CN213672155U - Cutting robot - Google Patents

Abstract

The utility model discloses a cutting robot, including frame, supporting mechanism and cutting mechanism. The frame is provided with a cylinder body; the supporting mechanism comprises a guide sleeve, a first driving part and a plurality of connecting rod assemblies which are distributed on the guide sleeve at intervals along the circumferential direction, and the guide sleeve is sleeved outside the barrel; the cutting mechanism is installed in the frame, and cutting mechanism includes rotary drive subassembly, shifts drive assembly and cutting assembly, shifts drive assembly and is used for driving cutting assembly and switches between primary importance and second place to cut into or break away from the pipe wall, and rotary drive subassembly is used for driving to shift drive assembly and rotates, in order to drive cutting assembly along circumference cutting pipe wall. The cutting robot is placed into the tubular pile, the first driving part drives the guide sleeve to move relative to the barrel, the connecting rod assembly extends outwards and is supported on the inner pipe wall, the cutting assembly cuts the pipe wall along the circumferential direction after cutting into the pipe wall, cutting operation in a limited space in a deep water environment is achieved, and construction is safe and efficient.

Description

Cutting robot

Technical Field

The utility model is used for cutting equipment technical field especially relates to a cutting robot.

Background

In the construction of deep foundation pits and tunnels, when geological structures with poor geological conditions and abundant underground water are encountered, the steel pipe pile cofferdam is often used for water stop support. When the engineering entity is built, the steel pipe pile which plays a role in temporary water stopping and supporting often needs to be cut. Because the tubular pile is implanted in the ground layer, can't cut from the outside, can only let the diver dive in the narrow tubular pile carry out the cutting operation. In addition, the pile foundation bearing platform of the fan in the offshore large-scale wind power project also commonly adopts the steel pipe pile, when ramming the steel pipe pile with the pile hammer and implanting submarine rock soil, the turn-up can appear in pile top steel, needs the diver to dive and cuts, and the depth of water generally exceeds 40 meters. Cutting itself is a relatively dangerous work, and especially when divers work in a limited space under a deep water environment, the danger is extremely high, and the research on a cutting device for replacing manual work is urgently needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide a cutting robot, it can replace the diver to carry out the work of underwater cutting, can be under the deep water environment in the finite space operation, construction safety and high efficiency.

The utility model provides a technical scheme that its technical problem adopted is:

in a first aspect, a cutting robot includes

A frame provided with a cylinder arranged in the up-down direction;

the supporting mechanism comprises a guide sleeve, a first driving part and a plurality of connecting rod assemblies which are circumferentially distributed on the guide sleeve at intervals, the guide sleeve is sleeved outside the cylinder body, each connecting rod assembly comprises a first connecting rod and a second connecting rod which are hinged in a scissor shape, one end of each first connecting rod is hinged to the cylinder body, one end of each second connecting rod is hinged to the guide sleeve, and the first driving part is connected to the cylinder body and the guide sleeve in the vertical direction;

the cutting mechanism is installed on the rack and comprises a rotary driving assembly, a transfer driving assembly and a cutting assembly, the transfer driving assembly is used for driving the cutting assembly to be switched between a first position and a second position so as to cut into or separate from the pipe wall, and the rotary driving assembly is used for driving the transfer driving assembly to rotate so as to drive the cutting assembly to cut the pipe wall along the circumferential direction.

With reference to the first aspect, in certain implementation manners of the first aspect, the cutting mechanism further comprises a mounting bracket, the rotary driving assembly comprises an external gear, an internal gear and a second driving component, the internal gear is installed at the bottom of the cylinder body, the external gear is meshed with the internal gear, the second driving component is used for driving the external gear to rotate, a first guide component is arranged on the internal gear, the second driving component and the transfer driving assembly are both installed on the mounting bracket, the mounting bracket is connected with the second guide component, and the second guide component is matched with the first guide component.

With reference to the first aspect and the foregoing implementation manners, in certain implementation manners of the first aspect, the top and the bottom of the internal gear are both provided with the first guide component, the first guide component comprises a tapered guide rail, and the second guide component comprises a guide wheel, and the guide wheel has a groove matched with the tapered guide rail.

With reference to the first aspect and the foregoing implementation manners, in certain implementation manners of the first aspect, the transfer driving assembly includes a third driving component, an output end of the third driving component is connected with the cutting assembly, and the third driving component is configured to drive the cutting assembly to move in a transverse direction to cut into or separate from the pipe wall.

With reference to the first aspect and the foregoing implementation manners, in some implementation manners of the first aspect, the mounting frame is provided with a third guide component along the transverse direction, and the cutting assembly is provided with a fourth guide component, and the fourth guide component is matched with the third guide component.

With reference to the first aspect and the foregoing implementation manners, in some implementation manners of the first aspect, the ends of the first connecting rod and the second connecting rod are each provided with an anti-slip component, and the anti-slip component has an anti-slip structure.

With reference to the first aspect and the foregoing implementation manners, in certain implementation manners of the first aspect, the support mechanism includes at least three first driving members and at least three groups of the connecting rod assemblies, and the first driving members and the connecting rod assemblies are sequentially disposed on the guide sleeve along a circumferential direction.

With reference to the first aspect and the foregoing implementation manners, in certain implementation manners of the first aspect, the cutting assembly includes a fourth driving member and a saw blade, and the fourth driving member is used for driving the saw blade to rotate.

With reference to the first aspect and the implementations described above, in certain implementations of the first aspect, the cutting assembly further includes a flame cutter, a plasma cutter, or a laser cutter.

With reference to the first aspect and the foregoing implementation manners, in some implementation manners of the first aspect, the hoisting device further includes a guide cable, where the guide cable is used to connect the hoisting device and the rack, and the hoisting device is used to wind the guide cable.

One of the above technical solutions has at least one of the following advantages or beneficial effects: when underwater cutting is needed, the cutting robot is placed to a cutting station in the tubular pile, the first driving part drives the guide sleeve to move up and down relative to the barrel, and the second connecting rod rotates under the driving of the guide sleeve, so that the connecting rod assembly extends outwards and is supported on the inner pipe wall. And then, the cutting assembly is switched from the first position to the second position, so that the cutting assembly is cut into the pipe wall, the cutting assembly can be driven to rotate along the circumferential direction of the pipe wall by rotating the driving assembly, and the cutting assembly can be switched from the second position to the first position after the whole circle of cutting is completed so as to be separated from the pipe wall, so that the cutting operation in a limited space under a deep water environment is completed, the purpose of replacing a diver to perform underwater cutting is realized, and the construction is safe and efficient.

Drawings

The present invention will be further explained with reference to the accompanying drawings:

fig. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of a connecting rod assembly supported on an inner pipe wall according to an embodiment of the present invention;

FIG. 3 is a schematic top view of the one embodiment support mechanism of FIG. 1;

FIG. 4 is a schematic diagram of the cutting mechanism of FIG. 1 according to one embodiment.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the present invention, if there is a description of directions (up, down, left, right, front and back), it is only for convenience of description of the technical solution of the present invention, and it is not intended to indicate or imply that the technical features indicated must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the utility model, the meaning of a plurality of is one or more, the meaning of a plurality of is more than two, and the meaning of more than two is understood as not including the number; the terms "above", "below", "within" and the like are understood to include the instant numbers. In the description of the present invention, if there is any description of "first" and "second" only for the purpose of distinguishing technical features, it is not to be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of the indicated technical features.

In the present invention, unless otherwise explicitly defined, the terms "set", "install", "connect", and the like are to be understood in a broad sense, and for example, may be directly connected or may be indirectly connected through an intermediate medium; can be fixedly connected, can also be detachably connected and can also be integrally formed; may be mechanically coupled, may be electrically coupled or may be capable of communicating with each other; either as communication within the two elements or as an interactive relationship of the two elements. The technical skill in the art can reasonably determine the specific meaning of the above words in the present invention by combining the specific contents of the technical solution.

Referring to fig. 1, the embodiment of the utility model provides a cutting robot, including frame, supporting mechanism and cutting mechanism, frame 1 is used for installing supporting mechanism and cutting mechanism, and supporting mechanism is used for fixing cutting robot on the interior pipe wall of tubular structure such as steel-pipe pile 3, and cutting mechanism is used for realizing the action of cutting the pipe wall.

Referring to fig. 1 to 3, the frame 1 is provided with a cylinder 2 disposed in an up-down direction. The supporting mechanism includes a guide sleeve 41, a first driving member 42 and a plurality of link assemblies circumferentially spaced on the guide sleeve 41. The guide sleeve 41 is sleeved outside the cylinder 2, the connecting rod assembly comprises a first connecting rod 43 and a second connecting rod 44 which are hinged in a scissor shape, one end of the first connecting rod 43 is hinged to the cylinder 2, one end of the second connecting rod 44 is hinged to the guide sleeve 41, the first driving part 42 is connected to the cylinder 2 and the guide sleeve 41 in the up-and-down direction, namely one end of the first driving part 42 is connected with the cylinder 2, and the other end of the first driving part 42 is connected with the guide sleeve 41. The first driving part 42 pulls the guide sleeve 41, so that when the end of the first connecting rod 43 hinged to the cylinder 2 and the end of the second connecting rod 44 hinged to the guide sleeve 41 are close to each other, the connecting rod assembly can transversely extend and support the inner pipe wall, and the cutting robot can be fixed at a cutting station in the tubular pile 3.

Referring to fig. 1 and 4, the cutting mechanism is installed in the frame 1, and the cutting mechanism includes a rotary driving assembly, a transfer driving assembly and a cutting assembly, the transfer driving assembly is used for driving the cutting assembly to switch between a first position and a second position so as to cut into or separate from the pipe wall, and the rotary driving assembly is used for driving the transfer driving assembly to rotate so as to drive the cutting assembly to cut the pipe wall along the circumferential direction.

When underwater cutting is needed, the cutting robot is lowered to a cutting station in the tubular pile 3, the first driving part 42 drives the guide sleeve 41 to move up and down relative to the cylinder 2, and the second connecting rod 44 is driven by the guide sleeve 41 to rotate, so that the connecting rod assembly extends outwards and is supported on the inner pipe wall. The cutting assembly is switched to the second position from the first position, the cutting assembly is cut into the pipe wall, the rotary driving assembly can drive the cutting assembly to rotate along the circumferential direction of the pipe wall, the cutting assembly can be switched to the first position from the second position after the cutting of a whole circle is completed, the cutting operation in a limited space under a deep water environment can be completed by separating from the pipe wall, the purpose of underwater cutting by a diver is achieved, and the underwater cutting device is safe and efficient in construction.

It is to be understood that the rotary drive assembly may employ a rotary electric machine, a rotary cylinder, a hydraulic motor, or the like. Referring to fig. 4, in some embodiments, the cutting mechanism further includes a mounting frame 6, the rotary driving assembly includes an external gear 52, an internal gear 53, and a second driving part, the internal gear 53 is mounted at the bottom of the cylinder 2, the external gear 52 is meshed with the internal gear 53, the second driving part is used for driving the external gear 52 to rotate, a first guiding part is arranged on the internal gear 53, the second driving part and the transfer driving assembly are both mounted on the mounting frame 6, the mounting frame 6 is connected with the second guiding part, and the second guiding part is matched with the first guiding part. When the second driving part drives the external gear 52 to rotate, the external gear 52 can drive the mounting frame 6 to rotate along the internal gear 53, and further drive the transfer driving assembly to rotate along the internal gear 53. The first guide part and the second guide part are matched to guide the movement of the external gear 52 and the mounting frame 6, and the second drive part can be supported to stably provide power for the external gear 52. It will be appreciated that the first guide member may employ a guide track or runner and correspondingly the second guide member may employ a runner or guide track to cooperate with the first guide member.

Referring to fig. 1 and 4, in some embodiments, the top and bottom of the internal gear 53 are each provided with a first guide member comprising a tapered guide track 531, and the second guide member comprises a guide wheel 54, the guide wheel 54 having a groove 541 to be fitted with the tapered guide track 62. The guide rollers 54 are engaged with tapered guide rails 62 provided at the top and bottom of the internal gear 53, respectively, to stably clamp the mount frame 6 to the internal gear 53 while guiding the movement of the external gear 52.

The transfer driving assembly can switch the cutting assembly between the first position and the second position in a linear driving mode or a curve swinging mode and the like, namely, the cutting assembly is switched between a position of cutting into the pipe wall and a position of being far away from the pipe wall. Referring to fig. 1 and 4, in some embodiments, the transfer driving assembly includes a third driving member 7, an output end of the third driving member 7 is connected to the cutting assembly, and the third driving member 7 is configured to drive the cutting assembly to move in a transverse direction to cut into or separate from the pipe wall to realize a cutting action. It is understood that the third driving part 7 may employ an oil cylinder, an air cylinder, or the like.

In some embodiments, the mounting frame is provided with a third guide part along the transverse direction, the cutting assembly is provided with a fourth guide part, and the fourth guide part is matched with the third guide part to guide the cutting assembly to move, so that the cutting assembly can be driven by the third driving part 7 to cut into or separate from the pipe wall along the fourth guide part, and the stability of the equipment is improved. It will be appreciated that the third guide member may employ a guide track or runner and correspondingly the fourth guide member may employ a runner or guide track for cooperation with the third guide member.

Referring to fig. 1 and 2, in some embodiments, the ends of the first link 43 and the second link 44 are each provided with an anti-slip member 45, and the anti-slip member 45 has an anti-slip structure. When the connecting rod assembly is supported on the inner pipe wall, the anti-skidding structure can increase the friction force between the inner pipe wall and the connecting rod assembly, so that the connecting rod assembly can be stably supported on the inner pipe wall. It will be appreciated that the non-slip features include non-slip bumps, non-slip threads, etc.

The number of the first driving members 42 and the number of the link assemblies may be appropriately set according to factors such as cutting environment and production cost. Referring to fig. 3, in some embodiments, the supporting mechanism includes at least three first driving members 42 and at least three sets of link assemblies, and the first driving members 42 and the link assemblies are sequentially disposed on the guide sleeve 41 along the circumferential direction, so that the first driving members 42 can uniformly apply force to the guide sleeve 41, and the stability of the cutting robot is improved. The cutting robot can be stably supported in an underwater environment through at least three groups of connecting rod assemblies, and the phenomenon that the cutting robot is unbalanced and inclined in the rotating process of the cutting mechanism is avoided.

Referring to fig. 4, in some embodiments, the cutting assembly includes a fourth driving member 50 and a saw blade 51, the fourth driving member 50 is used for driving the saw blade 51 to rotate, so that the saw blade 51 can cut into the pipe wall in a high-speed rotating state to realize the cutting action.

In other embodiments, the cutting assembly further comprises a flame cutter, a plasma cutter, or a laser cutter. It is to be understood that the cutting assembly includes, but is not limited to, the above-exemplified embodiments.

Referring to fig. 1, in some embodiments, the cutting robot further includes a lifting device 81 and a guide cable 82, the guide cable 82 is used for connecting the lifting device 81 and the frame 1, the lifting device 81 is used for winding the guide cable 82, and the cutting robot is conveniently lowered into the pipe pile 3 before the cutting work is carried out and retracted after the cutting work is completed.

In the description herein, references to the description of the term "example," "an embodiment," or "some embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The invention is not limited to the above embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims (10)

1. A cutting robot is characterized by comprising

A frame provided with a cylinder arranged in the up-down direction;

the supporting mechanism comprises a guide sleeve, a first driving part and a plurality of connecting rod assemblies which are circumferentially distributed on the guide sleeve at intervals, the guide sleeve is sleeved outside the cylinder body, each connecting rod assembly comprises a first connecting rod and a second connecting rod which are hinged in a scissor shape, one end of each first connecting rod is hinged to the cylinder body, one end of each second connecting rod is hinged to the guide sleeve, and the first driving part is connected to the cylinder body and the guide sleeve in the vertical direction; the cutting mechanism is installed on the rack and comprises a rotary driving assembly, a transfer driving assembly and a cutting assembly, the transfer driving assembly is used for driving the cutting assembly to be switched between a first position and a second position so as to cut into or separate from the pipe wall, and the rotary driving assembly is used for driving the transfer driving assembly to rotate so as to drive the cutting assembly to cut the pipe wall along the circumferential direction.

2. The cutting robot of claim 1, wherein: cutting mechanism still includes the mounting bracket, the rotation driving subassembly includes external gear, internal gear and second driver part, the internal gear install in the bottom of barrel, the external gear with the internal gear meshing, the second driver part is used for the drive the external gear rotates, be equipped with first guide part on the internal gear, second driver part and transfer driver subassembly all install in the mounting bracket, the second guide part is connected to the mounting bracket, the second guide part with the cooperation of first guide part.

3. The cutting robot of claim 2, wherein: the top and the bottom of the internal gear are both provided with the first guide part, the first guide part comprises a conical guide rail, the second guide part comprises a guide wheel, and the guide wheel is provided with a groove matched with the conical guide rail.

4. The cutting robot of claim 2, wherein: the transfer driving assembly comprises a third driving part, the output end of the third driving part is connected with the cutting assembly, and the third driving part is used for driving the cutting assembly to move along the transverse direction so as to cut into or separate from the pipe wall.

5. The cutting robot of claim 4, wherein: the mounting bracket is transversely equipped with third guide part, be equipped with fourth guide part on the cutting assembly, fourth guide part with the cooperation of third guide part.

6. The cutting robot of claim 1, wherein: the tail ends of the first connecting rod and the second connecting rod are provided with anti-skidding parts, and the anti-skidding parts are provided with anti-skidding structures.

7. The cutting robot of claim 1, wherein: the supporting mechanism comprises at least three first driving parts and at least three groups of connecting rod assemblies, and the first driving parts and the connecting rod assemblies are sequentially arranged on the guide sleeves along the circumferential direction.

8. The cutting robot of claim 1, wherein: the cutting assembly comprises a fourth driving component and a saw blade, wherein the fourth driving component is used for driving the saw blade to rotate.

9. The cutting robot of claim 1, wherein: the cutting assembly further comprises a flame cutter, a plasma cutter or a laser cutter.

10. The cutting robot of claim 1, wherein: the cable winding device further comprises hoisting equipment and a guide cable, wherein the guide cable is used for connecting the hoisting equipment and the rack, and the hoisting equipment is used for winding the guide cable.

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