CN202894632U - Container connecting pipe intersecting wire-electrode cutting robot mechanism - Google Patents

Container connecting pipe intersecting wire-electrode cutting robot mechanism Download PDF

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Publication number
CN202894632U
CN202894632U CN 201220529541 CN201220529541U CN202894632U CN 202894632 U CN202894632 U CN 202894632U CN 201220529541 CN201220529541 CN 201220529541 CN 201220529541 U CN201220529541 U CN 201220529541U CN 202894632 U CN202894632 U CN 202894632U
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CN
China
Prior art keywords
arm
joint shaft
rotating
axle
connecting pipe
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.)
Expired - Fee Related
Application number
CN 201220529541
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Chinese (zh)
Inventor
赵亚楠
陈东良
姚建均
王臣业
刘富强
刘贺平
常艳艳
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Harbin Engineering University
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Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority to CN 201220529541 priority Critical patent/CN202894632U/en
Application granted granted Critical
Publication of CN202894632U publication Critical patent/CN202894632U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model aims at providing a container connecting pipe intersecting wire-electrode cutting robot mechanism which comprises a lifting arm, a retractable arm, a rotating arm, a posture arm, a first rotating joint shaft, a second rotating joint shaft, a third rotating joint shaft, a first moving joint shaft, a second moving joint shaft and a base seat. The first rotating joint shaft is installed on the lifting arm, a clamping device is connected with the first rotating joint shaft, the lifting arm is connected with the retractable arm through the first moving joint shaft, the retractable arm is connected with the rotating arm through the second moving joint shaft, the rotating arm is connected with the posture arm through the second rotating joint shaft, and the posture arm is connected with the base seat through the third rotating joint shaft. A tandem structure is adopted, the container connecting pipe intersecting wire-electrode cutting robot mechanism is provided with five degrees of freedom, two of the degrees of freedom are moving joints, and three of the degrees of freedom are rotating joints. Aiming at a special machining target of incisions of container opening holes and a connecting pipe intersecting line, the purpose of incisions of the container intersecting line opening hole and the connecting pipe intersecting line which is intersected with the opening holes is achieved, and the container connecting pipe intersecting wire-electrode cutting robot mechanism is great in flexibility and practicability.

Description

Container intersection line cutting machine robot mechanism
Technical field
The utility model relates to a kind of robot for cutting operation.
Background technology
At present, the various forms of intersection perforate cuttings of extensive use are cut with the adapter of passing through mutually with it self intersection in the engineerings such as oil, chemical industry, boiler, pressure vessel and pipeline; Industrial serially connected robot architecture has four kinds of basic structures: cartesian coordinate robot, cylindrical robot, polar robot, climbing robot and typical multi-joint series winding robot, these robots are all because the restriction of self structure all is difficult to adapt to the particular surroundings of pipe end.For realizing perforated container cutting and taking over the manipulating object of self intersection cutting, be badly in need of a kind of industrial robot new construction that to finish several work and can win this special operation object in the reality.
Summary of the invention
The purpose of this utility model is to provide for the perforated container cutting and takes over the container intersection line cutting machine robot mechanism that self intersection cuts this special processing object.
The purpose of this utility model is achieved in that
The utility model container intersection line cutting machine robot mechanism, it is characterized in that: comprise lifting arm, telescopic arm, turning arm, attitude arm, first-Di, three rotary joint axles, the first-the second linear joint axle, pedestal, the first rotary joint axle is installed on the lifting arm, clamper connects the first rotary joint axle, link to each other by the first linear joint axle between lifting arm and the telescopic arm, link to each other by the second linear joint axle between telescopic arm and the turning arm, link to each other by the second rotary joint axle between turning arm and the attitude arm, the attitude arm connects pedestal by the 3rd rotary joint axle.
The utility model can also comprise:
1, also comprise burning torch, burning torch is installed on the clamper.
2, the axis of rotation of the axis of rotation of described the second rotary joint axle and the 3rd rotary joint axle is perpendicular, the axis of rotation of the direction of motion of the second linear joint axle and the second rotary joint axle is perpendicular, and the axle center of the axle center of the first rotary joint axle and the first linear joint axle is perpendicular.
Advantage of the present utility model is: the utility model adopts series-mode frame, have five frees degree, wherein two is linear joint, three is cradle head, for perforated container cutting with take over self intersection and cut this special processing object, be implemented in container intersection perforate cutting and the cutting of the adapter of passing through mutually with it self intersection, the utlity model has greater flexibility and practicality.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Schematic diagram when Fig. 2 is the perforated container cutting;
Schematic diagram when Fig. 3 cuts for adapter self intersection.
The specific embodiment
For example the utility model is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～3, in order to realize container intersection perforate cutting and to take over the operation etc. of self intersection cutting, a rotary joint that begins in succession from pedestal is adjusted all the other four joints with respect to the attitude of taking over the axle center mainly, after adjusting attitude, according to job requirements, end effector clamping burning torch carries out concrete operation; Also can directly link and realize container intersection perforate cutting and take over self intersection cutting operation etc. in its four joints that link to each other from the end effector to the pedestal.Install and fix the position with respect to it, namely be defined as the U joint with respect to first rotary joint of pedestal place; Second rotary joint is defined as the A joint, when robot is installed in by pedestal in spider, portal frame or other mechanisms, by rotation U joint, the pivot in A joint is aimed at the adapter axle center and it is overlapped as far as possible; The 3rd joint is that linear joint is defined as R, and the variation on the radial direction is mainly realized taking in the R joint; The 4th linear joint is defined as H, and the motion on the generatrix direction is mainly realized taking in the H joint; The 5th rotary joint is defined as S, installing holder on the S joint.According to concrete job requirements, clamper just can the different power tool of clamping, just can realize different operations.
Pedestal 12 can be installed in spider, portal frame or other mechanisms according to the field operation condition, robot is placed on the manipulating object top; The U joint is installed on the pedestal 12, and the U joint is made of attitude arm 10 and rotary joint axle III11, and the axis of rotation of rotary joint III11 is perpendicular to the installed surface of pedestal 12; The A joint is installed on the attitude arm 10, the A joint is made of turning arm 8 and rotary joint axle II9, wherein the axis of rotation of the axis of rotation of rotary joint axle II9 and rotary joint axle III11 is perpendicular, generally container dead weight and volume are all larger, be difficult to carry out the attitude adjustment, generally place vessel level on the ground or the roller moulding bed on, therefore adjust A joint axis of rotation by the motion in U joint and aim at and take over the axle center; The R joint is installed on the turning arm 8, the R joint is made of telescopic arm 6 and linear joint axle II7, and the axis of rotation of the direction of motion of linear joint axle II7 and rotary joint axle II9 is perpendicular, and the Main Function in R joint is the variation of amount of radial movement when adapting to container intersection perforate cutting and taking over self intersection cutting; The end of telescopic arm 6 is installed in the H joint, it is comprised of lifting arm 4 and linear joint axle I5, lifting arm 4 can move along linear joint axle I5, and the Main Function in H joint is the momental variation of generatrix direction when adapting to container intersection perforate cutting and taking over self intersection cutting; The end of lifting arm 4 is installed in the S joint, it is comprised of clamper 2 and rotary joint axle I3, the axle center of rotary joint axle I3 is vertical with the axle center of linear joint axle I5, at clamper burning torch is installed during cutting, and the axle center that makes the axle center of burning torch 1 and rotary joint axle II9 in one plane, container intersection perforate cutting and when taking over self intersection cutting, clamper 2 are finished cutting operation with burning torch.Wherein the type of drive of each axle can be determined according to environment for use, positioning accuracy, repetitive positioning accuracy and concrete operation situation.

Claims (3)

1. container intersection line cutting machine robot mechanism, it is characterized in that: comprise lifting arm, telescopic arm, turning arm, attitude arm, first-Di, three rotary joint axles, the first-the second linear joint axle, pedestal, the first rotary joint axle is installed on the lifting arm, clamper connects the first rotary joint axle, link to each other by the first linear joint axle between lifting arm and the telescopic arm, link to each other by the second linear joint axle between telescopic arm and the turning arm, link to each other by the second rotary joint axle between turning arm and the attitude arm, the attitude arm connects pedestal by the 3rd rotary joint axle.
2. container intersection line cutting machine robot mechanism according to claim 1, it is characterized in that: also comprise burning torch, burning torch is installed on the clamper.
3. container intersection line cutting machine robot mechanism according to claim 1 and 2, it is characterized in that: the axis of rotation of the axis of rotation of described the second rotary joint axle and the 3rd rotary joint axle is perpendicular, the axis of rotation of the direction of motion of the second linear joint axle and the second rotary joint axle is perpendicular, and the axle center of the axle center of the first rotary joint axle and the first linear joint axle is perpendicular.
CN 201220529541 2012-10-17 2012-10-17 Container connecting pipe intersecting wire-electrode cutting robot mechanism Expired - Fee Related CN202894632U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220529541 CN202894632U (en) 2012-10-17 2012-10-17 Container connecting pipe intersecting wire-electrode cutting robot mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220529541 CN202894632U (en) 2012-10-17 2012-10-17 Container connecting pipe intersecting wire-electrode cutting robot mechanism

Publications (1)

Publication Number Publication Date
CN202894632U true CN202894632U (en) 2013-04-24

Family

ID=48115349

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220529541 Expired - Fee Related CN202894632U (en) 2012-10-17 2012-10-17 Container connecting pipe intersecting wire-electrode cutting robot mechanism

Country Status (1)

Country Link
CN (1) CN202894632U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102909504A (en) * 2012-10-17 2013-02-06 哈尔滨工程大学 Intersecting line cutting robot mechanism for container adapter tube
CN103292664A (en) * 2013-06-26 2013-09-11 成都欣领航科技有限公司 Workpiece length measuring device for cutting machine
CN106271280A (en) * 2016-09-28 2017-01-04 天津工业大学 A kind of K/Y type pipe joint intersection welding seam welding robot system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102909504A (en) * 2012-10-17 2013-02-06 哈尔滨工程大学 Intersecting line cutting robot mechanism for container adapter tube
CN103292664A (en) * 2013-06-26 2013-09-11 成都欣领航科技有限公司 Workpiece length measuring device for cutting machine
CN106271280A (en) * 2016-09-28 2017-01-04 天津工业大学 A kind of K/Y type pipe joint intersection welding seam welding robot system

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130424

Termination date: 20151017

EXPY Termination of patent right or utility model