Pipeline cutting robot

Abstract

The invention belongs to the technical field of pipeline cutting, and particularly relates to a pipeline cutting robot which comprises a roller conveyor and a discharging conveyor. A cutting mechanism is arranged between the roller conveyor and the discharging conveyor. A linear sliding rail is fixedly connected to one side of the top face of the discharging conveyor. A stand column is fixedly connected to the top of a sliding block of the linear sliding rail. A sliding table capable of ascending and descending is installed in the stand column in a sliding mode. The side, close to the discharging conveyor, of the sliding table is fixedly connected with a baffle. A laser range finder is arranged at the top of the baffle plate; the distance between the baffle and the cutting mechanism is detected through a laser range finder on the baffle, and the position of the baffle is accurately controlled and adjusted; then a sliding table and a baffle in the stand column are controlled to ascend and descend, so that the baffle can block the end of the pipeline, and at the moment, the length of the part, located on the discharging conveyor, of the pipeline is the set cutting length; and the difficulty of cutting work is reduced, the working efficiency is improved, and the cutting precision is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline cutting, in particular to a pipeline cutting robot. Background Art

[0002] Pipes are widely used in the transportation of fluids such as drainage, heating, and gas supply. In order to facilitate transportation and installation, pipes are cut into different lengths during the processing and manufacturing process to meet different needs.

[0003] A patent application with publication number CN109352067A discloses a cutting robot, which clamps pipes of different diameters through two clamping mechanisms. The two clamping mechanisms can be linked by connecting screws arranged on the linkage mechanism. When the pipe diameters on both sides are the same, the two clamping mechanisms are moved together by the linkage mechanism to increase the clamping speed. When the pipe diameters on both sides are different, the two clamping mechanisms are moved separately to clamp the two pipes respectively. The cutting tool is pushed by a pushing mechanism to move and the pipe between the two clamping mechanisms is cut. The sliding position of the pushing mechanism in the adjustment waist hole II is adjusted by an adjustment threaded column arranged on the speed change mechanism, so that the pushing mechanism and the cutting mechanism constitute an eccentric crank mechanism to realize the quick return characteristic, and the cutting speed is adjusted according to different materials and cutting requirements.

[0004] Although the above-mentioned existing pipe cutting robot can realize automatic fixation of the pipe, it cannot accurately locate the cutting length of the pipe. Therefore, the cutting position needs to be measured and adjusted before fixation, which not only makes the cutting operation too cumbersome and the work efficiency low, but also the cutting accuracy of the pipe is low.

[0005] To this end, the present invention provides a pipe cutting robot. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve its technical problems is: a pipe cutting robot described in the present invention comprises a roller conveyor and a feeding conveyor; a cutting mechanism is arranged between the roller conveyor and the feeding conveyor; the roller conveyor is used to convey the pipe; the cutting mechanism is used to cut the pipe; a linear slide is fixedly connected to one side of the top surface of the feeding conveyor; a column is fixedly connected to the top of the slider of the linear slide; a sliding table that can be raised and lowered is slidably installed inside the column; a baffle is fixedly connected to the side of the slide close to the feeding conveyor; the baffle is used to block the end of the pipe; a laser rangefinder is arranged on the top of the baffle.

[0008] Preferably, a plurality of support platforms are evenly fixed to the middle of the top surface of the unloading conveyor; a plurality of support platforms are hinged on the tops of the plurality of support platforms with a pushing slot plate; the concave inner wall of the pushing slot plate is in sliding contact with the outer wall of the pipe; a plurality of No. 1 hydraulic cylinders are rotatably installed between the side of the pushing slot plate close to the linear slide rail and the top surface of the unloading conveyor.

[0009] Preferably, the cutting mechanism includes a mounting plate; both sides of the mounting plate are respectively fixedly connected to the top surface of the roller conveyor and the top surface of the unloading conveyor; a pair of semi-circular tracks are rotatably mounted in the middle of the mounting plate; the two semi-circular tracks can form a complete circular track; a No. 2 hydraulic cylinder is hinged between each semi-circular track and the mounting plate; a moving structure is arranged inside the semi-circular track, and the moving structure can slide along the semi-circular track; a No. 3 hydraulic cylinder is arranged on the moving structure; a cutting machine is arranged at the output end of the No. 3 hydraulic cylinder; the cutting blade of the cutting machine can cut the pipe.

[0010] Preferably, the movable structure includes an arc-shaped outer rack and an arc-shaped inner rack; the arc-shaped outer rack is fixedly connected to the outer side of the inner cavity of the semi-circular track; the arc-shaped inner rack is fixedly connected to the inner side of the inner cavity of the semi-circular track; the two arc-shaped outer racks can be butted together to form an inner gear ring; the two arc-shaped inner racks can be butted together to form an outer gear ring; a movable shell is slidingly arranged inside the semi-circular track; movable gears are rotatably installed on both sides of the movable shell; the two movable gears are respectively meshed with the arc-shaped outer rack and the arc-shaped inner rack; a driving assembly is arranged inside the movable shell, and the driving assembly drives the two movable gears to rotate synchronously.

[0011] Preferably, the driving assembly includes a driving motor fixedly connected to one end of the inner part of the moving shell; the output shaft end structure of the driving motor is provided with a driving gear; a rotating rod is rotatably installed in the middle part of the moving shell; the outer ring of the rotating rod is provided with a face gear; the face gear can mesh with the driving gear; the bottom outer ring of the rotating rod and the bottom outer ring of the rotating shaft of the moving gear are both fixedly connected with synchronous wheels; the outer rings of multiple synchronous wheels are provided with synchronous belts.

[0012] Preferably, rotating arms are rotatably installed at the four corners of the mobile shell; a torsion spring is arranged between the rotating arm and the mobile shell; a slot is opened at one end of the rotating arm away from the mobile shell; a stabilizing gear is rotatably installed inside the slot; the stabilizing gear can engage with the arc-shaped outer rack and the arc-shaped inner rack.

[0013] Preferably, a locking unit is provided inside the two rotating arms located at one end of the moving shell, and the locking unit includes a pair of clamps; the two clamps are slidably mounted on the top and bottom surfaces of the slot, and the two clamps are respectively located at the top and bottom of the stabilizing gear; the clamp can slide close to the extrusion stabilizing gear; a No. 1 slide bar is slidably mounted inside the end of the clamp close to the moving shell; a plurality of springs are fixedly connected between the No. 1 slide bar and the inside of the clamp; four No. 1 connecting rods are arranged inside the slot; the four No. 1 connecting rods are hinged end to end to form a diamond structure, and a torsion spring is arranged at the hinge of the No. 1 connecting rod; the outer rings of the hinged rods of the two No. 1 connecting rods at the top and bottom are provided with a No. 2 connecting rod; the other end of the No. 2 connecting rod is fixedly connected to the No. 1 slide rod; a hinged rod of the No. 1 connecting rod close to one end of the moving shell is fixedly connected with a cable; the cable passes through the outer wall of the rotating arm and the moving shell; a transmission structure is arranged inside the moving shell, and the transmission structure connects the cable and the drive assembly.

[0014] Preferably, the transmission structure includes a lifting sleeve rod sleeved on the outer ring of the rotating rod; the outer ring of the rotating rod is provided with a limiting sliding groove; the bottom of the inner ring of the lifting sleeve rod is fixedly connected to a protrusion matching the limiting sliding groove; the face gear is fixedly connected to the outer ring of the lifting sleeve rod; a cross bar is rotatably installed on the top outer ring of the lifting sleeve rod; a guide rod sliding through the cross bar is fixedly connected to the interior of the movable shell; a No. 4 hydraulic cylinder is fixedly connected between the top surface of the cross bar and the top surface of the inner cavity of the movable shell; a connecting frame is fixedly connected to one end of the inner cavity of the movable shell close to the locking unit; a connecting piece is slidably installed inside the connecting frame; the cable is fixedly connected to the connecting piece; the end of the connecting piece away from the cable slides through the connecting frame; a No. 3 connecting rod is hinged between the connecting piece and the cross bar.

[0015] Preferably, guide frames are fixedly connected on both sides of the slot; both ends of the hinged rod of the No. 1 connecting rod close to the movable shell are respectively slidably matched with the guide frames on both sides; and both ends of the hinged rod of the No. 1 connecting rod far away from the movable shell are respectively rotatably connected with the guide frames on both sides.

[0016] Preferably, a brake ring is fixedly connected to the top and bottom surfaces of the stabilizing gear; and an anti-skid pad is fixedly connected to a surface of the clamping plate close to the stabilizing gear.

[0017] The beneficial effects of the present invention are as follows:

[0018] 1. The pipe cutting robot described in the present invention is provided with a linear slide rail, a column, a slide and a baffle; the distance to the cutting mechanism is detected by a laser rangefinder on the baffle to accurately control and adjust the position of the baffle; the slide inside the column is controlled to rise and fall, driving the baffle to rise and fall, so that the baffle can block the end of the pipe. At this time, the length of the pipe on the unloading conveyor is the set cutting length; not only the difficulty of the cutting work is reduced, the work efficiency is improved, but also the cutting accuracy is improved.

[0019] 2. The pipe cutting robot described in the present invention is provided with a support platform, a pushing trough plate and a No. 1 hydraulic cylinder; the cut pipe falls into the top groove of the pushing trough plate, at this time, the No. 1 hydraulic cylinder pushes one side of the pushing trough plate, so that the pushing trough plate flips toward the other side, so that the cut pipe rolls and slides toward the side of the unloading conveyor, thereby realizing the unloading of the pipe. At the same time, it avoids the unloading work from affecting the position of the baffle plate and avoids adjusting the position of the baffle plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] Figure 1 is a stereogram of the present invention;

[0022] Figure 2 It is a three-dimensional diagram of the unloading conveyor in the present invention;

[0023] Figure 3 is a three-dimensional diagram of the cutting mechanism in the present invention;

[0024] Figure 4 is an exploded view of the cutting mechanism of the present invention;

[0025] Figure 5 It is the internal structure diagram of the semi-circular track in the present invention;

[0026] Figure 6 is a three-dimensional diagram of the mobile structure of the present invention;

[0027] Figure 7 It is the internal structure diagram of the mobile housing in the present invention;

[0028] Figure 8 is an exploded view of the mobile structure of the present invention;

[0029] Fig. 9 It is a three-dimensional diagram of the transmission structure of the present invention;

[0030] Fig.10 is an exploded view of the rotating arm of the present invention;

[0031] Fig.11 It is the internal structure diagram of the rotating arm in the present invention;

[0032] Fig.12 is a three-dimensional diagram of the locking unit in the present invention;

[0033] In the figure: 1. roller conveyor; 2. unloading conveyor; 3. pipeline; 4. linear slide rail; 5. column; 6. slide table; 7. baffle plate; 8. support table; 9. push plate; 10. No. 1 hydraulic cylinder; 11. mounting plate; 12. semi-circular track; 13. No. 2 hydraulic cylinder; 14. No. 3 hydraulic cylinder; 15. cutting machine; 16. arc outer rack; 17. arc inner rack; 18. moving housing; 19. moving gear; 20. driving motor; 21. driving Gear; 22, rotating rod; 23, face gear; 24, synchronous wheel; 25, synchronous belt; 26, rotating arm; 27, notch; 28, stabilizing gear; 29, splint; 30, No. 1 slide bar; 31, No. 1 connecting rod; 32, No. 2 connecting rod; 33, cable; 34, lifting sleeve rod; 35, limit slide groove; 36, cross bar; 37, No. 4 hydraulic cylinder; 38, connecting frame; 39, connecting piece; 40, No. 3 connecting rod; 41, guide frame; 42, brake ring plate. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0035] like Figure 1 to Figure 2 As shown, a pipe cutting robot according to an embodiment of the present invention comprises a roller conveyor 1 and a feeding conveyor 2; a cutting mechanism is arranged between the roller conveyor 1 and the feeding conveyor 2; the roller conveyor 1 is used to convey a pipe 3; the cutting mechanism is used to cut the pipe 3; a linear slide 4 is fixedly connected to one side of the top surface of the feeding conveyor 2; a column 5 is fixedly connected to the top of the slider of the linear slide 4; a sliding table 6 capable of lifting and lowering is slidably installed inside the column 5; a baffle 7 is fixedly connected to the side of the sliding table 6 close to the feeding conveyor 2; the baffle 7 is used to block the end of the pipe 3; a laser rangefinder is arranged on the top of the baffle 7;

[0036] In this embodiment, the roller conveyor 1 drives the roller to rotate by a motor to convey the pipe 3, and a clamping mechanism for clamping and fixing the pipe 3 is provided on the roller conveyor 1;

[0037] The linear slide rail 4 in this embodiment can accurately control the sliding distance of the slider;

[0038] In this embodiment, a ball screw driven by a motor is arranged inside the column 5, and the ball screw is used to drive the slide 6 to rise and fall;

[0039] In this embodiment, the laser rangefinder can accurately measure the distance between the cut-off point of the cutting mechanism and the baffle 7, that is, the length of the section of the pipe 3 that needs to be cut;

[0040] During operation, the sliding distance of the slider on the linear slide rail 4 is set according to the required length of the pipeline, and the distance from the cutting mechanism is detected by the laser rangefinder on the baffle 7 to accurately control and adjust the position of the baffle 7; then the slide table 6 inside the column 5 is controlled to rise and fall, driving the baffle 7 to rise and fall, so that the baffle 7 can block the end of the pipeline 3; when cutting pipelines of the same length, it only needs to be controlled and adjusted once and no adjustment is required;

[0041] After the adjustment is completed, the roller conveyor 1 conveys the pipe 3 toward the cutting mechanism, and the pipe 3 passes through the cutting mechanism and moves to the top of the unloading conveyor 2. The end of the pipe 3 is blocked by the baffle 7. At this time, the length of the pipe 3 on the unloading conveyor 2 is the set cutting length. At this time, the cutting mechanism cuts the pipe 3, and then the unloading conveyor 2 unloads the cut pipe 3. At the same time, the roller conveyor 1 continues to convey the pipe 3 to be cut; this not only reduces the difficulty of the cutting work, improves the work efficiency, but also improves the cutting accuracy.

[0042] like Figure 1 to Figure 2 As shown, a plurality of support platforms 8 are evenly fixed to the middle of the top surface of the unloading conveyor 2; a plurality of tops of the support platforms 8 are hingedly connected with a push-up slot plate 9; the concave inner wall of the push-up slot plate 9 is in sliding contact with the outer wall of the pipe 3; a plurality of No. 1 hydraulic cylinders 10 are rotatably installed between the side of the push-up slot plate 9 close to the linear slide rail 4 and the top surface of the unloading conveyor 2;

[0043] When working, when the pipe 3 passes through the cutting mechanism and moves to the top of the unloading conveyor 2, at this time, the multiple No. 1 hydraulic cylinders 10 are in a retracted state, so that the push-up slot plate 9 is in a horizontal state, so that the pipe 3 can slide into the top concave surface of the push-up slot plate 9; the groove structure of the push-up slot plate 9 can effectively improve the stability of the pipe 3 during cutting;

[0044] When the pipe 3 is cut, the cut pipe 3 falls into the top groove of the pushing slot plate 9. At this time, the No. 1 hydraulic cylinder 10 pushes one side of the pushing slot plate 9, so that the pushing slot plate 9 flips to the other side, so that the cut pipe 3 rolls and slides toward the side of the unloading conveyor 2, thereby realizing the unloading of the pipe 3. At the same time, it avoids the unloading work from affecting the position of the baffle 7 and avoiding the adjustment of the position of the baffle 7.

[0045] like Figure 1 , Figure 3 and Figure 4As shown, the cutting mechanism includes a mounting plate 11; the two sides of the mounting plate 11 are respectively fixed to the top surface of the roller conveyor 1 and the top surface of the unloading conveyor 2; a pair of semi-circular tracks 12 are rotatably mounted in the middle of the mounting plate 11; the two semi-circular tracks 12 can form a complete circular track; a No. 2 hydraulic cylinder 13 is hinged between each of the semi-circular tracks 12 and the mounting plate 11; a moving structure is arranged inside the semi-circular track 12, and the moving structure can slide along the semi-circular track 12; a No. 3 hydraulic cylinder 14 is arranged on the moving structure; a cutter 15 is arranged at the output end of the No. 3 hydraulic cylinder 14; the cutting blade of the cutter 15 can cut the pipe 3;

[0046] When working, when the roller conveyor 1 conveys the pipe 3 toward the cutting mechanism, the No. 2 hydraulic cylinder 13 is in an extended state, pushing the two semi-circular tracks 12 closer to form a complete circular track, so that the mobile structure can move in a circular manner along the complete circular track. At the same time, the No. 3 hydraulic cylinder 14 is in a retracted state, so that the cutting machine 15 is on the side of the semi-circular track 12;

[0047] When cutting the pipe 3, the No. 3 hydraulic cylinder 14 pushes the cutter 15 close to the pipe 3 until the cutting blade of the cutter 15 cuts through the outer wall of the pipe 3. At this time, the moving structure moves in a circular manner along the complete circular track, driving the cutter 15 to rotate around the pipe 3 for cutting;

[0048] When the cutting of the pipe 3 is completed, the No. 3 hydraulic cylinder 14 drives the cutter 15 to move and reset, so that the cutting blade of the cutter 15 is separated from the pipe 3; then, the No. 2 hydraulic cylinder 13 contracts and drives the semi-circular track 12 to rotate, so that the two semi-circular tracks 12 rotate and open; thereby avoiding the semi-circular track 12 from blocking the sideways unloading of the pipe 3.

[0049] like Figures 3 to 8 As shown, the moving structure includes an arc-shaped outer rack 16 and an arc-shaped inner rack 17; the arc-shaped outer rack 16 is fixedly connected to the outer side of the inner cavity of the semi-circular track 12; the arc-shaped inner rack 17 is fixedly connected to the inner side of the inner cavity of the semi-circular track 12; the two arc-shaped outer racks 16 can be butted together to form an inner gear ring; the two arc-shaped inner racks 17 can be butted together to form an outer gear ring; a moving shell 18 is slidably provided inside the semi-circular track 12; moving gears 19 are rotatably installed on both sides of the moving shell 18; the two moving gears 19 are respectively meshed with the arc-shaped outer rack 16 and the arc-shaped inner rack 17; a driving assembly is provided inside the moving shell 18, and the driving assembly drives the two moving gears 19 to rotate synchronously;

[0050] When working, the driving assembly drives the moving gears 19 on both sides to rotate synchronously, and the two moving gears 19 are respectively meshed with the arc-shaped outer rack 16 and the arc-shaped inner rack 17, driving the moving housing 18 to slide along the semi-circular track 12 at a constant speed, thereby driving the cutting machine 15 to move around the pipe 3 for cutting;

[0051] Furthermore, since the two moving gears 19 are respectively meshed with the arc-shaped outer rack 16 and the arc-shaped inner rack 17 , the stability of the movement of the moving housing 18 is improved.

[0052] like Figures 7 and 8 As shown, the driving assembly includes a driving motor 20 fixedly connected to one end of the inner part of the moving housing 18; the output shaft end structure of the driving motor 20 is provided with a driving gear 21; a rotating rod 22 is rotatably installed in the middle of the moving housing 18; the outer ring of the rotating rod 22 is provided with a face gear 23; the face gear 23 can mesh with the driving gear 21; the bottom outer ring of the rotating rod 22 and the bottom outer ring of the rotating shaft of the moving gear 19 are both fixedly connected with a synchronous wheel 24; the outer rings of the plurality of synchronous wheels 24 are sleeved with a synchronous belt 25;

[0053] During operation, the driving motor 20 drives the driving gear 21 to rotate, and the meshing transmission of the mating surface gear 23 drives the rotating rod 22 to rotate, and drives a synchronous wheel 24 to rotate. Through the transmission of the synchronous belt 25, the other two synchronous wheels 24 rotate synchronously, and the two moving gears 19 rotate synchronously, thereby providing sufficient power for the movement of the moving shell 18.

[0054] like Figures 6 to 10 As shown, the four corners of the mobile housing 18 are rotatably mounted with a rotating arm 26; a torsion spring is arranged between the rotating arm 26 and the mobile housing 18; a notch 27 is provided at one end of the rotating arm 26 away from the mobile housing 18; a stabilizing gear 28 is rotatably mounted inside the notch 27; the stabilizing gear 28 can mesh with the arc-shaped outer rack 16 and the arc-shaped inner rack 17;

[0055] During operation, the rotating arm 26 rotates toward the arc-shaped outer rack 16 and the arc-shaped inner rack 17 under the action of the torsion spring, so that the stabilizing gear 28 can mesh with the arc-shaped outer rack 16 and the arc-shaped inner rack 17; by setting up multiple stabilizing gears 28 that respectively mesh with the arc-shaped outer rack 16 and the arc-shaped inner rack 17, the stability of the movement of the movable housing 18 is improved, thereby improving the stability of cutting.

[0056] like Figures 7 to 12As shown, the two rotating arms 26 at one end of the moving housing 18 are each provided with a locking unit, and the locking unit includes a pair of clamps 29; the two clamps 29 are respectively slidably mounted on the top and bottom surfaces of the slot 27, and the two clamps 29 are respectively located at the top and bottom of the stabilizing gear 28; the clamps 29 can slide close to the extrusion stabilizing gear 28; a No. 1 slide bar 30 is slidably mounted inside the end of the clamp 29 close to the moving housing 18; a plurality of springs are fixedly connected between the No. 1 slide bar 30 and the inside of the clamps 29; four No. 1 connecting rods are arranged inside the slot 27. The connecting rod 31; the four No. 1 connecting rods 31 are hinged end to end to form a diamond structure, and a torsion spring is provided at the hinge of the No. 1 connecting rod 31; the outer ring of the hinged rods of the two No. 1 connecting rods 31 at the top and bottom is provided with a No. 2 connecting rod 32; the other end of the No. 2 connecting rod 32 is fixedly connected to the No. 1 sliding rod 30; the hinged rod of the No. 1 connecting rod 31 near one end of the moving shell 18 is fixedly connected with a cable 33; the cable 33 passes through the outer wall of the rotating arm 26 and the moving shell 18; the interior of the moving shell 18 is provided with a transmission structure, and the transmission structure connects the cable 33 and the driving assembly;

[0057] During operation, after the cutting of the pipe 3 is completed, when the two semi-circular tracks 12 need to be separated and opened, the transmission structure controls the driving assembly to stop driving the moving gear 19 to rotate, and at the same time the transmission structure pulls the cable 33 to move, so that the two ends of the middle part of the diamond structure composed of the four No. 1 connecting rods 31 are pulled toward both sides, and the top and bottom ends move toward the middle, so that the two No. 2 connecting rods 32 move toward the moving shell 18 and approach each other at the same time, driving the No. 1 slide bar 30 to slide from the splint 29. At the same time, the two No. 1 slide bars 30 drive the splints 29 to approach each other, and the two splints 29 approach each other to clamp the two sides of the stabilizing gear 28, locking the stabilizing gear 28; thereby fixing the moving structure in the semi-circular track 12, thereby avoiding the situation where the moving structure and the cutting machine 15 are separated from the semi-circular track 12 after the semi-circular track 12 is separated.

[0058] like Figures 7 to 9As shown, the transmission structure includes a lifting sleeve rod 34 sleeved on the outer ring of the rotating rod 22; a limited sliding groove 35 is provided on the outer ring of the rotating rod 22; a protrusion matching the limited sliding groove 35 is fixedly connected to the bottom of the inner ring of the lifting sleeve rod 34; the face gear 23 is fixedly connected to the outer ring of the lifting sleeve rod 34; a cross bar 36 is rotatably installed on the top outer ring of the lifting sleeve rod 34; a guide rod sliding through the cross bar 36 is fixedly connected to the interior of the movable housing 18; a No. 4 hydraulic cylinder 37 is fixedly connected between the top surface of the cross bar 36 and the top surface of the inner cavity of the movable housing 18; a connecting frame 38 is fixedly connected to one end of the inner cavity of the movable housing 18 close to the locking unit; a connecting member 39 is slidably installed inside the connecting frame 38; the cable 33 is fixedly connected to the connecting member 39; the end of the connecting member 39 away from the cable 33 slides through the connecting frame 38; a No. 3 connecting rod 40 is hinged between the connecting member 39 and the cross bar 36;

[0059] During operation, when the mobile structure moves on the semi-circular track 12, the No. 4 hydraulic cylinder 37 is in a retracted state, driving the cross bar 36 and the lifting sleeve rod 34 to slide, driving the face gear 23 to mesh with the driving gear 21, so that the driving motor 20 can drive the mobile gear 19 to rotate; at the same time, the cross bar 36 drives the No. 3 connecting rod 40 to move, pushing the connecting piece 39 to slide along the connecting frame 38, so that the cable 33 is relaxed, at this time, the torsion spring on the No. 1 connecting rod 31 is reset, so that the two ends of the diamond structure composed of the No. 1 connecting rod 31 are close to each other, and the top and bottom ends are far away from each other, and at the same time, the spring in the splint 29 is reset, and the No. 1 slide bar 30 is pulled into the splint 29, so that the two splints 29 are reset away from each other, and the mobile gear 19 is relaxed, so that the mobile gear 19 can rotate;

[0060] When the cutting is completed, the two semi-circular tracks 12 need to be separated and opened; at this time, the No. 4 hydraulic cylinder 37 extends to push the cross bar 36 and the lifting sleeve rod 34 to slide, driving the face gear 23 to separate from the driving gear 21, so that the driving motor 20 cannot drive the moving gear 19 to rotate; at the same time, the cross bar 36 drives the No. 3 connecting rod 40 to move, driving the connecting piece 39 to slide along the connecting frame 38, pulling the cable 33 to tighten and move, so that the two ends of the middle part of the diamond structure composed of the four No. 1 connecting rods 31 are pulled toward both sides, and The top and bottom ends move toward the middle, so that the two No. 2 connecting rods 32 move toward the moving housing 18 and approach each other at the same time, driving the No. 1 slide bar 30 to slide from the clamping plate 29. At the same time, the two No. 1 slide bars 30 drive the clamping plates 29 to approach each other, and the two clamping plates 29 approach each other to clamp the two sides of the stabilizing gear 28, locking and fixing the stabilizing gear 28; thereby fixing the moving structure in the semi-circular track 12, thereby preventing the moving structure and the cutting machine 15 from being separated from the semi-circular track 12 after the semi-circular track 12 is separated;

[0061] By setting up the transmission structure, the driving disconnection and connection of the driving assembly correspond to the start and stop of the locking unit, thereby effectively improving the stability of the moving structure when moving and stopping, and improving the safety of the cutting work.

[0062] like Figures 10 to 12 As shown, guide frames 41 are fixedly connected to both sides of the notch 27; the two ends of the hinged rod of the first connecting rod 31 close to the mobile housing 18 are respectively slidably matched with the guide frames 41 on both sides; the two ends of the hinged rod of the first connecting rod 31 far away from the mobile housing 18 are respectively rotatably connected with the guide frames 41 on both sides;

[0063] The guide frame 41 is provided to provide a guide function for the movement of the diamond structure composed of the four No. 1 connecting rods 31, thereby effectively improving the overall stability of the diamond structure and further improving the clamping stability of the locking unit.

[0064] like Figures 9 to 11 As shown, the top and bottom surfaces of the stabilizing gear 28 are fixedly connected with brake ring pieces 42; the side of the clamping plate 29 close to the stabilizing gear 28 is fixedly connected with an anti-skid pad; the cooperation between the brake ring piece 42 and the anti-skid pad effectively improves the firmness of locking the stabilizing gear 28.

[0065] Working principle: according to the required length of the pipeline, the sliding distance of the slider on the linear slide rail 4 is set, and the distance from the cutting mechanism is detected by the laser rangefinder on the baffle 7 to accurately control and adjust the position of the baffle 7; then the slide 6 inside the column 5 is controlled to rise and fall, driving the baffle 7 to rise and fall, so that the baffle 7 can block the end of the pipeline 3; when cutting the pipeline of the same length, it only needs to be controlled and adjusted once and no adjustment is required;

[0066] The No. 2 hydraulic cylinder 13 is in an extended state, pushing the two semi-circular tracks 12 closer to form a complete circular track, so that the mobile structure can move in a circular manner along the complete circular track. At the same time, the No. 3 hydraulic cylinder 14 is in a retracted state, so that the cutting machine 15 is on the side of the semi-circular track 12; at the same time, the No. 4 hydraulic cylinder 37 is in a retracted state, driving the cross bar 36 and the lifting sleeve rod 34 to slide, driving the face gear 23 to mesh with the driving gear 21, so that the driving motor 20 can drive the mobile gear 19 to rotate; at the same time, the cross bar 36 drives the No. 3 connecting rod 40 to move, pushing the connecting piece 39 along the connecting frame 38 slides, so that the cable 33 is relaxed. At this time, the torsion spring on the No. 1 connecting rod 31 is reset, so that the two ends of the diamond structure composed of the No. 1 connecting rod 31 are close to each other, and the top and bottom ends are separated. At the same time, the spring in the clamping plate 29 is reset, and the No. 1 sliding rod 30 is pulled into the clamping plate 29, so that the two clamping plates 29 are separated and reset, and the moving gear 19 is relaxed, so that the moving gear 19 can rotate; at the same time, under the action of the torsion spring, the rotating arm 26 rotates toward the arc-shaped outer rack 16 and the arc-shaped inner rack 17, so that the stabilizing gear 28 can mesh with the arc-shaped outer rack 16 and the arc-shaped inner rack 17;

[0067] After the adjustment is completed, the roller conveyor 1 conveys the pipe 3 toward the cutting mechanism, and the pipe 3 passes through the cutting mechanism and moves to the top of the unloading conveyor 2. The end of the pipe 3 is blocked by the baffle 7. At this time, the length of the pipe 3 on the unloading conveyor 2 is the set cutting length.

[0068] When cutting the pipe 3, the No. 3 hydraulic cylinder 14 pushes the cutter 15 close to the pipe 3 until the cutting blade of the cutter 15 cuts through the outer wall of the pipe 3, and the driving motor 20 drives the driving gear 21 to rotate, and the meshing transmission of the matching surface gear 23 drives the rotating rod 22 to rotate, drives a synchronous wheel 24 to rotate, and drives the other two synchronous wheels 24 to rotate synchronously through the transmission of the synchronous belt 25, so that the two moving gears 19 rotate synchronously; the moving structure moves in a circular manner along the complete circular track, driving the cutter 15 to rotate around the pipe 3 for cutting;

[0069] When the cutting of the pipe 3 is completed, the No. 3 hydraulic cylinder 14 drives the cutter 15 to move and reset, so that the cutting blade of the cutter 15 is separated from the pipe 3; then, the No. 2 hydraulic cylinder 13 contracts and drives the semi-circular track 12 to rotate, so that the two semi-circular tracks 12 rotate and open; at this time, the No. 4 hydraulic cylinder 37 extends and pushes the cross bar 36 and the lifting sleeve rod 34 to slide, driving the face gear 23 to separate from the driving gear 21, so that the driving motor 20 cannot drive the moving gear 19 to rotate; at the same time, the cross bar 36 drives the No. 3 connecting rod 40 to move, drives the connecting piece 39 to slide along the connecting frame 38, pulls the cable 33 to tighten and move , so that the two ends of the middle part of the diamond structure composed of the four No. 1 connecting rods 31 are pulled toward both sides, and the top and bottom ends move toward the middle, so that the two No. 2 connecting rods 32 move toward the moving housing 18 and approach each other at the same time, driving the No. 1 slide bar 30 to slide from the clamping plate 29. At the same time, the two No. 1 slide bars 30 drive the clamping plates 29 to approach each other, and the two clamping plates 29 approach each other to clamp the two sides of the stabilizing gear 28, locking and fixing the stabilizing gear 28; thereby fixing the moving structure in the semi-circular track 12, thereby preventing the moving structure and the cutting machine 15 from detaching from the semi-circular track 12 after the semi-circular track 12 is separated;

[0070] The cut pipe 3 falls into the top groove of the pushing trough plate 9. At this time, the No. 1 hydraulic cylinder 10 pushes one side of the pushing trough plate 9, causing the pushing trough plate 9 to flip to the other side, causing the cut pipe 3 to roll and slide toward the side of the unloading conveyor 2, thereby realizing the unloading of the pipe 3.

[0071] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A pipe cutting robot, characterized in that: It includes a roller conveyor and a discharge conveyor; a cutting mechanism is arranged between the roller conveyor and the discharge conveyor; the roller conveyor is used to convey pipes; the cutting mechanism is used to cut pipes; a linear slide is fixedly connected to one side of the top surface of the discharge conveyor; a column is fixedly connected to the top of the slider of the linear slide; a sliding table that can be raised and lowered is slidably installed inside the column; a baffle is fixedly connected to the side of the slide close to the discharge conveyor; the baffle is used to block the end of the pipe; a laser rangefinder is arranged on the top of the baffle.

2. A pipe cutting robot according to claim 1, characterized in that: A plurality of support platforms are evenly fixedly connected to the middle of the top surface of the unloading conveyor; a plurality of tops of the support platforms are hingedly connected with a pushing slot plate; the concave inner wall of the pushing slot plate is in sliding contact with the outer wall of the pipe; a plurality of No. 1 hydraulic cylinders are rotatably installed between the side of the pushing slot plate close to the linear slide rail and the top surface of the unloading conveyor.

3. A pipe cutting robot according to claim 1, characterized in that: The cutting mechanism includes a mounting plate; the two sides of the mounting plate are respectively fixedly connected to the top surface of the roller conveyor and the top surface of the unloading conveyor; a pair of semi-circular tracks are rotatably mounted in the middle of the mounting plate; the two semi-circular tracks can form a complete circular track; a No. 2 hydraulic cylinder is hinged between each semi-circular track and the mounting plate; a moving structure is arranged inside the semi-circular track, and the moving structure can slide along the semi-circular track; a No. 3 hydraulic cylinder is arranged on the moving structure; a cutting machine is arranged at the output end of the No. 3 hydraulic cylinder; the cutting blade of the cutting machine can cut the pipe.

4. A pipe cutting robot according to claim 3, characterized in that: The movable structure includes an arc-shaped outer rack and an arc-shaped inner rack; the arc-shaped outer rack is fixedly connected to the outer side of the inner cavity of the semi-circular track; the arc-shaped inner rack is fixedly connected to the inner side of the inner cavity of the semi-circular track; the two arc-shaped outer racks can be butted together to form an inner gear ring; the two arc-shaped inner racks can be butted together to form an outer gear ring; a movable shell is slidingly arranged inside the semi-circular track; movable gears are rotatably installed on both sides of the movable shell; the two movable gears are respectively meshed with the arc-shaped outer rack and the arc-shaped inner rack; a driving assembly is arranged inside the movable shell, and the driving assembly drives the two movable gears to rotate synchronously.

5. A pipe cutting robot according to claim 4, characterized in that: The driving assembly includes a driving motor fixedly connected to one end of the inner part of the moving shell; the output shaft end structure of the driving motor is provided with a driving gear; a rotating rod is rotatably installed in the middle part of the moving shell; the outer ring of the rotating rod is provided with a face gear; the face gear can mesh with the driving gear; the bottom outer ring of the rotating rod and the bottom outer ring of the rotating shaft of the moving gear are both fixedly connected with synchronous wheels; the outer rings of multiple synchronous wheels are provided with synchronous belts.

6. A pipe cutting robot according to claim 5, characterized in that: The four corners of the mobile housing are all rotatably mounted with rotating arms; a torsion spring is arranged between the rotating arm and the mobile housing; a slot is provided at one end of the rotating arm away from the mobile housing; a stabilizing gear is rotatably mounted inside the slot; the stabilizing gear can mesh with the arc-shaped outer rack and the arc-shaped inner rack.

7. A pipe cutting robot according to claim 6, characterized in that: The two rotating arms located at one end of the moving shell are each provided with a locking unit, and the locking unit includes a pair of clamps; the two clamps are respectively slidably mounted on the top and bottom surfaces of the slot, and the two clamps are respectively located at the top and bottom of the stabilizing gear; the clamp can slide close to the extrusion stabilizing gear; a No. 1 slide rod is slidably mounted inside the end of the clamp close to the moving shell; a plurality of springs are fixedly connected between the No. 1 slide rod and the inside of the clamp; four No. 1 connecting rods are arranged inside the slot; the four No. 1 connecting rods are hinged end to end to form a diamond structure, and a torsion spring is arranged at the hinge of the No. 1 connecting rod; the outer rings of the hinged rods of the two No. 1 connecting rods at the top and bottom are provided with a No. 2 connecting rod; the other end of the No. 2 connecting rod is fixedly connected to the No. 1 slide rod; a hinged rod of the No. 1 connecting rod close to one end of the moving shell is fixedly connected with a cable; the cable passes through the rotating arm and the outer wall of the moving shell; a transmission structure is arranged inside the moving shell, and the transmission structure connects the cable and the drive assembly.

8. The pipe cutting robot according to claim 7, characterized in that: The transmission structure includes a lifting sleeve rod sleeved on the outer ring of the rotating rod; a limited sliding groove is provided on the outer ring of the rotating rod; a protrusion matching the limited sliding groove is fixedly connected to the bottom of the inner ring of the lifting sleeve rod; the face gear is fixedly connected to the outer ring of the lifting sleeve rod; a cross bar is rotatably installed on the top outer ring of the lifting sleeve rod; a guide rod sliding through the cross bar is fixedly connected to the interior of the movable shell; a No. 4 hydraulic cylinder is fixedly connected between the top surface of the cross bar and the top surface of the inner cavity of the movable shell; a connecting frame is fixedly connected to one end of the inner cavity of the movable shell close to the locking unit; a connecting piece is slidably installed inside the connecting frame; the cable is fixedly connected to the connecting piece; the end of the connecting piece away from the cable slides through the connecting frame; a No. 3 connecting rod is hinged between the connecting piece and the cross bar.

9. The pipe cutting robot according to claim 7, characterized in that: Guide frames are fixedly connected on both sides of the slot; the two ends of the hinged rod of the No. 1 connecting rod close to the movable shell are respectively slidably matched with the guide frames on both sides; the two ends of the hinged rod of the No. 1 connecting rod far away from the movable shell are respectively rotatably connected with the guide frames on both sides.

10. The pipe cutting robot according to claim 7, characterized in that: The top surface and the bottom surface of the stabilizing gear are both fixedly connected with brake ring plates; and the side of the clamping plate close to the stabilizing gear is fixedly connected with an anti-skid pad.

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