CN209774633U - membrane type wall tube row robot cutting system - Google Patents
membrane type wall tube row robot cutting system Download PDFInfo
- Publication number
- CN209774633U CN209774633U CN201920582250.9U CN201920582250U CN209774633U CN 209774633 U CN209774633 U CN 209774633U CN 201920582250 U CN201920582250 U CN 201920582250U CN 209774633 U CN209774633 U CN 209774633U
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- robot
- cutting
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- assembly
- cross beam
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- 238000005520 cutting process Methods 0.000 title claims abstract description 83
- 239000012528 membrane Substances 0.000 title claims abstract description 28
- 239000000428 dust Substances 0.000 claims description 30
- 239000002912 waste gas Substances 0.000 claims description 9
- 239000012535 impurity Substances 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims 2
- 230000007547 defect Effects 0.000 abstract description 2
- 206010010904 Convulsion Diseases 0.000 description 6
- 230000036461 convulsion Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000005453 pelletization Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
the utility model relates to a robot cutting technical field especially relates to a membrane wall tube bank robot cutting system, and this system includes: the system comprises a gantry support, a robot, a moving compartment assembly and a track assembly; the gantry support comprises two vertical supporting columns and a cross beam and is used for supporting the robot; the robot is fixed on the moving carriage assembly, and a cutting gun is arranged at the moving end part of the robot so as to cut workpieces in different areas along with the movement of the moving carriage assembly; the moving compartment assembly is arranged on a cross beam of the gantry support and moves along the extending direction of the cross beam; the rail assembly is arranged between the cross beam and the moving carriage assembly and is used for supporting the movement of the moving carriage assembly. Compared with the ground type robot in the prior art, the cutting range of the robot fixed on the gantry support is wider, and the defect that the ground type robot in the prior art cannot move is overcome due to the fact that the robot moves on the cross beam of the gantry support, so that the cutting area of the robot is expanded.
Description
Technical Field
the utility model relates to a robot cutting technical field especially relates to a membrane wall tube bank robot cutting system.
Background
The membrane type pipe wall row is formed by sequentially welding a plurality of pipes and flat steel along the longitudinal direction to form a whole water-cooled wall heating surface. The size of each component is integrally welded according to the requirement of a circulation loop pipe group, and the components are welded and sealed during installation, so that the periphery of a hearth is tightly surrounded by a whole water-cooled wall membrane, and therefore, the membrane type pipe wall row is also called as a membrane type water-cooled wall.
With the improvement of the grade of a boiler, the material of the membrane type pipe wall row is also upgraded, the T91 alloy pipe and flat steel with corresponding grade are commonly adopted for splicing and arranging in the prior art, and according to the development trend of the prior art, the material grade of the membrane type pipe wall row is higher and higher, so that the requirement on the hole opening processing of the pipe end cutting machine of the membrane type pipe wall row is higher and higher.
In the prior art, a floor type robot is mostly adopted for cutting in a robot cutting workstation, due to the structural limitation of the robot, the arm spread required by the robot when cutting a large membrane type pipe wall row cannot meet the application requirement, the existing robot cutting cannot carry out large-span moving operation, and the robot working area is limited.
In view of the above problems, the designer is based on practical experience and professional knowledge that are abundant for many years in engineering application of such products, and is actively researched and innovated in cooperation with the application of theory, so as to create a membrane wall tube row robot cutting system, which is more practical.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of providing a membrane type wall tube row robot cutting system to enlarge the working area of the robot.
In order to achieve the above purpose, the utility model adopts the technical scheme that: a robotic membrane wall tube bank cutting system, the system comprising: the system comprises a gantry support, a robot, a moving compartment assembly and a track assembly;
The gantry support comprises two vertical supporting columns and a cross beam and is used for supporting the robot;
The robot is fixed on the moving carriage assembly, and a cutting gun is arranged at the moving end part of the robot so as to cut workpieces in different areas along with the movement of the moving carriage assembly;
The moving compartment assembly is arranged on a cross beam of the gantry support and moves along the extending direction of the cross beam;
The rail assembly is arranged between the cross beam and the moving carriage assembly and is used for supporting the movement of the moving carriage assembly.
Further, the rail assembly comprises a rail base, a slide rail and a rack;
The rail base is provided with a mounting groove for mounting the sliding rail and the rack so as to be convenient for fixing the sliding rail and the rack;
the sliding rails are installed in a splicing mode, and limiting devices are arranged at the two ends of the sliding rails;
the rack extends along the length direction of the slide rail.
further, the moving compartment assembly comprises a compartment body, a sliding block and a rotating device;
the carriage body is sleeved on the cross beam, two ends of the carriage body are opened and are arranged in a sliding mode along the length direction of the cross beam, and the robot is fixed to one side face of the carriage body;
the slide block is arranged in the carriage body and is connected with the slide rail in a sliding way;
The rotating device is fixed on the carriage body, and is provided with a gear meshed with the rack, and when the gear rotates, the gear drives the carriage body to move.
Furthermore, a laser scanning position-finding machine is arranged on the cutting gun and used for correcting deviation in the cutting process.
Further, an arc pressure adjusting device is arranged at the tail end of the robot, and a moving end of the arc pressure adjusting device is fixed with the cutting torch and used for adjusting the distance between the cutting torch and a workpiece during cutting.
Furthermore, the gantry type automatic loading machine also comprises a gantry moving support, a guide rail and a driving assembly;
The guide rail is arranged on the gantry moving support to support and move the gantry support;
The driving assembly is arranged on the vertical supporting column and is attached to the guide rail so as to drive the gantry support;
Furthermore, the end part of the gantry moving support is provided with a connecting piece for splicing the gantry moving support.
further, still include convulsions dust removal module, convulsions dust removal module is fixed in on the railway carriage or compartment body.
Furthermore, the air draft dust removal module comprises two air draft openings, two dust removal pipelines and a support frame;
the two dust removal pipelines are arranged in parallel and connected through the support frame, the support frame is perpendicular to the dust removal pipelines and is fixed on the carriage body, and the two dust removal pipelines are symmetrically arranged at two ends of the gantry support;
the two air suction openings are communicated with the dust removal pipeline and arranged above the cutting torch and used for extracting waste gas and impurities generated by cutting, and the air suction openings are provided with fans which drive the impellers to rotate so as to extract the waste gas and the impurities below the air suction openings.
the utility model has the advantages that: compared with the ground type robot in the prior art, the cutting range of the robot fixed on the gantry support is wider, and the defect that the ground type robot in the prior art cannot move is overcome due to the fact that the robot moves on the cross beam of the gantry support, so that the cutting area of the robot is expanded.
drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a membrane wall tube row robot cutting system according to a first embodiment of the present invention;
Fig. 2 is a schematic structural view of the middle rail assembly of the present invention;
FIG. 3 is a schematic view of the connection structure between the mobile carriage assembly and the robot according to the present invention;
fig. 4 is a schematic structural view of a gantry moving frame according to the second embodiment of the present invention;
Fig. 5 is a schematic structural view of a membrane type wall tube row robot cutting system with air draft and dust removal in the second embodiment of the present invention;
fig. 6 is a schematic structural view of an air draft dust removal module in the second embodiment of the present invention;
Fig. 7 is a schematic structural view of an air suction opening in the second embodiment of the present invention.
reference numerals: the system comprises a gantry support 1, a robot 2, a mobile carriage 3, a track 4, a gantry mobile support 5, a dust removal module 6, a laser scanning position finder 21, an arc pressure adjusting device 22, a carriage 31, a slide block 32, a rotating device 33, a track base 41, a slide rail 42, a rack 43, a guide rail 51, a driving component 52, a connecting component 53, an air suction opening 61, a dust removal pipeline 62, a support 63 and a fan 611.
Detailed Description
the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are the directions or positional relationships indicated on the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element indicated must have a specific direction, be constructed and operated in a specific direction, 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 include, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
example one
A membrane wall tube bank robotic cutting system as shown in fig. 1, the system comprising: the robot comprises a gantry support 1, a robot 2, a moving compartment assembly 3 and a track assembly 4;
the gantry support 1 comprises two vertical supporting columns and a cross beam and is used for supporting the robot 2;
The robot 2 is fixed on the moving carriage component 3, and a cutting gun is arranged at the moving end part of the robot to cut workpieces in different areas along with the movement of the moving carriage component 3;
The moving compartment assembly 3 is arranged on a cross beam of the gantry support 1 and moves along the extending direction of the cross beam;
the rail assembly 4 is disposed between the cross member and the moving compartment assembly 3 for supporting the movement of the moving compartment assembly 3.
Specifically, as shown in fig. 2, the rail assembly 4 includes a rail base 41, a slide rail 42, and a rack 43;
the rail base 41 is provided with mounting grooves for mounting the slide rail 42 and the rack 43, so as to facilitate the fixation of the slide rail 42 and the rack 43;
The slide rails 42 are installed in a splicing manner, and limiting devices are arranged at two ends of the slide rails 42;
The rack 43 extends along the length of the slide rail.
in the above embodiment, the rail bases 41 are disposed on two sides of the supporting beam to facilitate more stable supporting, the slide rail 42 is provided with mounting counter bores, which are matched with the threaded holes on the rail bases 41, and the slide rail 42 is disposed in segments to facilitate mounting.
Further, as shown in fig. 3, the moving compartment assembly 3 includes a compartment body 31, a slider 32, and a rotating device 33;
the carriage body 31 is sleeved on the cross beam, two ends of the carriage body are opened and are arranged in a sliding mode along the length direction of the cross beam, and the robot 2 is fixed to one side face of the carriage body;
the slide block 32 is arranged inside the carriage body 31 and is connected with the slide rail 42 in a sliding manner;
the rotating device 33 is fixed on the carriage body 31, and the end of the rotating rod thereof is provided with a gear engaged with the rack 43, and when the gear rotates, the moving carriage assembly 3 is driven to move on the cross beam.
the utility model discloses in, robot 2 is fixed in the bottom of the railway carriage or compartment body 31, and rotary device 33 is fixed in the top of the railway carriage or compartment body 31, and on slider 32 was fixed in the lower surface at the railway carriage or compartment body 31 top, rotary device 33 was servo motor, the last gear revolve of servo motor, and wheel and rack 43 meshing to the messenger produced the displacement with slide rail 42 sliding connection's slider 32, and then made the railway carriage or compartment body 31 drive robot 2's removal, thereby the large-scale diaphragm type wall tube bank of effectual cutting.
preferably, referring to fig. 3, the cutting gun is provided with a laser scanning position-finding machine 21 for correcting deviation in the cutting process; in the cutting process, the cutting gun may deviate from the preset track due to external reasons, in order to overcome the problem, the laser scanning position finder 21 is arranged on the cutting gun, a reference line is marked on the workpiece to be cut before cutting, and the laser scanning position finder 21 can scan and identify the marked reference line and adjust along with the reference line. Here, the laser scanning system of seeking a position is prior art, and no longer give unnecessary details, and the setting of the machine 21 is sought in laser scanning, can put the membrane type wall tube bank in optional position on the cutting bed, and this system can read the cutting datum line information on the membrane type wall tube bank to cutting is carried out as the benchmark to the cutting datum line, and the operator only needs to set for tube bank parameter and initial cutting orbit, alright with one key start carry on scanning, calculate full flow process work such as cutting, realize the cutting automation.
preferably, the arc pressure adjusting device 22 is arranged at the tail end of the robot 2, and the moving end of the arc pressure adjusting device 22 is fixed with the cutting torch and used for adjusting the distance between the cutting torch and a workpiece during cutting. Although the mechanical arm of the robot can realize the function of changing the distance of the cutting gun, the robot adopts the mode of the mechanical arm, the cutting angle can also be changed when the distance is changed, the final cutting effect is not ideal, and after the arc pressure adjusting device 22 is added, the distance between the cutting gun and a workpiece to be cut in the nozzle spraying direction can be timely adjusted when the robot moves or does other movements, particularly for a film type pipe wall row, when the pipe is cut to the position with the maximum diameter of the pipe, the arc pressure adjusting device ascends to enable the cutting gun to be far away from the pipe, and when the pipe is cut to the edge of the pipe, the arc pressure adjusting device is close to the pipe. Furthermore, the rotation of the mechanical arm is matched, the constant-speed cutting with the arc surface perpendicular to the equal distance can be achieved, compared with the prior art, the cutting effect of the scheme is more parallel and level and smooth, and secondary polishing is not needed.
example two
In the first embodiment, the gantry support 1 is fixedly arranged, and in order to further enlarge the cutting range of the robot 2, the second embodiment of the present invention adds the moving function of the gantry support 1. Other devices are the same as the first embodiment, and are not described herein again.
As shown in fig. 4, further comprises a gantry moving frame 5, a guide rail 51 and a driving assembly 52;
The guide rail 51 is arranged on the gantry moving support 5 to support and move the gantry support 1;
the driving assembly 52 is arranged on the vertical supporting column and is attached to the guide rail 51 so as to drive the gantry support 1;
here, the driving assembly 52 adopts the same technical scheme as that of the carriage body 31, specifically, a fixing plate is arranged below the vertical supporting column, a sliding block and a motor are arranged below the fixing plate, a gear is arranged on the motor, the sliding block is matched with the guide rail 51 on the gantry moving support 5, the gear on the motor is meshed with a rack fixed on the guide rail 51, and the motor drives the gear to rotate, so that the gantry support 1 is moved.
In order to further adapt to different length diaphragm type walling banks, the utility model provides a longmen movable support 5 can splice the setting, and 5 tip of longmen movable support are equipped with connecting piece 53 for the concatenation of longmen movable support 5. As shown in fig. 4, the connecting member 53 is a plate-shaped structure, and a connecting hole is formed in the plate and connected with the connecting member 53 on the other gantry moving support 5, so that the gantry moving support can be lengthened.
Because can produce a large amount of waste gases and dust at the cutting in-process, in order to guarantee field work personnel's health, the utility model discloses in still set up convulsions dust removal function, as shown in fig. 5: still include convulsions dust removal module 6, convulsions dust removal module 6 is fixed in on the railway carriage or compartment body 31. Here, the air draft dust removal module 6 is fixed on the carriage body 31 and moves together with the robot 2, so that the space is saved, and the dust removal efficiency is improved.
Specifically, as shown in fig. 6, the air-extracting and dust-removing module 6 includes two air-extracting openings 61, two dust-removing pipes 62 and a supporting frame 63;
the two dust removal pipelines 62 are arranged in parallel and connected through a support frame 63, the support frame 63 is perpendicular to the dust removal pipelines 62 and is fixed on the carriage body 31, and the two dust removal pipelines 62 are symmetrically arranged across the gantry support 1;
The two air suction openings 61 are communicated with the dust removal pipeline 62 and arranged above the cutting torch for extracting waste gas and impurities generated by cutting.
in the above embodiment, the suction openings 61 are disposed at two ends of the beam of the gantry support 1 and close to the cutting torch of the robot 2, but do not interfere with the extension of the arm of the robot 2, and the suction openings are horn-shaped, so as to more effectively absorb the waste gas generated near the cutting torch.
As shown in fig. 7, in detail, a fan 611 is disposed on the suction opening 61, and the fan 611 drives the impeller to rotate so as to extract the exhaust gas and the impurities below the suction opening 61. The utility model provides an air draft principle of suction opening 61 is similar with the smoke ventilator in domestic kitchen, and the rotation through the impeller makes the inside and outside pressure differential that produces of suction opening 61 to make outside air adsorbed to in the suction opening, realize the function of taking out of waste gas, be provided with the filter screen in dust removal pipeline 62, filter the impurity in the waste gas.
can know via the aforesaid, the mode that membrane type wall tube bank robot cutting system in this embodiment adopted two directions of longmen to link, and the longmen movable support can splice, greatly increased the cutting scope of robot, and adopt arc pressure adjusting device and laser to seek a scanner, make the degree of automation of robot and cutting higher, the cutting effect is better, movable convulsions dust pelletizing system has still been adopted in addition, make the on-the-spot operational environment of cutting obtain cleanly, be favorable to staff's physical and mental health.
It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A robotic membrane wall tube bank cutting system, comprising: the robot comprises a gantry support (1), a robot (2), a moving compartment assembly (3) and a track assembly (4);
the gantry support (1) comprises two vertical supporting columns and a cross beam;
the moving compartment assembly (3) is arranged on a cross beam of the gantry support (1) and moves along the extending direction of the cross beam;
the robot (2) is fixed on the moving compartment component (3), and a cutting gun is arranged at the moving end part of the robot so as to cut workpieces in different areas along with the movement of the moving compartment component (3);
The track component (4) is arranged between the cross beam and the moving compartment component (3) and is used for supporting the movement of the moving compartment component (3).
2. a membrane wall tube bank robotic cutting system according to claim 1, characterized in that the rail assembly (4) comprises a rail base (41), a slide rail (42) and a rack (43);
The rail base (41) is provided with mounting grooves for mounting the sliding rail (42) and the rack (43), so that the sliding rail (42) and the rack (43) can be fixed conveniently;
the sliding rails (42) are installed in a splicing mode, and limiting devices are arranged at two ends of each sliding rail (42);
The rack (43) extends along the length direction of the slide rail.
3. a membrane wall tube bank robot cutting system according to claim 2, characterized in that the moving carriage assembly (3) comprises a carriage (31), a slide (32) and a rotating device (33);
the carriage body (31) is sleeved on the cross beam, two ends of the carriage body are opened and are arranged in a sliding mode along the length direction of the cross beam, and the robot (2) is fixed on one side face of the carriage body (31);
The slide block (32) is arranged inside the carriage body (31) and is connected with the slide rail (42) in a sliding way;
The rotating device (33) is fixed on the carriage body (31), a gear meshed with the rack (43) is arranged on the rotating device (33), and the carriage body (31) is driven to move when the gear rotates.
4. A membrane type wall tube row robot cutting system as claimed in claim 1, characterized in that the cutting gun is provided with a laser scanning position finder (21) for deviation correction in the cutting process.
5. A membrane wall tube bank robot cutting system according to claim 1, characterized in that an arc pressure adjusting device (22) is arranged on the end of the robot (2), and the moving end of the arc pressure adjusting device (22) is fixed with the cutting torch for adjusting the distance between the cutting torch and the workpiece when cutting.
6. a membrane wall tube bank robotic cutting system according to claim 1, further comprising a gantry moving carriage (5), a guide rail (51) and a drive assembly (52);
the guide rail (51) is arranged on the gantry moving support (5) to support and move the gantry support (1);
The driving assembly (52) is arranged on the vertical supporting column and attached to the guide rail (51) to drive the gantry support (1).
7. Membrane wall tube bank robot cutting system according to claim 6, characterized in that the gantry moving frame (5) is provided with a connection piece (53) at its end for splicing the gantry moving frame (5).
8. the membrane-type wall tube row robot cutting system according to claim 3, characterized by further comprising an air-draft dust-removal module (6), wherein the air-draft dust-removal module (6) is fixed on the carriage body (31).
9. Membrane-type wall tube bank robot cutting system according to claim 8, characterized in that the air extraction and dust removal module (6) comprises two air extraction openings (61), two dust removal pipes (62) and a support frame (63);
the two dust removal pipelines (62) are arranged in parallel and connected through the support frame (63), the support frame (63) is perpendicular to the dust removal pipelines (62) and is fixed on the carriage body (31), and the two dust removal pipelines (62) are symmetrically arranged on two sides of the gantry support (1);
the two air suction openings (61) are communicated with the dust removal pipeline (62) and arranged above the cutting torch and used for extracting waste gas and impurities generated by cutting, a fan (611) is arranged on each air suction opening (61), and the fan (611) drives an impeller to rotate so as to extract the waste gas and the impurities below the air suction openings (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920582250.9U CN209774633U (en) | 2019-04-25 | 2019-04-25 | membrane type wall tube row robot cutting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920582250.9U CN209774633U (en) | 2019-04-25 | 2019-04-25 | membrane type wall tube row robot cutting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209774633U true CN209774633U (en) | 2019-12-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920582250.9U Expired - Fee Related CN209774633U (en) | 2019-04-25 | 2019-04-25 | membrane type wall tube row robot cutting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209774633U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111992889A (en) * | 2020-09-09 | 2020-11-27 | 哈尔滨科能熔敷科技有限公司 | Water-cooled wall tube bank removes deposition machine |
| CN113061883A (en) * | 2021-03-19 | 2021-07-02 | 重庆江陆激光科技有限公司 | Tube bank laser cladding equipment |
-
2019
- 2019-04-25 CN CN201920582250.9U patent/CN209774633U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111992889A (en) * | 2020-09-09 | 2020-11-27 | 哈尔滨科能熔敷科技有限公司 | Water-cooled wall tube bank removes deposition machine |
| CN111992889B (en) * | 2020-09-09 | 2022-03-22 | 哈尔滨科能熔敷科技有限公司 | Water-cooled wall tube bank removes deposition machine |
| CN113061883A (en) * | 2021-03-19 | 2021-07-02 | 重庆江陆激光科技有限公司 | Tube bank laser cladding equipment |
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Granted publication date: 20191213 |