
step six: adjusting the position of the mechanical arm according to the position to be machined, and sequentially adjusting the rotation angles of the fixed seat, the large arm driving mechanism, the small arm driving mechanism and the wrist driving mechanism to enable the mounting head to be positioned in the range of the area to be cut;
step seven: and setting the running track of the mounting head according to the position to be processed, controlling the running track of the cutting gun through the mechanical arm controller, enabling the cutting gun to move along the cutting seam, starting a cutting power supply, and finishing cutting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110442803.2A CN113172272A (en) | 2021-04-23 | 2021-04-23 | Steel pipe machining device and machining method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110442803.2A CN113172272A (en) | 2021-04-23 | 2021-04-23 | Steel pipe machining device and machining method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113172272A true CN113172272A (en) | 2021-07-27 |
Family
ID=76924536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110442803.2A Pending CN113172272A (en) | 2021-04-23 | 2021-04-23 | Steel pipe machining device and machining method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113172272A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203381701U (en) * | 2012-02-23 | 2014-01-08 | 库卡罗伯特有限公司 | Mobile robot |
| CN104786236A (en) * | 2015-04-30 | 2015-07-22 | 北京特种机械研究所 | Omnidirectional intelligent mobile platform used as chassis of industrial robot |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN107953940A (en) * | 2017-11-13 | 2018-04-24 | 浙江仑迈智能科技有限公司 | A kind of storage Omni-mobile platform with center of gravity monitoring function |
| CN209140881U (en) * | 2018-09-12 | 2019-07-23 | 珠海心怡科技有限公司 | Universal indoor engineering intelligent robot |
| US20190255551A1 (en) * | 2018-02-22 | 2019-08-22 | Hope Robotics Llc | Autonomous mobile coating applicator |
| JP2020073302A (en) * | 2017-11-28 | 2020-05-14 | ファナック株式会社 | Robot and robot system |
-
2021
- 2021-04-23 CN CN202110442803.2A patent/CN113172272A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203381701U (en) * | 2012-02-23 | 2014-01-08 | 库卡罗伯特有限公司 | Mobile robot |
| CN104786236A (en) * | 2015-04-30 | 2015-07-22 | 北京特种机械研究所 | Omnidirectional intelligent mobile platform used as chassis of industrial robot |
| CN107124899A (en) * | 2016-07-15 | 2017-09-01 | 深圳市大疆创新科技有限公司 | Movable fixture, follow shot equipment, movable fixture control system and method |
| CN107953940A (en) * | 2017-11-13 | 2018-04-24 | 浙江仑迈智能科技有限公司 | A kind of storage Omni-mobile platform with center of gravity monitoring function |
| JP2020073302A (en) * | 2017-11-28 | 2020-05-14 | ファナック株式会社 | Robot and robot system |
| US20190255551A1 (en) * | 2018-02-22 | 2019-08-22 | Hope Robotics Llc | Autonomous mobile coating applicator |
| CN209140881U (en) * | 2018-09-12 | 2019-07-23 | 珠海心怡科技有限公司 | Universal indoor engineering intelligent robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108620782B (en) | Box steel construction scene all-position welding robot based on visual servo | |
| CN102019495B (en) | Multifunction high-precision numerical control plasma machining device | |
| TWI476069B (en) | Lens processing device | |
| CN202622192U (en) | Autonomous mobile robot system for plasma metal-inert gas welding (MIG) hybrid welding | |
| CN102107371A (en) | Walking and positioning device for walking and positioning on workpiece | |
| CN102672311A (en) | Electro-gas vertical welding automatic moving type robot system | |
| CN102689100A (en) | Autonomous mobile robot system for plasma metal-inert-gas (MIG) composite welding | |
| CN101853012B (en) | Two-stage positioning free variable domain mechanical processing machine and two-stage positioning method thereof | |
| US20170088206A1 (en) | Autonomous crawling system | |
| CN111451898B (en) | Grinding and polishing robot for weld joints at pipe ends of spiral steel pipes | |
| KR100808916B1 (en) | Device for welding inside-jointing portion of large caliber steel pipes | |
| CN112873246B (en) | Straddle type single-rail track beam welding robot workstation | |
| CN112719847A (en) | Automatic flexible butt joint adjusting device based on gear and rack driving | |
| CN111390710A (en) | Grinding method of automatic grinding robot for spiral weld at end of spiral steel pipe | |
| CN112809129A (en) | Curved surface jointed board welding device and method based on line laser welding seam detection and tracking | |
| KR20120103429A (en) | Learning type automatic welding device of pipes | |
| CN113172272A (en) | Steel pipe machining device and machining method | |
| CN109193457B (en) | Line inspection robot for power transmission line along ground line | |
| KR200354867Y1 (en) | a welding machine auto carriage system of curved surface welding to ship | |
| CN215146607U (en) | Steel pipe machining device | |
| CN110653788A (en) | Robot device for positioning measuring target in box body | |
| JP4725486B2 (en) | Welding robot | |
| CN205914905U (en) | Intelligence welding robot device | |
| CN214867913U (en) | Curved surface jointed board welding device based on line laser welding seam detection and tracking | |
| CN114310089A (en) | H-shaped steel automatic welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210727 |