JPH0217808Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] This invention is particularly effective for the arm of a manipulator, which has an abrasive nozzle attached to its tip that sprays particulate matter together with high-pressure water toward the workpiece. related to a hose support device that is applied to

[Prior Art] Cutting techniques using such abrasive nozzles are well known and are used when cutting various workpieces. In particular, the cutting surface is clean and any desired cutting surface can be obtained by moving the jet nozzle, so it is widely used for cutting existing tunnel walls and dismantling nuclear reactors that have reached the end of their useful life.

By the way, in order to cut with an abrasive jet, the jet nozzle must be moved relative to the workpiece, but since the jet pressure of abrasive jets reaches as high as 2500 kg/cm ² , it is not possible to perform the work manually. It is extremely dangerous and it is desirable to attach the jet nozzle to the manipulator. As is well known, the manipulator is movable in three dimensions, so the hose that supplies ultra-high pressure water to the abrasive nozzle attached to the tip of the manipulator is also subject to bending or expansion/contraction forces as the nozzle moves. If excessive force is applied to the hose at this time, the hose may be damaged since the internal pressure of the hose is approximately 2500 kg/cm ² as described above. If it breaks, high-pressure water may gush out and cause an accident.

Generally, when attaching a long and thin flexible string-like body, such as a welding cable, to a robot arm, there is a known technique for fixing the cable to an arm that can rotate and slide (for example, Japanese Utility Model Application Publication No. 59-42893) reference). In such known technology, the cable is simply given slack, and the slack absorbs the movement of the arm shaft or the welding part. However, since the hose of a water jet cutting machine sends high pressure water,
If there is too much slack, it may come into contact with other machine parts and interfere with them, creating a risk of breakage due to wear or other causes.
Moreover, if it is too short, the movement length will be limited. Therefore, such known techniques cannot be applied to support hoses of water jet cutting machines.

[Objective of the invention] Therefore, an object of the present invention is to provide a hose support device that can easily follow any movement of an abrasive jet nozzle.

[Structure of the invention] According to the invention, an abrasive nozzle that injects granular materials together with high-pressure water toward a workpiece is provided at the tip of a manipulator consisting of a pair of arms pivotally connected to each other. In a hose support device for a jet cutting machine, each of the pair of arms is provided with a guide rail in the longitudinal direction, a sliding plate is provided on the guide rail so as to be slidable, a rotating member is provided on the sliding plate, and the rotating member is provided with a sliding plate. High pressure water hose and abrasive hose are secured with a cover.

[Operations and Effects of the Invention] Therefore, the abrasive nozzle provided at the tip of the manipulator is moved along a predetermined trajectory to inject an abrasive jet onto the workpiece to cut it. During this time, the hose also follows, but slack occurs due to the bent state of the pair of pivotally connected arms. However, since each hose is slidably and rotatably fixed to each arm, the tensile force or moment generated on the hose during the movement of the manipulator is absorbed by the movement of the slide plate and the rotation of the rotating member, and the The support spacing is short and sag is minimized.

Therefore, there is less slack in the hose,
There is less interference with other mechanical parts, and serious accidents such as damage can be prevented. Furthermore, since no unreasonable force is applied to the hose, the life of the hose is extended.

In particular, since the support part slides and rotates, the hose does not bend excessively, and the pressure drop of the pressurized water is small.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a preferred embodiment of a parallel link type manipulator to which a hose support device embodying the present invention is applied. A first arm 3 is connected to a pedestal 1 fixed to a base (not shown) via a pin 2.
is pivotally mounted, the tip of a piston 6 of a hydraulic cylinder 5 is pivotally mounted to the lower end of the first arm, and the end of the hydraulic cylinder 5 is pivotally mounted to a cylinder mount 7 fixed to the base. . A second arm 9 is pivotally attached to the tip of the first arm 3 via a pin 8, and a bracket 10 is also pivotally attached. This bracket 10 is adjustably connected to the pedestal 1 by a connecting rod 11.

The first arm 3 and the second arm 9 are also connected by a hydraulic piston-cylinder unit 12.
A connecting fitting 13 is pivotally attached to the tip of the second arm 9, and the bracket 10 and the connecting fitting 13 are connected by a connecting rod 14, and the first and second arms 3,
9, the connecting rods 11 and 14, the bracket 9, and the connecting fitting 13 form a parallel link. Therefore, when the hydraulic cylinder 5 is actuated, the first arm 3 can be tilted about the pin 2, and when the hydraulic cylinder unit 12 is actuated, the second arm 9 can be tilted relative to the first arm 3. do. However, since this manipulator is of the parallel link type, the attitude of the connecting fitting 13 does not change even when the second arm 9 is tilted.

The connection fitting 13 is provided with an abrasive jet nozzle 20, and this nozzle is equipped with a hose 21 for supplying ultra-high pressure water and an abrasive (sand) jet nozzle.
An abrasive hose 22 is connected thereto. A negative pressure chamber (not shown) is formed in the nozzle, and an abrasive hose 2 is connected to this negative pressure chamber.
2 are connected. Therefore, from the nozzle 20, abrasive particles such as sand or garnet are injected together with water.

A hose support device 30 is attached to the first and second arms 3, 9 of the manipulator, and the hose 21 is fixed to this support device.

As shown in FIG. 1, FIG. 2, and FIG.
9, and a slide plate 32 that is slidably provided on the guide rail.
and a rotating member 33 rotatably provided on the slide plate.

As shown in particular in FIG. 2, the guide rail 31 consists of an elongated member having grooves 34, 34 on both sides, and is fixed to the arms 3, 9 of the manipulator in the longitudinal direction. And the groove part 34 of this rail,
34 engages with both side lines 35, 35 of the substantially rectangular slide plate 32, and the slide plate is slidably guided in the axial direction without falling off the guide rail 31.

As shown in FIG. 3, the rotating member 33 is fixed to both ends of the hose cover 36. Support stand 37
and a support pedestal 38 that rotatably supports this support pedestal. Support stand 37
The hoses 21 and 22 are placed on the upper surface thereof and covered with a cover 36 to fix the hoses, and a stepped through hole 39 is formed approximately in the center thereof. The support pedestal 38 supports the support pedestal 37 and has a slide plate 32 fixed to its lower surface with bolts 40, 40, and has a cylindrical portion 41 projecting upward at approximately the center thereof. A through hole 42 is formed in the center of the cylindrical portion 41,
This through hole 42 has an enlarged diameter portion 43 at the bottom. The support stand 37 and the support stand 38 are rotatably coupled as follows. That is, it is connected by a pin 42 having substantially the same shape as the through holes 42 and 43 of the support frame 38, and a bolt 43 that is screwed into the screw hole of the pin 41. The upper end of the pin 41 is
As shown in FIG. 3, it protrudes upward from the cylindrical portion 41 of the support pedestal 38, and this protruding portion is fitted into each neck portion of the lower surface of the support pedestal 37. In addition, the outer peripheral surface of the pin 42 and the through hole 4 of the cylindrical portion 41
A bush 44 with a flange is inserted between the inner peripheral surface of the support base 37 and the cylindrical portion 41 and between the lower surface of the support base 37 and the cylindrical portion 41. Therefore, the rotation of the support stand 37 with respect to the support frame 38 is effected via this bush 44.

[Operations and Effects of the Embodiment] As described in detail above, since the slide plate 32 is slidable on the guide rail 31, the hose support device 30 is moved in the axial direction as shown by the arrow A in FIG. It is movable. Further, since the support stand is rotatable with respect to the support pedestal 38, as shown by arrow B, it is rotatable around the vertical axis of the slide plate. Therefore, the hose 21 fixed to the support stand 37 with the cover 36
is movable in the directions indicated by arrows A and B in FIG. Therefore, the hose can follow the movement of the manipulator without being subjected to excessive force.

[Summary] As described above, according to the present invention, since the sliding plate and the rotating member are employed, the hose can easily follow the complicated movement of the abrasive jet nozzle. Therefore, cutting work can be carried out with peace of mind without worrying about accidents such as damage to the hose. Furthermore, since no unreasonable force is applied to the hose, the service life of the hose is extended.

[Brief explanation of drawings]

FIG. 1 is a front view showing an embodiment of the present invention;
FIG. 2 is a perspective view showing the relationship between the guide rail and the slide plate, and FIG. 3 is a sectional front view of the hose support device. 3, 9... Manipulator arm, 20... Abrasive nozzle, 21, 22... Hose, 30
... Hose support device, 31 ... Guide rail, 3
2...Slide plate, 33...Rotating member, 36...
cover.

Claims (1)

[Scope of utility model registration request] In a hose support device for a water injection cutting machine, an abrasive nozzle for injecting granules and high-pressure water toward a workpiece is provided at the tip of a manipulator consisting of a pair of arms pivotally connected to each other. A guide rail is provided in the longitudinal direction on each of the arms, a sliding plate is provided on the guide rail so as to be slidable, a rotating member is provided on the sliding plate,
A hose support device for a water jet cutting machine, characterized in that a high pressure water hose and an abrasive hose are fixed to the rotating member with a cover.