A multifunctional remote cutting device

Abstract

The present invention discloses a multifunctional remote cutting device, which belongs to the field of cutting technology and is mainly used for dismantling operations in the field of nuclear facility decommissioning and general industrial fields. It includes a bracket, a three-coordinate motion system, a robotic arm, a tool head, a tool replacement device, an internal support frame, a workbench, a mobile trolley, a track, a dust suction device, a video system, etc. In view of the difficulty in dismantling thick-walled cylindrical components and thin-walled components of any shape in a radioactive environment, the present invention adopts a three-coordinate motion system to carry an internal cutting disc tool, a robotic arm and its tool head, respectively, to achieve remote cutting of thick-walled cylindrical components and thin-walled components of any shape, meet the dismantling needs of large thick-walled components and complex-shaped components, can greatly reduce the safety risks and labor intensity of operators, and has important value for nuclear facility decommissioning and general industrial dismantling.

Description

Technical Field

[0001] The invention relates to the field of cutting technology, and in particular to a multifunctional remote cutting device. Background Art

[0002] In the field of nuclear facility decommissioning, there is a great demand for cutting thick-walled cylindrical components such as pressure vessels, in-core components, and large pipelines. Since these components contain radioactive contamination, the risk of radiation exposure to operators is high, and remote automated cutting needs to be achieved. However, the wall thickness and overall dimensions of the components are large, and the cutting difficulty and work intensity of personnel are very high. Therefore, it is necessary to develop a remote cutting device for thick-walled cylindrical components. At the same time, there is a large demand for disassembly of thin-walled parts of various shapes such as brackets, ribs, and shells, which are used in nuclear facility decommissioning, general industrial maintenance, and equipment dismantling. However, this type of cutting requires high adaptability and flexibility of the tool, and it is necessary to use a robotic arm carrying a tool head for cutting for different objects. Therefore, it is necessary to develop a multifunctional remote cutting device that can meet both the cutting of thick-walled components with high radioactivity levels and the cutting of thin-walled components with various complex structures.

[0003] At present, large thick-walled components in the general industrial field do not involve radioactive pollution, and the requirements for the generation of secondary waste and remote automated operation are very low. The installation and fixation requirements of the components are not high. Flame cutting, plasma cutting, laser thermal cutting and other methods are often used to perform external cutting on large thick-walled components. However, these thermal cutting methods are prone to produce radioactive aerosols, causing environmental pollution, and personnel are prone to inhaling a large amount of them into the body when operating at close range, causing internal irradiation. At the same time, large components are very heavy, and it is difficult to install and lift the objects to be cut using external cutting methods. In addition, when dismantling thin-walled components, the objects to be cut are of various types and complex structures, requiring the use of highly adaptable cutting actuators and the use of a variety of tool heads to meet different functional requirements such as clamping, sawing, milling, drilling, shearing, thermal cutting, and abrasive water jet cutting. However, there is currently a lack of such multifunctional remote cutting devices. Summary of the invention

[0004] The present invention aims to solve the deficiencies of the prior art and to provide a multifunctional remote cutting device. By adopting this solution, the cutting of large thick-walled cylindrical components and thin-walled components of any shape can be achieved, and at the same time a practical device is provided for the decommissioning of nuclear facilities and the dismantling of similar facilities and equipment.

[0005] The present invention is achieved through the following technical solutions:

[0006] A multifunctional remote cutting device, comprising:

[0007] A bracket, a trolley for transverse movement is installed on the top of the bracket, a trolley for longitudinal movement is installed on the trolley, a telescopic mechanism for vertical extension and extension into the bracket is provided at the bottom of the trolley; an inner cutting tool head or a mechanical arm or a hook is connected to the bottom end of the telescopic mechanism, and an outer cutting tool head is installed at the end of the mechanical arm;

[0008] An inner support frame, which is located inside the bracket and is used to fix the object to be cut;

[0009] A mobile trolley is installed on a track and is located in the inner support frame; the bracket and the inner support frame are both opened on the same side, and the track extends outward from the side opening; the mobile trolley is provided with a workbench, and the object to be cut is placed on the workbench.

[0010] Compared with the prior art, since such components contain radioactive contamination, the risk of radiation exposure to operators is high, and remote automated cutting is required. In addition, the wall thickness and overall dimensions of the components are large, and the cutting difficulty and work intensity of personnel are very high. This solution provides a multifunctional remote cutting device. This solution can be used for internal and external cutting of thick-walled cylindrical components, and can achieve cutting of large containers and pipelines. At the same time, other hot and cold cutting tool heads and conventional operation tool heads can be carried for remote operation, providing technical support for nuclear facility decommissioning, equipment maintenance, and general industrial equipment disassembly. In the specific solution, it includes a bracket, which is a frame structure. The bottom flanges of the four columns are fixed to the foundation by anchor bolts. A three-coordinate motion system, a global camera, a position sensor, etc. are installed on the top of the bracket. One side of the bracket is open for track laying, mobile trolley movement, and lifting of objects to be cut. The above-mentioned three-coordinate motion system is composed of motion mechanisms in three mutually perpendicular directions of Cartesian coordinates, namely, a trolley that moves horizontally, a trolley that moves longitudinally, and a telescopic mechanism that moves vertically. The three motion mechanisms drive the reducer through dual motors and then perform linear motion through the wheel rail. The two motors can work simultaneously or serve as backup for each other. The telescopic mechanism is a multi-stage telescopic sleeve or a linear motion mechanism, which is installed on the trolley to achieve vertical motion. The lower end is a standard structure for installing an internal cutting tool head or a mechanical arm or a hook. When the internal cutting tool head is installed, it is used to enter the object to be cut, that is, the inside of a thick-walled container for internal cutting; when the mechanical arm is installed, it is used to install an external cutting tool head on the mechanical arm to achieve external cutting of the object to be cut; when the hook is installed, it is used to achieve lifting operations.

[0011] The connection at the bottom end of the telescopic mechanism can realize different operation functions by switching the internal cutting tool head, mechanical arm, hook and other items. The internal cutting tool head can be supported inside the object to be cut, and cooperate with the telescopic mechanism to work to enhance the support stiffness of the internal cutting tool head by the lifting system. The internal support frame can enter the inside of the bracket from the opening on the top or side of the bracket. The telescopic mechanism can be composed of a multi-section telescopic sleeve and a lifting system, and the lifting system can be a wire rope drum drive, a gear rack drive, a hydraulic cylinder drive, or a ball screw drive.

[0012] The two installation methods of the internal cutting tool head and the mechanical arm mentioned above realize internal cutting and external cutting, so that cylindrical thick-walled components and thin-walled components of any shape can be cut; then the object to be cut is fixed by the internal support frame, and the workbench supports the object to be cut, so as to cooperate with the cutting tool head to realize the cutting operation, wherein the workbench is used for supporting, positioning and clamping thick-walled containers, and cooperates with the telescopic sleeve and the tool head to perform the external cutting operation of thick-walled containers. The workbench is composed of a clamp, a lifting mechanism, a shock-absorbing pad, a waste collection device, etc., which can clamp, lift and support the object to be cut, and has a shock-absorbing and impact-proof effect when the object to be cut is placed on the surface of the workbench;

[0013] Finally, the disassembled segments are transported out by the mobile trolley through the track. The workbench is fixed on the mobile trolley on the ground, and the mobile trolley moves on the ground track through the wheel-rail mechanism. The mobile trolley is composed of a pallet, a frame, a drive motor, a reducer, a track clamp, a control system, etc. The track clamp can fix the mobile trolley at any working position on the track, and the limit blocks at both ends of the track can realize the mechanical limit of the mobile trolley. The various motion mechanisms of the above-mentioned three-coordinate motion system realize the position detection of the moving parts through grating rulers, wire displacement sensors, etc. The internal support frame, workbench, and mobile trolley can be used separately or in combination to realize the installation and cutting of various containers.

[0014] The above scheme aims to achieve: solving the problem of remote cutting of thick-walled containers and similar components containing radioactive contamination, and solving the problem of remote cutting of thin-walled components of arbitrary shapes. The present invention can realize the cutting and dismantling of metal components containing radioactive contamination, provide means for the dismantling of large radioactive contaminated components, provide conditions for the treatment and transportation of radioactive metal waste, and can be used for the decommissioning of various reactors, the dismantling of non-nuclear facilities and the dismantling of items in other dangerous places, and has important engineering application value.

[0015] Further optimization, the robot arm is connected to the bottom of the telescopic mechanism through a base flange, and the end of the robot arm is equipped with a universal interface for several tool heads, including clamps and external cutting tool heads; the robot arm is a multi-degree-of-freedom robot, which is inverted and installed at the lower end of the telescopic mechanism. The clamp at the end of the robot arm can be replaced with a circular saw, plasma cutting torch, laser cutting head and other tool heads, and the robot arm base has a rotational freedom around the central axis of the telescopic mechanism. A camera is installed at a certain position of the robot arm for observing and recording the state of the cutting part.

[0016] Further optimization, the inner cutting tool head is connected to the bottom of the telescopic mechanism through a flange, and is supported on the inner wall of the object to be cut through a plurality of telescopic cylinders, which cooperate with the telescopic mechanism to improve the rigidity of the system. The telescopic cylinders can be pneumatic cylinders, hydraulic cylinders, electric cylinders, etc., and are evenly arranged around the central axis of the telescopic mechanism.

[0017] Further optimization, the inner support frame is provided with a positioning surface, the positioning surface is used to support the top flange of the object to be cut, and the height of the positioning surface is variable; the inner support frame and the workbench are used to cooperate with the cutting operation of the tool head at the end of the telescopic mechanism or the tool head at the end of the mechanical arm, wherein the inner support frame is used to support the top flange of the thick-walled container, so that the inner cutting head or other tool heads can enter the interior of the thick-walled container for internal cutting; the inner support frame is mainly assembled from a steel structure, and has a positioning surface on the top to cooperate with the object to be cut. After each section of cutting is completed, the disassembled section is transferred to the secondary disassembly station through the transport trolley at the bottom of the inner support frame, and then the positioning surface of the inner support frame is lowered to keep a small gap between the bottom of the remaining part of the pressure vessel and the workbench of the transport trolley. After the next circumferential inner cutting is completed, the disassembled section can be safely placed on the workbench of the transport trolley.

[0018] Further optimization also includes a tool changing device, which is used to store a plurality of tool heads. The tool changing device is arranged outside the bracket and is located within the movement space of the end of the robotic arm; the tool changing device is used for remote replacement of the tool head at the end of the robotic arm, and is equipped with a variety of tool heads such as circular saws, drills, scissors, and clamps, and a standard interface is designed for subsequent tool head expansion; the tool changing device is located within the movement space of the end of the robotic arm, does not occupy the thick-walled container cutting area, does not interfere with the thick-walled container support, cutting, transfer and other operations, and does not interfere with the workbench; the tool changing device has centering and guiding components, and can switch workstations manually or automatically according to operating instructions; the tool changing device has a protective cover and a sealing structure, and has functions such as waterproof, dustproof, and oil-proof.

[0019] Further optimization, the top of the bracket is provided with a first slide rail on both sides, the trolley includes two parallel cross bars, the two ends of the cross bars slide on the two first slide rails respectively, the cross bars are provided with second slide rails, the two ends of the trolley slide on the two second slide rails respectively, and the upper end of the telescopic mechanism is connected to the middle part of the trolley; that is, the trolley track is installed on the top of the bracket, and one of the horizontal directions of movement is achieved through the guide rail; the trolley track is installed on the top of the trolley frame, and the trolley achieves another horizontal direction of movement through the guide rail.

[0020] Further optimization is that the workbench is provided with a waste collection device; wherein the waste collection device can collect metal debris, waste water and dust generated by cutting.

[0021] Further optimization also includes a video system, which is used to detect and record the cutting site and working status; the video system includes a camera, transmission cable, processor, display, joystick, etc., which is used to monitor the work site, record the images of the cutting device and thick-walled containers, record the movement position of the tool head, the equipment operation status, the cutting status, etc. The camera includes a global camera, a trolley camera (electric pan / tilt), and a robotic arm wrist joint camera. The global camera is used to monitor the overall working status of the device, the trolley camera is used to observe the working conditions of the telescopic sleeve, the inner cutting head, the robotic arm, and the circular saw, and the robotic arm wrist joint camera is used to observe the working conditions of the tool head at the end of the robotic arm. The operating table can adjust the focal length and angle of the on-site camera. After the video system is connected to the control system, data storage, output and editing can be realized.

[0022] Further optimization, the telescopic mechanism includes a telescopic sleeve formed by a plurality of hollow sleeves nested in sequence, the telescopic sleeve is provided with a lifting mechanism, and the lifting mechanism and the bottom end of the telescopic sleeve are connected with a steel wire; wherein the telescopic mechanism is a telescopic sleeve with a lifting mechanism, so as to realize the vertical movement of the cutting device tool; the telescopic sleeve is composed of a plurality of hollow sleeves, the upper end of which is fixed on the trolley platform, and the lower end can move freely in the vertical direction. The lifting mechanism is connected with a steel wire to the bottom end of the telescopic sleeve, and the telescopic sleeve is contracted by winding the steel wire; when the steel wire is released, the telescopic sleeve is extended under the action of gravity; the telescopic sleeve adopts a lightweight octagonal structure, which is formed by a plurality of sleeves nested in sequence, and the end is connected to the bottom of the trolley through a flange; the travel of the telescopic sleeve matches the size of the object to be cut, the bracket, the mechanical arm, etc.

[0023] Further optimization, the joints of the robotic arm are equipped with an electric slip ring structure and use non-sensitive electrical components, and the power and control signal cables are arranged inside the robotic arm; the robotic arm adopts an internal wiring method, the robotic arm joints are equipped with an electric slip ring structure, which can transmit drive and control signals, the robotic arm uses non-sensitive electrical components and has a certain radiation resistance, and the end of the robotic arm has dustproof and waterproof functions.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0025] The present invention provides a multifunctional remote cutting device, which solves the problem of remote cutting of thick-walled containers and similar components containing radioactive contamination, and at the same time solves the problem of remote cutting of thin-walled components of arbitrary shapes. The present invention can realize the cutting and dismantling of metal components containing radioactive contamination, provide means for the dismantling of large radioactive contaminated components, and provide conditions for the treatment and transportation of radioactive metal waste. It can be used for the decommissioning of various reactors, the dismantling of non-nuclear facilities and the dismantling of items in other hazardous places, and has important engineering application value. At the same time, the present invention can solve the problem of remote cutting of thin-walled components of arbitrary shapes such as brackets, ribs, and shells, and solve the problem of remote operations in various hazardous environments such as radioactive environments and hazardous chemical sites. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0027] Figure 1 A schematic diagram of the structure of an internal cutting tool head installed in an embodiment of the present invention;

[0028] Figure 2 A schematic structural diagram of an installation robot arm according to an embodiment of the present invention.

[0029] Marks and corresponding parts names in the attached drawings:

[0030] 1- bracket, 2- cart, 3- trolley, 4- telescopic mechanism, 5- internal cutting tool head, 6- internal support frame, 7- workbench, 8- mobile trolley, 9- track, 10- mechanical arm, 11- external cutting tool head, 12- control system, 13- tool changing device, 14- waste collection device, 15- video system. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0032] Example 1

[0033] This embodiment 1 provides a multifunctional remote cutting device, such as Figure 1, which means there is a working mode. Figure 1 An inner cutting tool head 5 is installed at the end of the first telescopic mechanism 4 to perform inner cutting operation on the object to be cut.

[0034] See also Figure 1 , which is an internal cutting device of a multifunctional remote cutting device, is composed of: a bracket 1, a trolley 2, a small trolley 3, a telescopic mechanism 4, an internal cutting tool head 5, an internal support frame 6, a workbench 7, a mobile trolley 8 and a track 9.

[0035] The bracket 1 is installed on the ground. It can be placed when operating with light loads, and connected and fixed through the embedded parts of the foundation when operating with heavy loads. The track 9 of the trolley 2 is installed on the bracket 1, and the horizontal straight movement of the trolley 2 is realized by the wheel-track method. The track 9 of the trolley 3 is installed on the frame of the trolley 2, and the horizontal straight movement of the trolley 3 is realized by the wheel-track method. The telescopic mechanism 4 is installed on the frame of the trolley 3. The telescopic mechanism 4 has a wire or chain lifting mechanism. The telescopic sleeve is lifted by the movement of the reel. The telescopic mechanism 4 can also realize vertical movement through a linear motion mechanism. The bottom end of the telescopic mechanism 4 can be connected to the internal cutting tool head 5 to realize the cutting operation, or connected to the hook to realize the lifting operation. The inner support frame 6 is installed on the ground, which is used to support and fix the thick-walled cylindrical components waiting for the cutting object, and cooperate with the cutting operation of the internal cutting tool head 5. The workbench 7 can realize the support and clamping of the disintegrated section. The workbench 7 is installed on the mobile trolley 8 and moves horizontally on the ground through the track 9.

[0036] In the above structure, the support 1 is composed of 6 columns, 2 main beams and 1 end beam, and adopts H-shaped steel with strong bending resistance, and the material is carbon steel or stainless steel. The bottom of the support 1 is in the shape of a "Kuang", which is convenient for the installation of the track 9, the movement and lifting of the workbench 7. The trolley 2 track 9 is installed on the main beam, and a maintenance platform and safety guardrail are provided on one side of the main beam, and a maintenance ladder is provided on the side column.

[0037] In this embodiment, the three-coordinate motion system is composed of a trolley 2, a trolley 3, and a telescopic sleeve containing a lifting mechanism. The frame of the trolley 2 is composed of two I-beam crossbeams and two box-type end beams, which are made of carbon steel or stainless steel. The trolley 3 track 9 is installed on the crossbeam, and limit baffles are set at both ends. The motion mechanism of the trolley 2 includes a reducer, a motor, a driving wheel group, a driven wheel group, a brake, etc., and a main and auxiliary drive are set to serve as backup for each other. Horizontal guide wheels and buffers are installed on the end beam, and a safety hook is provided to prevent the crane from falling from the track 9 in the event of an accident or earthquake. A jack-up support is provided on the end beam, which is used to lift the bridge frame to repair the wheel group, and a support plate is provided to support the load in case of a wheel axle failure.

[0038] In this embodiment, the trolley 3 runs on the track 9 of the crossbeam of the large vehicle 2. The trolley 3 frame is composed of a box beam, and the trolley 3 operating mechanism is composed of a reducer, a motor, a coupling, a driving wheel group, a driven wheel group, etc., including a horizontal wheel for guidance. The trolley 3 is provided with a main and auxiliary drive system, which are mutually backup. The trolley 3 operating mechanism is provided with a horizontal guide wheel, an anti-rollover safety hook and a buffer. A support plate is provided under the trolley 3 frame to support the load in case of a wheel axle failure.

[0039] In this embodiment, the telescopic mechanism 4 can be in the form of a telescopic sleeve with a lifting mechanism, and the telescopic sleeve realizes the vertical movement of the cutting device tool. The telescopic sleeve is composed of multiple hollow sleeves, the upper end of which is fixed on the platform of the trolley 3, and the lower end can move freely in the vertical direction. The lifting mechanism is connected to the bottom end of the telescopic sleeve with a steel wire, and the telescopic sleeve is pulled to shrink by winding the steel wire. When the steel wire is released, the telescopic sleeve extends under the action of gravity. The telescopic sleeve adopts a lightweight octagonal structure, which is formed by multiple sleeves nested in sequence, and the end is connected to the bottom of the trolley 3 through a flange. The travel of the telescopic sleeve matches the size of the object to be cut, the bracket 1, the mechanical arm 10, etc. After the inner cutting tool head is installed at the bottom of the telescopic sleeve, when the telescopic sleeve is in a fully retracted state, the inner cutting tool head can enter the top of the object to be cut, and no interference occurs when the trolley and the trolley move. When the telescopic sleeve is in a fully extended state, the inner cutting tool head can reach the top of the object to be cut.

[0040] In this embodiment, the trolley 2 and the cart 3 adopt but are not limited to wheel-rail transmission, gear rack transmission, screw nut transmission, chain transmission, and belt transmission. The telescopic sleeve is composed of multiple sections of sleeves that are nested in each other and can slide relative to each other. The telescopic movement of the telescopic sleeve is achieved through drum and wire transmission, chain transmission, screw nut transmission, gear rack transmission, belt transmission, etc., thereby realizing the up and down movement of the tool or mechanical arm 10 at the bottom of the telescopic sleeve.

[0041] In this embodiment, the inner support frame 6 is used to support the flange of the object to be cut, so that the inner cutting tool head 5 can cut from bottom to top in sections. After each section of cutting is completed, the disassembled section is transferred to the secondary disassembly station through the transport trolley 3 at the bottom of the inner support frame 6, and then the positioning surface of the inner support frame 6 is lowered to keep a small gap between the bottom of the remaining part of the pressure vessel and the workbench 7 of the transport trolley 3. After the next circumferential inner cutting is completed, the disassembled section can be safely placed on the workbench 7 of the transport trolley 3.

[0042] Through the above structure, this embodiment is used to complete the internal cutting of the object to be cut.

[0043] Example 2

[0044] This embodiment 2 is further optimized on the basis of embodiment 1, such as Figure 2 As shown, it represents another working mode. Figure 2A mechanical arm 10 is installed at the end of the second telescopic mechanism 4, and an external cutting tool head 11 is installed at the end of the mechanical arm 10 to perform external cutting operations on the object to be cut.

[0045] See also Figure 2 , which is an external cutting device of a multifunctional remote cutting device, is composed of: a bracket 1, a trolley 2, a small trolley 3, a telescopic mechanism 4, a workbench 7, a mobile trolley 8, a track 9, a robotic arm 10, an external cutting tool head 11, a control system 12, a tool changing device 13, a waste collection device 14, and a video system 15.

[0046] In this embodiment, a mechanical arm 10 is installed at the bottom end of the telescopic mechanism 4. The mechanical arm 10 has multiple degrees of freedom, and an external cutting tool head 11 is installed at the end to achieve external cutting of the object to be cut on the workbench 7. The various motion mechanisms of the thick-walled cylindrical cutting device are controlled by a control system 12. The tool replacement device 13 is used for storing and replacing the external cutting tool head 11. The waste collection device 14 is used to collect metal debris, cutting wastewater, dust, etc. during the cutting process. The video system 15 is used to monitor and record the cutting site and working status. The main function of the mechanical arm 10 is to carry the tool head to achieve external cutting of the object to be cut or to carry clamps to clamp the disintegrated block. The mechanical arm 10 can adopt a multi-degree-of-freedom manipulator, including a shoulder joint, an upper arm, an elbow joint, a forearm, a wrist joint, a terminal swivel joint, a telescopic arm, etc., and has pitch rotation freedom, rotation freedom, movement freedom, tool head drive freedom, etc. The joints of the robot arm are detachable. The mechanical and electrical standard interfaces are set on the upper and lower arms of the robot arm. When the lower arm loses its function, the wrist joint can be connected to the upper arm for use. Tool heads such as clamps and circular saws can be installed at the end of the telescopic arm. The robot arm uses internal wiring and slip rings to transmit power and signals. The robot arm 10 is connected to the bottom of the telescopic sleeve through the base flange.

[0047] In this embodiment, the tool head includes three types: a clamp, an internal cutting head, and an external cutting tool. The clamp is a two-finger translational clamp, which is used to clamp the disassembly block and clamp the external cylindrical cutting tool head for cutting operations. The internal cutting head is used for circumferential internal cutting of thick-walled components. The internal cutting head is composed of a positioning mechanism, a rotary mechanism, a tool feeding system, and a cutting tool head. It is connected to the bottom flange of the telescopic sleeve through a flange, and is supported on the inner wall of the thick-walled cylindrical component through three telescopic cylinders, and drives the disc tool for cutting. The telescopic cylinder includes a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, etc., and the external cutting tool includes various types of circular saws, milling cutters, plasma cutting torches, flame cutting torches, laser cutting heads, etc.

[0048] In the specific implementation process, the end of the telescopic sleeve of the three-coordinate motion system can be directly installed with a hot cutting or cold cutting tool head, or a robotic arm 10 can be installed, and then the hot cutting or cold cutting tool head is carried by the end of the robotic arm 10 to perform posture operations with multiple degrees of freedom. The tool replacement device 13 is composed of a tool holder 1 and a protective cover, which cooperates with the robotic arm 10 to replace the tool head. The movable workbench 7 cooperates with the three-coordinate motion system, the robotic arm 10, and the tool head to achieve cutting of thick-walled cylindrical components and thin-walled complex components. The control system 12 is used to control the execution of related actions and functions of the three-coordinate motion system, the robotic arm 10, the tool head, and the movable workbench 7. The video system 15 realizes monitoring of the work site and the local cutting area. The operating table includes both wired and wireless operation modes to realize the execution of various functions of the cutting device.

[0049] In this embodiment, the three-coordinate motion system realizes the three-coordinate motion of the robot arm 10 and the tool head in a large-scale working area, and the robot arm 10 realizes arbitrary position and posture movement in a small-scale working area of ​​the tool head.

[0050] In this embodiment, a universal interface for multiple tool heads can be installed at the end of the robotic arm 10 to ensure that different types of tool heads can be installed at the end of the robotic arm 10. At the same time, a force feedback device is provided at the end of the robotic arm 10. When the tool head is overloaded or an abnormal collision occurs, the multifunctional remote cutting device can immediately stop the movement of the robotic arm 10 to avoid abnormal damage.

[0051] In this embodiment, the machine adopts an internal wiring method, and the joints of the robotic arm 10 are equipped with an electric slip ring structure, which can transmit drive and control signals. The robotic arm 10 uses non-sensitive electrical components and has a certain radiation resistance. The end of the robotic arm 10 has dustproof and waterproof functions.

[0052] In this embodiment, the tool replacement device 13 is composed of a tool holder 1, a protective cover, and an automatic opening and closing mechanism. When not in operation, it stores various tool heads to prevent dust and water jets. After receiving the tool replacement command from the control system 12, it opens the protective cover and cooperates with the robot arm 10 to replace the tool head.

[0053] In this embodiment, the control system 12 has functions such as breakpoint memory, multiple cutting or operation mode memory, path planning, etc., and has driving operations and motion control of the three-coordinate motion system, robotic arm 10, tool head, tool changing device 13, movable workbench 7, etc.

[0054] In this embodiment, the global camera of the video system 15 can monitor the status and interaction relationship of all device components and operated objects in the working area. The working position monitoring camera of the system can monitor the interaction relationship between the tool head and the operated object, which is convenient for the operator to observe the working conditions of the cutting position or the operated position. The video system 15 can record the on-site work video in real time.

[0055] In this embodiment, an operating console is also provided on the multifunctional remote cutting device. The operating console cooperates with the control system 12 to perform human-computer interaction with the multifunctional remote cutting device. The moving parts of the device are remotely operated by a master and a slave through buttons, knobs, joysticks, master hands, etc., and real-time feedback of images, sounds, temperature, force, torque, power, speed and other information of the work site is provided. The operating console reserves various forms of data input and output interfaces.

[0056] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multifunctional remote cutting device, characterized in that: include: A support (1), wherein a trolley (2) movable in a transverse direction is mounted on the top of the support (1), a trolley (3) movable in a longitudinal direction is mounted on the trolley, and a telescopic mechanism (4) is provided at the bottom of the trolley (3) and is telescopically telescopic and extends into the support; an inner cutting tool head (5) or a mechanical arm (10) or a hook is connected to the bottom end of the telescopic mechanism (4), and an outer cutting tool head (11) is mounted at the end of the mechanical arm (10); An inner support frame (6), the inner support frame (6) being located inside the support frame (1) and being used to fix the object to be cut; A movable trolley (8), the movable trolley (8) being mounted on a track (9) and being located inside the inner support frame (6); the bracket (1) and the inner support frame (6) are both opened on the same side, and the track (9) extends outward from the side opening; the movable trolley (8) is provided with a workbench (7), and the object to be cut is placed on the workbench (7); The inner support frame (6) is provided with a positioning surface, the positioning surface is used to support the top flange of the object to be cut, and the height of the positioning surface is variable.

2. A multifunctional remote cutting device according to claim 1, characterized in that: The mechanical arm (10) is connected to the bottom of the telescopic mechanism (4) via a base flange, and a universal interface for several types of tool heads is installed at the end of the mechanical arm (10), wherein the tool heads include a clamp and an external cutting tool head (11).

3. A multifunctional remote cutting device according to claim 1, characterized in that: The inner cutting tool head (5) is connected to the bottom of the telescopic mechanism (4) via a flange, and is supported on the inner wall of the object to be cut via a plurality of telescopic cylinders.

4. A multifunctional remote cutting device according to claim 1, characterized in that: It also comprises a tool replacement device (13), wherein the tool replacement device (13) is used to store a plurality of tool heads, and the tool replacement device (13) is arranged outside the support (1) and within the range of motion space at the end of the robot arm (10).

5. A multifunctional remote cutting device according to claim 1, characterized in that: The bracket (1) has first slide rails on both sides of the top, the trolley (2) includes two parallel cross bars, the two ends of the cross bars slide on the two first slide rails respectively, the cross bars have second slide rails, the two ends of the trolley (3) slide on the two second slide rails respectively, and the upper end of the telescopic mechanism (4) is connected to the middle of the trolley (3).

6. A multifunctional remote cutting device according to claim 1, characterized in that: The workbench (7) is provided with a waste collection device (14).

7. A multifunctional remote cutting device according to claim 1, characterized in that: It also includes a video system (15), which is used to detect and record the cutting scene and working status.

8. A multifunctional remote cutting device according to claim 1, characterized in that: The telescopic mechanism (4) comprises a telescopic sleeve formed by a plurality of hollow sleeves nested in sequence, the telescopic sleeve being provided with a lifting mechanism, and a steel wire connecting the lifting mechanism and the bottom end of the telescopic sleeve.

9. A multifunctional remote cutting device according to claim 1, characterized in that: The joints of the mechanical arm (10) are provided with an electric slip ring structure and use non-sensitive electrical components, and power and control signal cables are arranged inside the mechanical arm (10).

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