A positioner with a dust removal interface for an intelligent cutting robot

Abstract

The present invention relates to the field of intelligent robot plasma flame cutting technology, and in particular to a positioner with a dust removal interface for an intelligent cutting robot. The positioner comprises a cutting robot, a transport robot, a servo slide, and a positioner. The cutting robot and the transport robot are arranged on the servo slide, and the execution end of the transport robot is provided with an end effector. The positioner comprises a positioner body, a dust removal mechanism, and a positioner chuck. The output end of the positioner body is connected to the dust removal mechanism and the positioner chuck in sequence. The positioner chuck and the end effector of the transport robot position and clamp the two ends of the steel pipe. The execution end of the cutting robot is provided with a plasma flame cutting end effector. When the plasma flame cutting end effector cuts the steel pipe, the smoke and dust generated are discharged from the air cavity inside the steel pipe and the dust removal mechanism. The present invention realizes automatic change of the dust collection position as the working point position changes, improves work efficiency, and meets the needs of plasma flame cutting of a wide range of metal pipes.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robot plasma flame cutting, in particular to a positioner with a dust removal interface for an intelligent cutting robot. Background Art

[0002] In the existing technology, no matter which method is used in the plasma flame cutting of metal pipes, a large amount of sparks and metal coke smoke exhaust gas will be generated during the process, which seriously pollutes the production site environment and the atmospheric environment. In order to improve the production environment, increase production efficiency and protect the atmospheric environment, it is particularly necessary to remove the sparks and metal coke smoke exhaust gas generated during the plasma flame cutting of metal pipes to prevent the exhaust gas generated during the production and processing from causing harm to the workers' health and polluting the atmospheric environment.

[0003] However, traditional dust collectors are only suitable for a certain range of processing needs. When the processing point changes, the dust collection position needs to be manually adjusted. With the continuous improvement of industrial automation, automatic cutting systems have realized fully automatic intelligent robotic plasma flame cutting of a large range of steel pipes. Using traditional dust collectors requires manual repositioning of the dust collection position, and it cannot automatically change the dust collection position as the work point changes. This greatly reduces the efficiency of the dust collector. Traditional dust collectors can no longer meet the needs of plasma flame cutting of a wide range of metal pipes. Summary of the Invention

[0004] In response to the above problems, the purpose of the present invention is to provide a positioner with a dust removal interface for an intelligent cutting robot, which automatically changes the dust suction position as the working point position changes, improves the working efficiency of the dust collector, and meets the needs of a wide range of metal pipe plasma flame cutting work.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An embodiment of the present invention provides a positioner with a dust removal interface for an intelligent cutting robot, comprising a cutting robot, a handling robot, a servo slide, and a positioner, wherein the servo slide is arranged on one side of the positioner, the cutting robot and the handling robot are both arranged on the servo slide, and the end effector is provided at the execution end of the handling robot;

[0007] The positioner includes a positioner body, a dust removal mechanism and a positioner chuck. The output end of the positioner body is connected to the dust removal mechanism and the positioner chuck in sequence. The positioner chuck cooperates with the end effector of the handling robot to position and clamp the two ends of the steel pipe.

[0008] The execution end of the cutting robot is equipped with a plasma flame cutting end effector. When the steel pipe is cut by the plasma flame cutting end effector, the smoke and dust generated are discharged from the internal air cavity of the steel pipe and the dust removal mechanism.

[0009] In one possible implementation, the dust removal mechanism includes a fume hood and an extension tube;

[0010] The two ends of the extension tube are respectively provided with a first connecting flange and a second connecting flange, the first connecting flange is connected to the output end of the positioner body, the second connecting flange is connected to the positioner chuck, and the side wall of the extension tube is provided with a vent;

[0011] A first connecting surface and a second connecting surface are respectively provided at both ends of the smoke hood. The smoke hood is arranged on the outside of the extension tube. The first connecting surface is connected to the positioner body, and the second connecting surface is dynamically sealed with the second connecting flange of the extension tube. The side wall of the smoke hood is provided with at least one flue interface.

[0012] In one possible implementation, a flue interface on the smoke hood is connected to a centralized dust removal system through a dust suction pipe.

[0013] In one possible implementation, the smoke hood is a cylindrical structure installed coaxially with the extension tube.

[0014] In a possible implementation, a plurality of flue interfaces are provided on the side wall of the smoke collecting hood along the circumferential direction, and the rest of the flue interfaces except for the one connected to the dust collection duct are closed.

[0015] In a possible implementation, a reinforcing rib is provided axially between two adjacent flue interfaces.

[0016] In one possible implementation, the positioner chuck includes a connecting pipe and a large-diameter chuck and a small-diameter chuck connected to both ends of the connecting pipe, wherein the large-diameter chuck is connected to the second connecting flange of the extension tube.

[0017] In one possible implementation, the positioner body includes a box, a reducer and a servo motor, wherein the servo motor and the reducer are arranged on the top of the box, and the output shaft of the servo motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the first connecting flange of the extension tube.

[0018] In one possible implementation, the end effector is an internally supported three-jaw electric chuck.

[0019] In one possible implementation, the servo slide includes a guide rail and a slide and a slide seat slidably connected to the guide rail, wherein the transport robot is arranged on the slide, and the cutting robot is arranged on the slide seat.

[0020] The advantages and beneficial effects of the present invention are: the present invention provides a positioner with a dust removal interface for an intelligent cutting robot, which can be adapted to plasma flame cutting processes of metal pipes of various models, large and small ranges, and has low cost, high degree of automation, and good dust removal effect, which greatly improves the production environment, improves production efficiency, liberates productivity, and protects the atmospheric environment.

[0021] The present invention removes smoke generated by plasma flame cutting from the internal air cavity of the steel pipe through a dust removal mechanism, thereby avoiding pollution of the production environment and preventing waste gas generated during the production and processing from causing harm to workers and polluting the atmospheric environment.

[0022] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0023] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 This is an axonometric view of a positioner with a dust removal interface for an intelligent cutting robot according to the present invention;

[0026] Figure 2 This is a front view of a positioner with a dust removal interface for an intelligent cutting robot according to the present invention;

[0027] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0028] Figure 4 for Figure 2 A partial enlarged view of point B in the middle;

[0029] Figure 5 This is an axonometric view of the smoke hood of the present invention;

[0030] Figure 6 This is an axonometric view of the extension tube in the present invention;

[0031] In the figure: 1 is a cutting robot, 2 is a plasma flame cutting end effector, 3 is a handling robot, 4 is an end effector, 5 is a servo slide, 501 is a guide rail, 502 is a slide plate, 503 is a slide seat, 6 is a steel pipe, 7 is a dust collection pipe, 8 is a centralized dust removal system, 9 is a positioner, 901 is a box, 902 is a reducer, 903 is a servo motor, 904 is a fume hood, 9041 is a first connecting surface, 9042 is a second connecting surface, 9043 is a flue interface, 905 is an extension tube, 9051 is a first connecting flange, 9052 is a second connecting flange, 9053 is a vent, 906 is a large diameter chuck, 907 is a small diameter chuck, 908 is a connecting pipe, 10 is a cut steel pipe, 11 is a cutting seam, 12 is a rotation axis of the positioner, and 13 is an internal air cavity. DETAILED DESCRIPTION

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0034] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0035] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0036] An embodiment of the present invention provides a positioner with a dust removal interface for an intelligent cutting robot, which automatically changes the dust collection position as the working point changes, improves the working efficiency of the dust collector, and meets the needs of a wide range of metal pipe plasma flame cutting work. Figures 1 to 4 As shown, the intelligent cutting robot uses a positioner with a dust removal interface, including a cutting robot 1, a handling robot 3, a servo slide 5 and a positioner 9, wherein the servo slide 5 is arranged on one side of the positioner 9, the cutting robot 1 and the handling robot 3 are both arranged on the servo slide 5, and the execution end of the handling robot 3 is provided with an end effector 4; the positioner 9 includes a positioner body, a dust removal mechanism and a positioner chuck, wherein the output end of the positioner body is connected with the dust removal mechanism and the positioner chuck in sequence, and the positioner chuck cooperates with the end effector 4 of the handling robot 3 to position and clamp the two ends of the steel pipe 6; the execution end of the cutting robot 1 is provided with a plasma flame cutting end effector 2, and when the steel pipe 6 is cut by the plasma flame cutting end effector 2, the smoke and dust generated are discharged from the internal air cavity 13 of the steel pipe 6 and the dust removal mechanism.

[0037] See also Figure 2 As shown, in the embodiment of the present invention, the servo slide 5 includes a guide rail 501 fixed to the ground, a slide 502 and a slide 503 slidably connected to the guide rail 501, wherein the handling robot 3 is mounted on the slide 502, and the cutting robot 1 is mounted on the slide 503. The cutting robot 1 and the handling robot 3 are respectively driven by servos to perform linear reciprocating motion on the guide rail 501. The cutting robot 1 can provide six degrees of freedom of movement in space for the plasma flame cutting end effector 2, and the handling robot 3 can provide six degrees of freedom of movement in space for the end effector 4. The end effector 4 can grab the steel pipe 6 from one end, and can also cooperate with the positioner chuck to complete the pre-cutting clamping and positioning of the two ends of the steel pipe 6.

[0038] See also Figure 3 As shown, in an embodiment of the present invention, the positioner body includes a box body 901, a reducer 902 and a servo motor 903, wherein the servo motor 903 and the reducer 902 are both arranged on the top of the box body 901, the outer shells of the servo motor 903 and the reducer 902 are connected to the box body 901, the output shaft of the servo motor 903 is connected to the input shaft of the reducer 902, and the output shaft of the reducer 902 is connected to the dust removal mechanism.

[0039] See also Figure 3 、 Figure 5 、 Figure 6As shown, in an embodiment of the present invention, the dust removal mechanism includes a fume hood 904 and an extension tube 905. The extension tube 905 is provided with a first connecting flange 9051 and a second connecting flange 9052 at either end. The first connecting flange 9051 is connected to the output shaft of the reducer 902, and the second connecting flange 9052 is connected to the positioner chuck. The sidewall of the extension tube 905 is provided with a vent 9053. In this embodiment, multiple vents 9053 are circumferentially arranged along the sidewall of the extension tube 905. The fume hood 904 is provided with a first connecting surface 9041 and a second connecting surface 9042 at either end. The fume hood 904 is positioned outside the extension tube 905. The first connecting surface 9041 is connected to the housing 901, and the second connecting surface 9042 is dynamically sealed with the second connecting flange 9052 of the extension tube 905. Preferably, the dynamic seal utilizes a rotating lip rubber seal ring structure. Furthermore, the sidewall of the fume hood 904 is provided with at least one flue port 9043.

[0040] In this embodiment, a plurality of flue ports 9043 are uniformly arranged along the circumference of the sidewall of the smoke hood 904. One of the flue ports 9043 is connected to the centralized dust removal system 8 via the dust collection duct 7. Except for the one connected to the dust collection duct 7, the remaining flue ports 9043 are sealed with circular plates. The flue ports 9043 are appropriately located and connected to the dust collection duct 7 according to actual conditions, so that the dust collection position can be automatically adjusted as the working point changes.

[0041] Specifically, the smoke hood 904 is a cylindrical structure installed coaxially with the extension tube 905. The diameter of the smoke hood 904 is larger than the diameter of the extension tube 905. An annular air collecting chamber is formed between the smoke hood 904 and the extension tube 905 to ensure smooth exhaust using any flue interface 9043.

[0042] Furthermore, reinforcing ribs are provided axially between two adjacent flue interfaces 9043 to increase the strength of the smoke collecting hood 904 and prolong its service life.

[0043] See also Figure 3 As shown, in the embodiment of the present invention, the positioner chuck includes a connecting tube 908 and a large-diameter chuck 906 and a small-diameter chuck 907 connected to both ends of the connecting tube 908. The large-diameter chuck 906 is connected to the second connecting flange 9052 of the extension tube 905. Preferably, the large-diameter chuck 906 and the small-diameter chuck 907 are hollow internally supported three-jaw electric chucks. The large-diameter chuck 906 and the small-diameter chuck 907 are respectively used to clamp steel pipes 6 of different inner diameters, which can adapt to the plasma flame cutting process of various types and large and small ranges of metal pipes.

[0044] See also Figure 4As shown, in an embodiment of the present invention, the end effector 4 is an internally supported three-jaw electric chuck. The internally supported three-jaw electric chuck quickly positions and clamps the inner side of one end of the steel pipe 6. The other end of the steel pipe 6 is positioned and clamped by a large-diameter chuck 906 or a small-diameter chuck 907, thereby forming an internal air cavity 13 within the steel pipe 6. The internal air cavity 13 is connected to the extension tube 905 via a connecting tube 908 of the positioner chuck. The extension tube 905 is connected to the inner cavity of a fume hood 904 via multiple vents 9053 on the side wall. The fume hood 904 is connected to a centralized dust removal system 8 via a dust collection duct 7. When the plasma flame cutting end effector 2 performs plasma flame cutting, the centralized dust removal system 8 creates a negative pressure within the internal air cavity 13 of the steel pipe 6. This allows the smoke generated by the plasma flame cutting to pass through the internal air cavity 13 and into the fume hood 904. Then, through the dust collection duct 7, it enters the centralized dust removal system 8, where it performs dust reduction treatment.

[0045] The present invention provides a positioner with a dust removal interface for an intelligent cutting robot, and its working process is as follows:

[0046] 1) Manually clamp one end face of the steel pipe 6 onto the large-diameter chuck 906 or the small-diameter chuck 907 of the positioner 9, with the other end of the steel pipe 6 hanging down due to the cantilever installation;

[0047] 2) The handling robot 3 approaches the other end of the steel pipe 6 via the servo slide 5, and the handling robot 3 clamps the other end face of the steel pipe 6 via the end effector 4;

[0048] 3) The end effector 4 of the handling robot 3 corrects the height of the other end surface of the steel pipe 6 online to compensate for the sagging of the other end of the steel pipe 6 so that the axis of the steel pipe 6 is collinear with the rotation axis 12 of the positioner;

[0049] 4) The centralized dust removal system 8 is working, and the internal air cavity 13 of the steel pipe 6 forms a negative pressure;

[0050] 5) The cutting robot 1 moves to the cutting station via the servo slide 5, and the plasma flame cutting end effector 2 performs plasma flame cutting on the steel pipe 6, forming a cutting seam 11. The cutting smoke enters the internal air cavity 13 from the cutting seam 11, and then passes through the extension tube 905, the smoke hood 904, and the dust collection duct 7 from the internal air cavity 13 to enter the centralized dust removal system 8 for dust removal;

[0051] 6) The sixth axis of the handling robot 3 and the positioner 9 synchronously rotate the steel pipe 6 around the positioner rotation axis 12 until the entire annular cutting seam 11 is completed;

[0052] 7) The transport robot 3 transports the cut steel pipe 10 to the next process via the end effector 4 .

[0053] The intelligent cutting robot provided by this invention uses a positioner with a dust removal interface to remove dust generated by plasma flame cutting from the internal air cavity of steel pipes through a dust removal mechanism, thereby avoiding pollution in the production environment and preventing exhaust gas generated during the production process from causing harm to workers and polluting the atmosphere. The positioner automatically changes the dust collection position as the working point changes, improving the efficiency of the dust removal mechanism and meeting the needs of a wide range of plasma flame cutting operations for metal pipes.

[0054] The present invention can be applied to various models and large and small-scale automatic cutting projects of metal steel pipes. It has the advantages of low cost, high degree of automation and good dust removal effect. It greatly improves the production environment, improves production efficiency, protects the atmospheric environment, and is beneficial to the physical and mental health of production workers.

[0055] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A positioner with a dust removal interface for an intelligent cutting robot, characterized in that: The invention comprises a cutting robot (1), a handling robot (3), a servo slide (5) and a positioner (9), wherein the servo slide (5) is arranged on one side of the positioner (9), the cutting robot (1) and the handling robot (3) are both arranged on the servo slide (5), and the end effector (4) is provided at the end of the handling robot (3); The positioner (9) includes a positioner body, a dust removal mechanism, and a positioner chuck, wherein the output end of the positioner body is connected to the dust removal mechanism and the positioner chuck in sequence, and the positioner chuck cooperates with the end effector (4) of the transport robot (3) to position and clamp the two ends of the steel pipe (6); The execution end of the cutting robot (1) is provided with a plasma flame cutting end effector (2). When the steel pipe (6) is cut by the plasma flame cutting end effector (2), smoke and dust generated are discharged from the internal air cavity (13) of the steel pipe (6) and the dust removal mechanism. The dust removal mechanism comprises a fume hood (904) and an extension tube (905); A first connecting flange (9051) and a second connecting flange (9052) are respectively provided at both ends of the extension tube (905), the first connecting flange (9051) is connected to the output end of the positioner body, and the second connecting flange (9052) is connected to the positioner chuck. A vent (9053) is provided on the side wall of the extension tube (905); A first connecting surface (9041) and a second connecting surface (9042) are respectively provided at both ends of the smoke hood (904). The smoke hood (904) is arranged on the outside of the extension tube (905). The first connecting surface (9041) is connected to the positioner body, and the second connecting surface (9042) is dynamically sealed to the second connecting flange (9052) of the extension tube (905). The side wall of the smoke hood (904) is provided with at least one flue interface (9043).

2. The positioner with a dust removal interface for an intelligent cutting robot according to claim 1, characterized in that: The flue interface (9043) on the smoke hood (904) is connected to the centralized dust removal system (8) via a dust collection pipe (7).

3. The positioner with a dust removal interface for an intelligent cutting robot according to claim 2, characterized in that: The smoke collecting hood (904) is a cylindrical structure coaxially mounted with the extension tube (905).

4. The positioner with a dust removal interface for an intelligent cutting robot according to claim 3 is characterized in that: A plurality of flue interfaces (9043) are provided on the side wall of the smoke collecting hood (904) along the circumferential direction, and the remaining flue interfaces (9043) except for the one connected to the dust collection pipe (7) are closed.

5. The positioner with a dust removal interface for an intelligent cutting robot according to claim 4, characterized in that: A reinforcing rib is provided axially between two adjacent flue interfaces (9043).

6. The positioner with a dust removal interface for an intelligent cutting robot according to claim 1, characterized in that: The positioner chuck comprises a connecting pipe (908) and a large-diameter chuck (906) and a small-diameter chuck (907) connected to both ends of the connecting pipe (908), wherein the large-diameter chuck (906) is connected to the second connecting flange (9052) of the extension tube (905).

7. The positioner with a dust removal interface for an intelligent cutting robot according to claim 1, characterized in that: The positioner body comprises a box (901), a reducer (902) and a servo motor (903), wherein the servo motor (903) and the reducer (902) are arranged on the top of the box (901), and the output shaft of the servo motor (903) is connected to the input shaft of the reducer (902), and the output shaft of the reducer (902) is connected to the first connecting flange (9051) of the extension tube (905).

8. The positioner with a dust removal interface for an intelligent cutting robot according to claim 1, characterized in that: The end effector (4) is an internally supported three-jaw electric chuck.

9. The positioner with a dust removal interface for an intelligent cutting robot according to claim 1, characterized in that: The servo slide (5) comprises a guide rail (501), a slide plate (502) and a slide seat (503) slidably connected to the guide rail (501), wherein the transport robot (3) is arranged on the slide plate (502), and the cutting robot (1) is arranged on the slide seat (503).

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