Modular combined manipulator for intelligent cutting of scrap steel

Abstract

The invention provides a modular combined manipulator for intelligent cutting of waste steel, which can be used for continuous cutting operation among a plurality of waste steel cutting stations, a mobile workshop can be moved to any waste steel cutting station, the internal space is used as an operation area for cutting the waste steel, and dust hoods are arranged on two transverse side surfaces; in the operation area, a truss manipulator is suspended through a framework of a mobile workshop, the truss manipulator comprises a long-axis truss assembly, a short-axis truss assembly and an industrial robot, and the industrial robot and the short-axis truss assembly can be driven by the long-axis truss assembly together to horizontally move in the depth direction; the industrial robot can be driven by the short-axis truss assembly to move horizontally in the transverse direction, and the tail end of the industrial robot is detachably connected with the cutting unit through the first steel pipe and the extension steel pipe. According to the multi-station cutting machine, the dust pollution phenomenon caused by cutting can be remarkably improved, and the cutting operation among multiple stations can be more efficiently carried out.

Description

Technical Field

[0001] The invention relates to a manipulator, and more particularly to a modular combined manipulator for intelligent cutting of scrap steel. Background Art

[0002] Currently, scrap steel cutting is mainly done by hand-held flame cutting guns, which are high in temperature and dusty, and are not conducive to the health of operators. Robotic intelligent cutting will be the future technological development trend of scrap steel cutting operations, but there are relatively few robots suitable for scrap steel cutting, and research and development is needed. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes a modular combination manipulator for intelligent cutting of scrap steel, which is suitable for scrap steel cutting operations in steel plants. It can significantly improve the dust pollution caused by cutting and enable cutting operations between multiple stations to be carried out more efficiently.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A modular combined manipulator for intelligent cutting of scrap steel, the structural features of which are:

[0006] It can be used for continuous cutting operations between multiple scrap steel cutting stations; a pair of walking rails are laid according to the position distribution track of multiple scrap steel cutting stations, and the mobile workshop is arranged across the upper end of the pair of walking rails. It relies on the rolling cooperation between the multiple rollers arranged at the bottom and the pair of walking rails, and is driven by the roller driving device to move along the walking rails to any scrap steel cutting station. The internal space of the mobile workshop is used as the operation area for cutting scrap steel. The depth is arranged along the length of the walking rails, and openable doors are arranged at both ends. Dust hoods with side suction are arranged on the two lateral sides, and the air outlet of the dust hood is connected to the dust removal fan through the air duct;

[0007] In the working area, a truss manipulator is suspended by the skeleton of the mobile workshop, and the truss manipulator includes a long-axis truss assembly, a short-axis truss assembly and an industrial robot. The long-axis truss assembly is horizontally arranged along the longitudinal direction and hoisted in the center of the top by the skeleton of the mobile workshop; the short-axis truss assembly is horizontally arranged along the transverse direction and detachably hoisted by the long-axis truss assembly through the short-axis connecting piece; the industrial robot is detachably hoisted by the short-axis truss assembly through the robot connecting piece, and together with the short-axis truss assembly, can be driven by the long-axis driving device of the long-axis truss assembly and move back and forth along the long-axis guide rail along the horizontal straight line in the longitudinal direction; the industrial robot can be driven by the short-axis driving device of the short-axis truss assembly and move back and forth along the short-axis guide rail along the horizontal straight line in the transverse direction, and the end is detachably connected to the first steel pipe, the end of the first steel pipe is detachably connected to the extension steel pipe, and the end of the extension steel pipe is detachably connected to the cutting unit.

[0008] The structural characteristics of the present invention also lie in:

[0009] The truss manipulator:

[0010] The long-axis truss assembly includes a long-axis truss, a long-axis driving device, a long-axis transmission mechanism, a long-axis guide rail, and a long-axis roller box slider group. The long-axis truss is detachably hoisted on the skeleton of the mobile workshop via a long-axis connecting piece. A pair of long-axis guide rails horizontally arranged along the depth direction are symmetrically arranged on the long-axis truss in the transverse direction. A plurality of long-axis sliders of the long-axis roller box slider group are respectively semi-enclosed and slidably sleeved on the long-axis guide rails on both sides. A plurality of long-axis sliders are connected to the short-axis connecting piece, driven by the long-axis driving device and transmitted via the long-axis transmission mechanism, and slide along the long-axis guide rail together with the short-axis connecting piece, the short-axis truss assembly, and the industrial robot.

[0011] The long-axis transmission mechanism is a meshing long-axis rack and a long-axis transmission gear. The long-axis driving device is provided with driving force by a long-axis servo motor, which is reduced by a long-axis reducer, and the output shaft of the long-axis reducer is the long-axis power shaft. The long-axis servo motor, the long-axis reducer, and the long-axis transmission gear are installed on the short-axis connecting part. The long-axis transmission gear axle is directly connected to the long-axis power shaft, and is driven by the long-axis power shaft to rotate synchronously. Through the meshing transmission with the long-axis rack arranged parallel to the long-axis guide rail, multiple long-axis sliders are driven to slide synchronously along the long-axis guide rail.

[0012] The truss manipulator:

[0013] The short-axis truss assembly includes a short-axis truss, a short-axis driving device, a short-axis transmission mechanism, a short-axis guide rail, and a short-axis roller box slider group. The short-axis truss is detachably hoisted on the short-axis connecting member, a pair of short-axis guide rails arranged horizontally along the transverse direction are symmetrically arranged on the short-axis truss along the transverse direction, and a plurality of short-axis sliders of the short-axis roller box slider group are respectively semi-enclosed and slidably sleeved on the short-axis guide rails on both sides. The plurality of short-axis sliders are connected to the robot connecting member, driven by the short-axis driving device and transmitted through the short-axis transmission mechanism, and slide along the short-axis guide rail together with the robot connecting member and the industrial robot;

[0014] The short-axis transmission mechanism is a meshing short-axis rack and a short-axis transmission gear. The short-axis driving device is provided with driving force by a short-axis servo motor, which is reduced by a short-axis reducer, and the output shaft of the short-axis reducer is the short-axis power shaft. The short-axis servo motor, the short-axis reducer, and the short-axis transmission gear are installed on the robot connecting part. The short-axis transmission gear axle is directly connected to the short-axis power shaft, and is driven by the short-axis power shaft to rotate synchronously. Through the meshing transmission between the short-axis racks arranged parallel to the short-axis guide rail, multiple short-axis sliders are driven to slide synchronously along the short-axis guide rail.

[0015] The industrial robot is hoisted on each slider of the short-axis roller box slider group through the robot connecting parts.

[0016] In the truss manipulator: the industrial robot is a six-axis manipulator.

[0017] The end of the industrial robot is connected to the flange on the top of the first steel pipe by bolts, the end of the first steel pipe is threadedly connected to the top of the extended steel pipe, the end of the extended steel pipe is connected to the cutting unit by a clamp, and the first steel pipe and the extended steel pipe are coaxial.

[0018] The cutting unit is a cutting gun.

[0019] The mobile workshop comprises a frame and a workshop dust cover arranged outside the frame. The frame is a single-span portal steel frame, and a plurality of triangular beams are arranged at intervals on the top along the depth direction.

[0020] The door of the mobile workshop is opened and closed in the vertical direction. The door is divided into two parts, including a fixed sealing plate at the upper part and a movable sealing plate at the lower part. The movable sealing plate can slide vertically, either upward to open or downward to close.

[0021] The roller driving device includes a roller servo motor, a roller reducer, and an active roller. It is driven by the roller servo motor and reduced in speed by the roller reducer to drive the active roller to rotate around the wheel axis. Relying on the rolling cooperation between the active roller and the walking guide rail, the mobile workshop can be displaced along a pair of walking guide rails through the bottom rollers.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. The present invention can significantly improve the dust pollution caused by scrap steel cutting;

[0024] The mobile workshop of the present invention is provided with a dust removal hood, and an external air duct of the dust removal hood is connected to a dust removal fan. Scrap steel cutting is performed in the mobile workshop. During cutting, dust can be promptly extracted from the dust removal hoods on both sides of the mobile workshop, thereby preventing dust from spreading to the entire working area and affecting equipment operation, and at the same time reducing pollution to the environment.

[0025] 2. The present invention adopts modular design, which can better adapt to rapid deployment in more cutting operation scenarios;

[0026] The truss manipulator is detachably connected to the skeleton of the mobile workshop, the long-axis truss assembly, short-axis truss assembly and industrial robot of the truss manipulator are detachably connected, the industrial robot and the cutting unit serving as the end effector are detachably connected through the first steel pipe and the extension steel pipe, and the detachably connected components are easy to disassemble and assemble. Referring to this assembly form, the truss manipulator can be quickly combined with mobile workshops of various specifications, and long-axis truss assemblies, short-axis truss assemblies and industrial robots of various specifications and models can also be quickly combined, as can the industrial robot and the cutting unit. Therefore, it can adapt to rapid deployment in more cutting operation scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 is a schematic structural diagram of the present invention when the workshop dust cover is not shown;

[0029] Figure 3 It is a schematic diagram of the internal main structure of the present invention;

[0030] Figure 4 It is a structural schematic diagram of the long axis connectors at both ends of the long axis truss;

[0031] Figure 5 It is a schematic diagram of the structure of the long axis connecting member in the long axis truss;

[0032] Figure 6 It is a structural diagram of a truss manipulator;

[0033] Figure 7 It is a schematic diagram of the main structure of the truss manipulator;

[0034] Figure 8 It is a side view structural diagram of the truss manipulator;

[0035] Fig. 9 It is a top view structural diagram of the truss manipulator;

[0036] Fig.10 It is a structural schematic diagram of the short-axis truss assembly and the industrial robot.

[0037] In the figure:

[0038] 1 mobile workshop; 11 fixed cover; 12 mobile cover; 13 dust cover; 14 air duct; 15 frame; 151 triangular beam

[0039] 21 walking guide rail; 22 roller; 23 roller driving device; 24 driving roller;

[0040] 3 long axis truss assembly; 31 long axis connecting piece; 32 long axis truss; 33 long axis driving device; 34 long axis transmission mechanism; 35 long axis guide rail; 36 long axis roller box slider group; 361 long axis slider;

[0041] 4 short axis truss assembly; 41 short axis connecting piece; 42 short axis truss; 43 short axis driving device; 44 short axis transmission mechanism; 45 short axis guide rail; 46 short axis roller box slider group; 461 short axis slider;

[0042] 5 industrial robot; 51 robot connecting part; 52 first steel pipe; 53 extension steel pipe; 54 cutting unit. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Please refer to Figures 1 to 10 The modular combined manipulator for intelligent scrap steel cutting of this embodiment can be used for continuous cutting operations between multiple scrap steel cutting stations; a pair of walking rails 21 are laid according to the position distribution trajectory of multiple scrap steel cutting stations, and the mobile workshop 1 is arranged on the upper end of the pair of walking rails 21. It relies on the rolling cooperation between the multiple rollers 22 arranged at the bottom and the pair of walking rails 21, and is driven by the roller driving device 23 to move along the walking rails 21 to any scrap steel cutting station. The internal space of the mobile workshop 1 is used as the operation area for cutting scrap steel. The depth is arranged along the length of the walking rails 21, and the two ends are provided with openable and closable doors. The two lateral sides are provided with side suction dust hoods 13, and the air outlet of the dust hood 13 is connected to the dust removal fan through the air duct 14;

[0045] In the working area, a truss manipulator is suspended by the skeleton 15 of the mobile workshop 1. The truss manipulator includes a long-axis truss assembly 3, a short-axis truss assembly 4 and an industrial robot 5. The long-axis truss assembly 3 is horizontally arranged along the longitudinal direction and hoisted in the center of the top by the skeleton 15 of the mobile workshop 1. The short-axis truss assembly 4 is horizontally arranged along the transverse direction and detachably hoisted by the long-axis truss assembly 3 through the short-axis connector 41. The industrial robot 5 is detachably hoisted by the short-axis truss assembly 4 through the robot connector 51. Together with the short-axis truss assembly 4, the industrial robot 5 can be driven by the long-axis driving device 33 of the long-axis truss assembly 3 and moved back and forth along the long-axis guide rail 35 in a horizontal straight line in the longitudinal direction. The industrial robot 5 can be driven by the short-axis driving device 43 of the short-axis truss assembly 4 and moved back and forth along the short-axis guide rail 45 in a horizontal straight line. The end is detachably connected to the first steel pipe 52, the end of the first steel pipe 52 is detachably connected to the extension steel pipe 53, and the end of the extension steel pipe 53 is detachably connected to the cutting unit 54.

[0046] In a specific implementation, the corresponding structural setting of the modular combined manipulator also includes:

[0047] In the truss manipulator: the long-axis truss assembly 3 includes a long-axis truss 32, a long-axis driving device 33, a long-axis transmission mechanism 34, a long-axis guide rail 35, and a long-axis roller box slider group 36. The long-axis truss 32 is detachably hoisted on the skeleton 15 of the mobile workshop 1 via the long-axis connecting member 31. A pair of long-axis guide rails 35 arranged horizontally along the depth direction are symmetrically arranged on the long-axis truss 32 in the transverse direction. A plurality of long-axis sliders 361 of the long-axis roller box slider group 36 are respectively semi-enclosed and slidably sleeved on the long-axis guide rails 35 on both sides. A plurality of long-axis sliders 361 are connected to the short-axis connecting member 41, driven by the long-axis driving device 33 and transmitted via the long-axis transmission mechanism 34, and slide along the long-axis guide rail 35 together with the short-axis connecting member 41, the short-axis truss assembly 4, and the industrial robot 5;

[0048] The long-axis transmission mechanism 34 is a meshing long-axis rack and a long-axis transmission gear. The long-axis driving device 33 is provided with driving force by a long-axis servo motor, which is reduced by a long-axis reducer, and the output shaft of the long-axis reducer is the long-axis power shaft. The long-axis servo motor, the long-axis reducer, and the long-axis transmission gear are installed on the short-axis connecting member 41. The long-axis transmission gear axle is directly connected to the long-axis power shaft, and is driven by the long-axis power shaft to rotate synchronously. Through the meshing transmission between the long-axis racks arranged parallel to the long-axis guide rail 35, multiple long-axis sliders 361 are driven to slide synchronously along the long-axis guide rail 35; the long-axis drag chain bracket equipped with a long-axis drag chain is fixedly connected to the skeleton 15 of the mobile workshop 1.

[0049] In the truss manipulator: the short-axis truss assembly 4 includes a short-axis truss 42, a short-axis driving device 43, a short-axis transmission mechanism 44, a short-axis guide rail 45, and a short-axis roller box slider group 46, which is detachably hoisted on the short-axis connecting member 41 through the short-axis truss 42, a pair of short-axis guide rails 45 arranged horizontally along the transverse direction are symmetrically arranged on the short-axis truss 42 along the transverse direction, and a plurality of short-axis sliders 461 of the short-axis roller box slider group 46 are respectively semi-enclosed and slidably sleeved on the short-axis guide rails 45 on both sides, and a plurality of short-axis sliders 461 are connected to the robot connecting member 51, driven by the short-axis driving device 43 and transmitted through the short-axis transmission mechanism 44, and slide along the short-axis guide rail 45 together with the robot connecting member 51 and the industrial robot 5;

[0050] The stub transmission mechanism 44 is a meshing stub rack and a stub transmission gear. The stub drive device 43 is provided with driving force by a stub servo motor, which is reduced by a stub reducer, and the output shaft of the stub reducer is the stub power shaft. The stub servo motor, the stub reducer, and the stub transmission gear are installed on the robot connector 51. The stub transmission gear axle is directly connected to the stub power shaft, and is driven by the stub power shaft to rotate synchronously. Through the meshing transmission between the stub racks arranged parallel to the stub guide rail 45, multiple stub sliders 461 are driven to slide synchronously along the stub guide rail 45; the stub drag chain bracket equipped with a stub drag chain is fixedly connected to the stub truss 42.

[0051] A semi-enclosed sleeve form is adopted between the long-axis slider 361 and the long-axis guide rail 35 of the above-mentioned long-axis truss assembly 3, as well as between the short-axis slider 461 and the short-axis guide rail 45 of the short-axis truss assembly 4. It can not only withstand the variable load generated when the short-axis truss assembly 4 and the industrial robot 5 move, but also facilitates the addition of reinforcing steel pipes on the inner side of the long-axis truss 32 / short-axis truss 42 with long strokes, thereby increasing the overall stiffness and strength of the long-axis truss 32 / short-axis truss 42 and improving the overall stability of the long-axis truss 32 / short-axis truss 42.

[0052] The industrial robot 5 is hoisted on each slider of the short-axis roller box slider group 46 through the robot connecting member 51 .

[0053] To prevent dust, both the long-axis truss assembly 3 and the short-axis truss assembly 4 are equipped with accordion covers.

[0054] Among the truss manipulators: the industrial robot 5 is a six-axis manipulator arm.

[0055] The end of the industrial robot 5 is connected to the flange at the top of the first steel pipe 52 by bolts, the end of the first steel pipe 52 is connected to the top of the extension steel pipe 53 by threads, the end of the extension steel pipe 53 is connected to the cutting unit 54 by a clamp, and the first steel pipe 52 is coaxial with the extension steel pipe 53. By replacing the extension steel pipe 53 of different lengths, the distance between the cutting unit 54 and the scrap steel to be cut can be quickly changed to meet the cutting unit 54's scrap steel cutting operation requirements.

[0056] The cutting unit 54 is a cutting gun, which is ignited by a matching ignition device.

[0057] The mobile workshop 1 includes a frame 15 and a workshop dust cover arranged on the outside of the frame 15. The frame 15 is a single-span portal steel frame, and a plurality of triangular beams 151 are arranged at intervals on the top along the longitudinal direction. The frame 15 and the truss manipulator installed on the frame 15 and other loads will cause the frame 15 to bend and deform. The setting of the triangular beams 151 effectively reduces the longitudinal deflection of the frame 15 and increases the strength and rigidity of the frame 15.

[0058] The door of the mobile workshop 1 is opened and closed in a vertical direction. The door is divided into two parts, including a fixed sealing plate 11 at the upper part and a movable sealing plate 12 at the lower part. The movable sealing plate 12 can slide vertically, either upward to open or downward to close, so that a closed space is formed in the mobile workshop 1, which is convenient for the dust removal fan to remove dust from the working area.

[0059] The roller driving device 23 includes a roller 22 servo motor, a roller 22 reducer, and an active roller 24. The roller 22 servo motor drives the active roller 24 and reduces speed through the roller 22 reducer to drive the active roller 24 to rotate around the wheel axle. The rolling cooperation between the active roller 24 and the walking guide rail 21 enables the mobile workshop 1 to move along a pair of walking guide rails 21 through the bottom rollers 22.

[0060] When applied to continuous cutting operations between multiple scrap steel cutting stations, the following methods can be used for implementation:

[0061] Driven by the roller drive device 23, relying on the rolling cooperation between each roller 22 and a pair of walking rails 21, the mobile workshop 1 and the truss manipulator move along the walking rails 21 as a whole until it moves to the scrap steel cutting station where the scrap steel to be cut is located;

[0062] The cutting unit 54 is driven by the long-axis truss assembly 3, the short-axis truss assembly 4 and the industrial robot 5 of the truss manipulator to move to the scrap steel cutting starting position. After the cutting gun is ignited by the ignition device, the scrap steel is cut according to the set cutting path. The dust generated during the cutting process is promptly extracted from the dust removal cover 13 to prevent the dust from spreading in the working area and causing adverse effects on the working environment and the truss manipulator.

[0063] After the scrap steel cutting at the current scrap steel cutting station is completed, the door of the mobile workshop 1 is opened, and the roller drive device 23 is used to drive again, so that the mobile workshop 1 and the truss manipulator move along the walking guide rail 21 as a whole until it moves to the scrap steel cutting station where the next scrap steel to be cut is located, and the door of the mobile workshop 1 is closed. The scrap steel cutting at this station is completed by referring to the above process. During the cutting operation, the scrap steel that has been cut at the previous station can be promptly transported out, and the scrap steel to be cut at the next station can be transported, which can effectively improve the efficiency of the scrap steel cutting operation.

[0064] The modular combination manipulator of the present embodiment adopts a modular design concept. The truss manipulator is designed to be detachably connected to the skeleton 15 of the mobile workshop 1. The long-axis truss assembly 3, the short-axis truss assembly 4, and the industrial robot 5 of the truss manipulator are detachably connected. The industrial robot 5 and the cutting unit 54 as the end effector are detachably connected through the first steel pipe 52 and the extension steel pipe 53. By defining standard mechanical, electrical and communication interfaces, the truss manipulator can be quickly combined with various mobile workshops 1 to adapt to rapid deployment in various scenarios.

[0065] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A modular combined manipulator for intelligent cutting of scrap steel, characterized by: It can be used for continuous cutting operations between multiple scrap steel cutting stations; a pair of walking rails are laid according to the position distribution track of multiple scrap steel cutting stations, and the mobile workshop is arranged across the upper end of the pair of walking rails. It relies on the rolling cooperation between the multiple rollers arranged at the bottom and the pair of walking rails, and is driven by the roller driving device to move along the walking rails to any scrap steel cutting station. The internal space of the mobile workshop is used as the operation area for cutting scrap steel. The depth is arranged along the length of the walking rails, and openable doors are arranged at both ends. Dust hoods with side suction are arranged on the two lateral sides, and the air outlet of the dust hood is connected to the dust removal fan through the air duct; In the working area, a truss manipulator is suspended by the skeleton of the mobile workshop, and the truss manipulator includes a long-axis truss assembly, a short-axis truss assembly and an industrial robot. The long-axis truss assembly is horizontally arranged along the longitudinal direction and hoisted in the center of the top by the skeleton of the mobile workshop; the short-axis truss assembly is horizontally arranged along the transverse direction and detachably hoisted by the long-axis truss assembly through the short-axis connecting piece; the industrial robot is detachably hoisted by the short-axis truss assembly through the robot connecting piece, and together with the short-axis truss assembly, can be driven by the long-axis driving device of the long-axis truss assembly and move back and forth along the long-axis guide rail along the horizontal straight line in the longitudinal direction; the industrial robot can be driven by the short-axis driving device of the short-axis truss assembly and move back and forth along the short-axis guide rail along the horizontal straight line in the transverse direction, and the end is detachably connected to the first steel pipe, the end of the first steel pipe is detachably connected to the extension steel pipe, and the end of the extension steel pipe is detachably connected to the cutting unit.

2. The modular combined manipulator for intelligent cutting of scrap steel according to claim 1 is characterized in that: The truss manipulator: The long-axis truss assembly includes a long-axis truss, a long-axis driving device, a long-axis transmission mechanism, a long-axis guide rail, and a long-axis roller box slider group. The long-axis truss is detachably hoisted on the skeleton of the mobile workshop via a long-axis connecting piece. A pair of long-axis guide rails horizontally arranged along the depth direction are symmetrically arranged on the long-axis truss in the transverse direction. A plurality of long-axis sliders of the long-axis roller box slider group are respectively semi-enclosed and slidably sleeved on the long-axis guide rails on both sides. A plurality of long-axis sliders are connected to the short-axis connecting piece, driven by the long-axis driving device and transmitted via the long-axis transmission mechanism, and slide along the long-axis guide rail together with the short-axis connecting piece, the short-axis truss assembly, and the industrial robot. The long-axis transmission mechanism is a meshing long-axis rack and a long-axis transmission gear. The long-axis driving device is provided with driving force by a long-axis servo motor, which is reduced by a long-axis reducer, and the output shaft of the long-axis reducer is the long-axis power shaft. The long-axis servo motor, the long-axis reducer, and the long-axis transmission gear are installed on the short-axis connecting part. The long-axis transmission gear axle is directly connected to the long-axis power shaft, and is driven by the long-axis power shaft to rotate synchronously. Through the meshing transmission with the long-axis rack arranged parallel to the long-axis guide rail, multiple long-axis sliders are driven to slide synchronously along the long-axis guide rail.

3. The modular combined manipulator for intelligent cutting of scrap steel according to claim 1 is characterized in that: The truss manipulator: The short-axis truss assembly includes a short-axis truss, a short-axis driving device, a short-axis transmission mechanism, a short-axis guide rail, and a short-axis roller box slider group. The short-axis truss is detachably hoisted on the short-axis connecting member, a pair of short-axis guide rails arranged horizontally along the transverse direction are symmetrically arranged on the short-axis truss along the transverse direction, and a plurality of short-axis sliders of the short-axis roller box slider group are respectively semi-enclosed and slidably sleeved on the short-axis guide rails on both sides. The plurality of short-axis sliders are connected to the robot connecting member, driven by the short-axis driving device and transmitted through the short-axis transmission mechanism, and slide along the short-axis guide rail together with the robot connecting member and the industrial robot; The short-axis transmission mechanism is a meshing short-axis rack and a short-axis transmission gear. The short-axis driving device is provided with driving force by a short-axis servo motor, which is reduced by a short-axis reducer, and the output shaft of the short-axis reducer is the short-axis power shaft. The short-axis servo motor, the short-axis reducer, and the short-axis transmission gear are installed on the robot connecting part. The short-axis transmission gear axle is directly connected to the short-axis power shaft, and is driven by the short-axis power shaft to rotate synchronously. Through the meshing transmission between the short-axis racks arranged parallel to the short-axis guide rail, multiple short-axis sliders are driven to slide synchronously along the short-axis guide rail.

4. The modular combined manipulator for intelligent cutting of scrap steel according to claim 3 is characterized by: The industrial robot is hoisted on each slider of the short-axis roller box slider group through the robot connecting parts.

5. The modular combined manipulator for intelligent cutting of scrap steel according to claim 1 or 4, characterized in that: In the truss manipulator: the industrial robot is a six-axis manipulator.

6. The modular combined manipulator for intelligent cutting of scrap steel according to claim 1 is characterized by: The end of the industrial robot is connected to the flange on the top of the first steel pipe by bolts, the end of the first steel pipe is threadedly connected to the top of the extended steel pipe, the end of the extended steel pipe is connected to the cutting unit by a clamp, and the first steel pipe and the extended steel pipe are coaxial.

7. The modular combined manipulator for intelligent cutting of scrap steel according to claim 1 or 6, characterized in that: The cutting unit is a cutting gun.

8. The modular combined manipulator for intelligent cutting of scrap steel according to claim 1 is characterized by: The mobile workshop comprises a frame and a workshop dust cover arranged outside the frame. The frame is a single-span portal steel frame, and a plurality of triangular beams are arranged at intervals on the top along the depth direction.

9. The modular combined manipulator for intelligent cutting of scrap steel according to claim 1 is characterized by: The door of the mobile workshop is opened and closed in the vertical direction. The door is divided into two parts, including a fixed sealing plate at the upper part and a movable sealing plate at the lower part. The movable sealing plate can slide vertically, either upward to open or downward to close.

10. The modular combined manipulator for intelligent cutting of scrap steel according to claim 1 is characterized by: The roller driving device includes a roller servo motor, a roller reducer, and an active roller. It is driven by the roller servo motor and reduced in speed by the roller reducer to drive the active roller to rotate around the wheel axis. Relying on the rolling cooperation between the active roller and the walking guide rail, the mobile workshop can be displaced along a pair of walking guide rails through the bottom rollers.

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