CN115488773A

CN115488773A - Four-workbench robot water jet cutting and sawing integrated machine

Info

Publication number: CN115488773A
Application number: CN202211141264.XA
Authority: CN
Inventors: 袁思锭; 林天华; 黄智杰
Original assignee: Fujian Hualong Machinery Co Ltd
Current assignee: Fujian Hualong Machinery Co Ltd
Priority date: 2022-09-20
Filing date: 2022-09-20
Publication date: 2022-12-20

Abstract

The invention provides a four-workbench robot water jet cutting and sawing integrated machine, which comprises a cutting robot and four workbenches; the four work tables are arranged in two rows and two columns, a track is arranged between every two adjacent work tables, and the track is arranged along the length direction of the work tables; the cutting robot comprises a mechanical arm, and a water knife and a cutting saw blade which are arranged on the mechanical arm; the cutting robot is movably arranged on the track through a moving trolley, and the moving trolley drives the cutting robot to move to different working tables to cut the marble. The invention can greatly reduce the volume of the marble cutting machine, and the two stone placing tables can work alternately, thereby greatly improving the marble cutting efficiency.

Description

Four-workbench robot water jet cutting and sawing integrated machine

Technical Field

The application relates to the technical field of stone cutting, in particular to a four-worktable robot water jet cutting and sawing integrated machine.

Background

In the marble processing process, according to different processing requirements, a plurality of different processing cutters such as a water knife, an annular band saw, a circular disc saw and the like are required to be used. Therefore, the marble needs to be continuously installed and transferred during the process. The water jet cutter has the advantages of small volume, high cutting efficiency, flexible cutting path and the like, but the water jet cutter can only process marble plates with small thickness, and marble blocks with large thickness can only be cut by a circular disc saw or an annular band saw. The annular band saw and the circular disc saw have the advantages of large volume, simple equipment structure, stable processing, low failure rate and the like. In the prior art, marble is moved to different positions from an assembly line for processing mainly according to a processing technology and by different cutters such as water knives, annular band saws, circular disc saws and the like at different positions on a stone processing assembly line. The existing marble cutting equipment is not only large in size and high in equipment cost, but also low in processing efficiency, so that improvement of the existing marble cutting equipment is urgently needed.

Disclosure of Invention

In view of above-mentioned problem, the application provides a four workstation robot water sword saw cuts all-in-one for solve above-mentioned technical problem that present marble cutting equipment is bulky, machining efficiency hangs down.

To achieve the above object, the inventor provides a four-table robot water jet cutting and sawing all-in-one machine, comprising: a cutting robot and four work tables;

the four work tables are arranged in two rows and two columns, a track is arranged between every two adjacent work tables, and the track is arranged along the length direction of the work tables;

the cutting robot comprises a mechanical arm, and a water knife and a cutting saw blade which are arranged on the mechanical arm; the cutting robot is movably arranged on the track through a movable trolley, and the movable trolley drives the cutting robot to move to different working tables to cut marble.

In some technical schemes, a rotary base is arranged at the bottom of the cutting robot, the rotary base is mounted on the movable trolley, and the rotary base drives the cutting robot to horizontally and circumferentially rotate to different working tables for cutting.

In some technical solutions, the workbench includes an outer frame, transverse grid bars and longitudinal grid bars, the transverse grid bars and the longitudinal grid bars are arranged in the outer frame in a crossed manner, and the marble is placed on the transverse grid bars and the longitudinal grid bars.

In some technical schemes, the workbench further comprises a fixed base, a turnover oil cylinder and a turnover bracket;

one side of the outer frame, which is far away from the track, is hinged to the fixed base through the overturning bracket, and one end of the overturning oil cylinder is connected with the overturning bracket to drive the outer frame to overturn outwards.

In some embodiments, the turning support includes a first hinge rod and a second hinge rod, and one end of the first hinge rod and one end of the second hinge rod are hinged to the fixed base; the other end of the first hinge rod is hinged to one side, close to the rail, of the outer frame, the other end of the second hinge rod is hinged to one side, far away from the rail, of the outer frame, and the overturning oil cylinder is hinged to the middle section of the first hinge rod.

In some embodiments, the cutting blade is a circular blade, and the center of the cutting blade is connected to the cutting motor through a rotating shaft.

In some technical schemes, a protective cover is arranged on the periphery of the cutting saw blade, and the protective cover is of a semicircular structure.

In some technical solutions, a rotary mounting plate is disposed at a distal end of the robot arm, the water jet and the cutting blade are disposed on the rotary mounting plate, and the marble is processed by switching the water jet and the cutting blade through the rotary mounting plate.

In some technical schemes, a water tank is arranged at the bottom of the workbench and used for collecting waste water generated by the water jet cutting.

In some aspects, the robotic arm is a multi-joint robotic arm.

Be different from prior art, four workstation robot water sword of above-mentioned technical scheme saw cut all-in-one and include: a cutting robot and four work tables; the four work tables are arranged in two rows and two columns, a track is arranged between every two adjacent rows of the work tables, and the track is arranged along the length direction of the work tables; the cutting robot comprises a mechanical arm, and a water knife and a cutting saw blade which are arranged on the mechanical arm; the cutting robot is movably arranged on the track through a moving trolley, and the moving trolley drives the cutting robot to move to different working tables to cut the marble. According to the technical scheme, the water knife and the cutting saw blade are arranged on one mechanical arm, and the water knife or the saw blade can be cut according to requirements during cutting. Cutting robot sets up between four workstations, can drive cutting robot to different workstations through the travelling car and cut, and when one of them work was cut, marble loading and unloading and location can be carried out to other workstations to make cutting robot can not shut down work, improved marble cutting efficiency greatly.

The above description of the present invention is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clearly understood by those skilled in the art, the present invention may be further implemented according to the content described in the text and drawings of the present application, and in order to make the above objects, other objects, features, and advantages of the present application more easily understood, the following description is made in conjunction with the detailed description of the present application and the drawings.

Drawings

The drawings are only for purposes of illustrating the principles, implementations, applications, features, and effects of particular embodiments of the invention, as well as others related thereto, and are not to be construed as limiting the application.

In the drawings of the specification:

fig. 1 is a schematic three-dimensional structure diagram of a four-table robot water jet cutting and sawing integrated machine according to an embodiment;

FIG. 2 is a front view of the four-table robot water jet cutting and sawing all-in-one machine;

FIG. 3 is a side view of the four table robot water jet cutting and sawing all-in-one machine;

FIG. 4 is an enlarged view of a portion A of FIG. 1;

FIG. 5 is a schematic structural diagram of a cutting robot according to an embodiment;

the reference numerals referred to in the above figures are explained below:

1. a cutting robot; 11. a robot arm;

12. a cutting mechanism; 121. cutting the saw blade; 122. water jet; 123. rotating the mounting disc;

13. a track; 130. moving the trolley;

2. a work table; 25. turning over the oil cylinder; 26. a first hinge lever; 27. a second hinge lever;

221. longitudinal grid bars; 222. transverse grid bars; 223. an outer frame;

3. marble;

Detailed Description

In order to explain in detail possible application scenarios, technical principles, practical embodiments, and the like of the present application, the following detailed description is given with reference to the accompanying drawings in conjunction with the listed embodiments. The embodiments described herein are merely for more clearly illustrating the technical solutions of the present application, and therefore, the embodiments are only used as examples, and the scope of the present application is not limited thereby.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or related to other embodiments specifically defined. In principle, in the present application, the technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution as long as there is no technical contradiction or conflict.

Unless otherwise defined, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the use of relational terms herein is intended only to describe particular embodiments and is not intended to limit the present application.

In the description of the present application, the term "and/or" is a expression for describing a logical relationship between objects, indicating that three relationships may exist, for example, a and/or B, indicating that: there are three cases of A, B, and both A and B. In addition, the character "/" herein generally indicates that the former and latter associated objects are in a logical relationship of "or".

In this application, terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation without necessarily requiring or implying any actual such relationship or order between such entities or operations.

Without further limitation, in this application, the use of "including," "comprising," "having," or other similar open-ended expressions in phrases is intended to cover a non-exclusive inclusion, and such expressions do not exclude the presence of additional elements in a process, method, or article that includes the elements, such that a process, method, or article that includes a list of elements may include not only those elements defined, but other elements not expressly listed or inherent to such process, method, or article.

As is understood in the "review guidelines," in this application, the terms "greater than," "less than," "more than," and the like are to be understood as excluding the number; the expressions "above", "below", "within" and the like are understood to include the present numbers. In addition, in the description of the embodiments of the present application, "a plurality" means two or more (including two), and expressions related to "a plurality" similar thereto are also understood, for example, "a plurality of groups", "a plurality of times", and the like, unless specifically defined otherwise.

In the description of the embodiments of the present application, spatially relative expressions such as "central," "longitudinal," "lateral," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used, and the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the specific embodiments or drawings and are only for convenience of describing the specific embodiments of the present application or for the convenience of the reader, and do not indicate or imply that the device or component in question must have a specific position, a specific orientation, or be constructed or operated in a specific orientation and therefore should not be construed as limiting the embodiments of the present application.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and "disposed" used in the description of the embodiments of the present application are to be construed broadly. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, an electrical connection, or a communication connection; they may be directly connected or indirectly connected through an intermediate; which may be communication within two elements or an interaction of two elements. Specific meanings of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application belongs according to specific situations.

In the prior art, marble cutting is mainly based on a processing technology, different cutters such as water jet, annular band saw, circular disc saw and the like are arranged at different positions on a stone processing assembly line, and marble is moved to different positions by the assembly line for processing. The existing marble cutting equipment is not only large in size and high in equipment cost, but also low in processing efficiency, so that improvement on the existing marble cutting equipment is urgently needed.

Referring to fig. 1 to 5, in the present embodiment, an exchange workbench robot water jet scalpel 122 sawing machine includes: four work tables 2 and a cutting robot 1. Wherein, the workstation is used for placing marble 3, as shown in fig. 1, four workstation 2 is two rows and two columns and arranges, two adjacent rows be provided with track 13 between the workstation, track 13 is followed the length direction setting of workstation.

The cutting robot 1 is movably arranged on the track 13 through a movable trolley 130, and the movable trolley 130 drives the cutting robot 1 to move to different work tables 2 to cut the marble 3. The cutting robot 1 includes a robot arm 11, and a water knife 122 and a cutting blade 121 provided on the robot arm 11. Wherein the water knife 122 and the cutting blade 121 are the cutting mechanism 12.

The working table 2 is provided with a stone placing table, and the stone placing table is used for placing the processed marble 3. The moving cart 130 is provided with a driving device for driving the cutting robot 1 to move to different positions along the rails 13, thereby cutting the marble on the four work tables 2. The bottom of the moving trolley is provided with a plurality of rollers, the rollers are connected with a driving device and are in rolling connection with the rail 21, and the driving device drives the rollers to rotate, so that the moving trolley 130 and the cutting robot 1 thereon are driven to move on the rail 13. The driving device comprises a driving motor, the driving motor is connected with a motor controller, and the driving motor is driven by the motor controller to work. The output end of the driving motor is also provided with a speed reducer, and the driving motor is connected with the roller wheel through the speed reducer. The output rotation speed of the drive motor can be reduced by the speed reducer, and the drive torque of the drive motor can be increased. The speed reducer and the roller can be connected in a belt transmission mode, a chain transmission mode, a gear transmission mode and the like, so that the power of the driving motor is transmitted to the roller. The roller can adopt a steel wheel or a rubber wheel. In some embodiments, in order to improve the stability of the cutting robot during operation, a brake device is arranged on the stabilizing trolley, and the moving trolley can be braked by the brake device when the cutting robot performs cutting.

As shown in fig. 3, a rotary base is arranged at the bottom of the cutting robot, the rotary base is mounted on the movable trolley, and the rotary base drives the cutting robot to horizontally and circumferentially rotate to different working tables for cutting. That is, a rotary base is arranged between the moving trolley 130 and the mechanical arm 11, the cutting robot can be driven to different positions of the track 13 by the moving trolley 130, and the mechanical arm 11 and the cutting mechanism 12 thereon are driven to rotate to different positions in the horizontal direction by the rotary base, so that the cutting robot can rotate to four working tables 2 in different positions to perform cutting operation by the cooperation of the moving trolley 130 and the rotary base. Wherein, rotating base includes slewing bearing and driving motor, and slewing bearing includes inner disc and outer dish, is provided with rotary bearing between inner disc and the outer dish to but make interior xiu and outer dish relative rotation.

As shown in fig. 2, 3 and 5, in some embodiments, the robotic arm 11 is a multi-joint robotic arm. The mechanical arm 11 comprises a base and a plurality of joint arms which are connected in sequence, the multi-joint mechanical arm can comprise two joint arms, three joint arms or four joint arms, the two adjacent joint arms are hinged with each other, and driving motors are arranged on the two adjacent joint arms. The robot arm 11 can be controlled to perform various profiling operations by cooperatively controlling the driving motors of the respective articulated arms.

Wherein, the water sword includes water tank, high-pressure pump and nozzle, and water tank, high-pressure water pump and nozzle pass through the pipe connection, and the water tank supplies water for high-pressure water pump, and high-pressure water pump improves water, improves the pressure of water, and high-pressure water is followed the high-speed blowout of nozzle to cut the marble. The working principle of the water jet cutter is that water flow is pressurized to be more than 200MPa, and a high-speed water arrow is formed under the constraint of a nozzle with a small drift diameter (generally larger than 0.2 mm), so that soft materials such as wood, leather, rubber and the like can be pierced and cut. In the embodiment, in order to improve the cutting force of the water jet, a mixed abrasive is added in the water, and the mixed abrasive can improve the impact force of high-pressure water flow so as to be capable of cutting various hard materials such as rocks, glass, steel plates and the like. The heat generated during water jet cutting can be immediately taken away by the water jet flowing at high speed, no harmful substance is generated, the material has no heat effect (cold cutting), secondary processing is not needed or easy after cutting, and the cutting device is safe, environment-friendly, high in speed and efficiency, can realize cutting processing of any curve, and is convenient, flexible and wide in application.

When the marble cutting machine is used, the marble can be placed on one of the work tables, and the cutting robot is driven to the work table to cut. In the cutting, can place or fixed marble on other workstations, when marble cutting on the current workstation is accomplished, through travelling car and rotary base drive cutting robot to other workstations cutting, the continuous cutting operation of cutting robot between four workstations can be controlled in the above-mentioned operation of circulation, improves cutting robot's work efficiency.

The water jet scalpel of the four-worktable robot of the above embodiment saw cutting all-in-one machine comprises: four work tables 2 and a cutting robot 1; the water knife 122 and the cutting saw blade 121 are arranged on the mechanical arm, wherein the water knife 122 and the cutting saw blade 121 are arranged on one mechanical arm and only need one station, so that the size of the workbench 2 is greatly reduced; and can drive cutting robot 1 to four workstations through travelling car and rotating base and carry out marble cutting, when one of them workstation cuts, other workstation stone are placed the platform and can be carried out marble loading and unloading and location to make cutting robot 1 can not shut down the work, improved marble cutting efficiency greatly.

As shown in fig. 4, in some embodiments, the work bench includes a frame 223, horizontal bars 222 arranged horizontally and transversely, and vertical bars 221 arranged vertically and horizontally, the horizontal bars 222 and the vertical bars intersect, and marble 3 is placed on the horizontal bars 222 and the vertical bars 221. The longitudinal bars 221 and the transverse bars 222 are perpendicular to each other and disposed on the outer frame 223. The transverse grid 222 and the longitudinal grid 221 may be made of steel sheets, and the transverse grid 222 and the longitudinal grid 221 may be fixedly connected by welding, bolting, riveting, or the like. In the water jet cutting or saw blade cutting, the waste water generated by the cutting can flow to the water tank at the bottom of the workbench through the grids formed by the transverse grid bars 222 and the longitudinal grid bars 221.

As shown in fig. 3, in one embodiment, in order to facilitate loading and unloading of the marble, the workbench further includes a fixing base, an outer frame 223, a turning cylinder 25 and a turning support, the outer frame 223 and the grids thereon can be turned outwards by the turning cylinder 25 and the turning support, so as to facilitate placing the marble on the workbench and unloading the marble after cutting. One side of the outer frame 223 far away from the rail 13 is hinged to the fixed base through the turning support, and one end of the turning oil cylinder 25 is connected with the turning support to drive the outer frame to turn outwards. Wherein the turning bracket comprises a first hinge rod 26 and a second hinge rod 27, and one end of the first hinge rod 26 and one end of the second hinge rod 27 are hinged on the fixed base; the other end of the first hinge rod 26 is hinged to one side of the outer frame close to the track, the other end of the second hinge rod 27 is hinged to one side of the outer frame far away from the track, and the turnover oil cylinder 25 is hinged to the middle section of the first hinge rod 26. When the upset hydro-cylinder is long, the upset hydro-cylinder drives first articulated rod around the pin joint upset on the unable adjustment base, and first articulated rod upset drives the frame upset, wherein the frame overturns around the pin joint upset of the tip of frame and second articulated rod 27 during the upset, consequently first articulated rod 26, second articulated rod 27 and frame form triangle-shaped flip structure, and wherein, first articulated rod 26, second articulated rod 27 and frame shape are triangle-shaped's three limits respectively, and the summit at the angular form articulates each other. In this triangle-shaped flip structure, the pin joint of first articulated rod and second articulated rod is immovable, but the pin joint of first articulated rod and frame and the pin joint of second articulated rod and frame position all are movable at the upset in-process, consequently make the frame at the in-process of outside upset, the frame not only outwards overturns, the lifting motion that still makes progress to make frame and unable interference of unable adjustment base, the rotation angle of increase frame.

In some embodiments, a water tank is disposed at the bottom of the working platform 2 for collecting waste water generated by the water knife 122. A large amount of waste water is generated during water jet cutting, and the waste water can be collected through a water tank and recycled after being treated by filtration, sedimentation and the like.

As shown in fig. 4 and 5, in some embodiments, the cutting blade 121 is a circular blade, and the center of the cutting blade 121 is connected to a cutting motor through a rotating shaft. The body of circular saw bit is the steel sheet, evenly is provided with the round sawtooth in circular saw bit's periphery, cuts the marble through the sawtooth. In some embodiments, to improve the cutting efficiency of the saw blade, a diamond is welded to the end of each tooth.

As shown in fig. 5, in some embodiments, the cutting blade 121 is provided with a shield at its outer circumference, which has a semicircular structure. The shield may be made of metal such as iron, aluminum alloy, etc., or in some cases, may be made of plastic. The shield can prevent the water mist or powder generated during cutting from splashing outwards.

In some embodiments, the end of the robot arm 11 is provided with a rotary mounting plate 123, the water jet 122 and the cutting blade 121 are disposed on the rotary mounting plate 123, and the marble 3 can be processed by switching the water jet 122 and the cutting blade 121 through the rotary mounting plate 123. As shown in fig. 5, the rotary mounting plate 123 is disposed at the end of the robot arm 11, and the rotary mounting plate 123 includes a rotary support and a driving motor, the rotary support includes an inner plate and an outer plate, and a rotary bearing is disposed between the inner plate and the outer plate, so that the inner plate and the outer plate can rotate relatively. The water jet 122 and the cutting blade 121 are disposed on the lower surface of the pivoting support, and the water jet 122 and the cutting blade 121 are driven to rotate by a driving motor. Wherein, the driving motor is preferably a stepping motor or a servo motor, and the rotation angle of the rotary mounting plate 123 can be precisely controlled by the stepping motor or the servo motor, so that the water jet 122 and the cutting blade 121 can be precisely controlled to cut marble.

As shown in fig. 3 and 4, in some embodiments, the work table 2 comprises a steel-structured frame. The frame of the steel structure can be formed by welding angle steels or fixing the angle steels through bolts.

It should be noted that, although the above embodiments have been described in the text and drawings of the present application, the scope of the present application is not limited thereby. All technical solutions generated by replacing or modifying the equivalent structure or the equivalent flow described in the text and the drawings of the present application and directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields and the like based on the substantial idea of the present application are included in the scope of the patent protection of the present application.

Claims

1. The utility model provides a four workstation robot water sword saw cuts all-in-one which characterized in that includes: a cutting robot and four work tables;

the four workbenches are arranged in two rows and two columns, a track is arranged between every two adjacent rows of the workbenches, and the track is arranged along the length direction of the workbenches;

the cutting robot comprises a mechanical arm, and a water knife and a cutting saw blade which are arranged on the mechanical arm; the cutting robot is movably arranged on the track through a moving trolley, and the moving trolley drives the cutting robot to move to different working tables to cut the marble.

2. The four-worktable robot water jet cutting and sawing all-in-one machine as claimed in claim 1, wherein a rotary base is arranged at the bottom of the cutting robot, the rotary base is mounted on the moving trolley, and the rotary base drives the cutting robot to horizontally and circumferentially rotate to different worktable for cutting.

3. The all-in-one water jet scalpel sawing machine with four working tables and robots as claimed in claim 1 is characterized in that the working tables comprise outer frames, transverse grids and longitudinal grids, the transverse grids and the longitudinal grids are arranged in the outer frames in a crossed mode, and marble is placed on the transverse grids and the longitudinal grids.

4. The four-table robot water jet cutting and sawing all-in-one machine according to claim 3, wherein the table further comprises a fixed base, a turnover oil cylinder and a turnover support;

one side, far away from the track, of the outer frame is hinged to the fixed base through the overturning support, and one end of the overturning oil cylinder is connected with the overturning support to drive the outer frame to overturn outwards.

5. The four-table robot water jet cutting and sawing all-in-one machine according to claim 4, wherein the overturning bracket comprises a first hinge rod and a second hinge rod, and one end of the first hinge rod and one end of the second hinge rod are hinged to the fixed base; the other end of the first hinge rod is hinged to one side, close to the rail, of the outer frame, the other end of the second hinge rod is hinged to one side, far away from the rail, of the outer frame, and the overturning oil cylinder is hinged to the middle section of the first hinge rod.

6. The four-table robot water jet cutting and sawing all-in-one machine according to claim 1, wherein the cutting saw blade is a circular saw blade, and the center of the cutting saw blade is connected to a cutting motor through a rotating shaft.

7. The four-table robot water jet cutting and sawing all-in-one machine according to claim 6, wherein a shield is arranged on the periphery of the cutting saw blade, and the shield is of a semicircular structure.

8. The four-table robot water jet cutting and sawing all-in-one machine according to claim 7, wherein a rotary mounting plate is arranged at the tail end of the mechanical arm, the water jet cutter and the cutting saw blade are arranged on the rotary mounting plate, and marble can be processed by switching the water jet cutter and the cutting saw blade through the rotary mounting plate.

9. The four-table robot water jet cutting and sawing all-in-one machine according to claim 7, wherein a water tank is arranged at the bottom of the table and used for collecting waste water generated by cutting of the water jet cutting.

10. The four-table robot water jet cutting and sawing all-in-one machine according to claim 1, wherein the robot arm is a multi-joint robot arm.