A pipe cutting robot

Abstract

The application 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 slide rail is fixed to one side of the top surface of the discharging conveyor. A stand is fixed to the top of the sliding block of the linear slide rail. A lifting slide table is slidably arranged in the stand. A baffle is fixed to one side of the lifting slide table close to the discharging conveyor. A laser range finder is arranged on the top of the baffle. The distance between the baffle and the cutting mechanism is detected by the laser range finder, and the position of the baffle is accurately controlled and adjusted. The lifting slide table and the baffle in the stand are controlled to lift, so that the baffle can block the end of the pipeline. At this time, the length of the pipeline on the discharging conveyor is the set cutting length. The pipeline cutting robot not only reduces the difficulty of cutting work and improves the work efficiency, but also improves the cutting precision.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pipeline cutting, and particularly relates to a pipeline cutting robot. BACKGROUND

[0002] The pipeline is widely used in the transportation of fluid such as drainage, heat supply and gas supply, in order to facilitate transportation and installation, the pipeline is cut into different lengths to adapt to different requirements in the processing and manufacturing process of the pipeline.

[0003] A patent application with the publication number CN109352067A discloses a cutting robot, different diameter pipes are clamped by two clamping mechanisms, the connection screw arranged on the linkage mechanism can link the two clamping mechanisms, when the diameters of the pipes on both sides are the same, the two clamping mechanisms are moved together by the linkage mechanism to increase the clamping speed, when the diameters of the pipes on both sides are different, the two clamping mechanisms are moved separately to clamp the two pipes respectively, the pipes between the two clamping mechanisms are cut by the pushing mechanism, the sliding position of the pushing mechanism in the adjusting waist hole II is adjusted by the adjusting threaded column arranged on the variable speed mechanism, so that the pushing mechanism and the cutting mechanism form 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 pipeline cutting robot can realize automatic fixing of the pipeline, the cutting length of the pipeline cannot be accurately positioned, so the cutting position needs to be measured and adjusted before fixing, which not only leads to complicated cutting operation and low work efficiency, but also reduces the cutting accuracy of the pipeline.

[0005] Therefore, the application provides a pipeline cutting robot. SUMMARY

[0006] In order to make up for the deficiencies of the prior art and solve at least one technical problem in the background art.

[0007] The technical scheme adopted by the application to solve the technical problem is that the pipeline cutting robot 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 for conveying the pipeline, the cutting mechanism is used for cutting the pipeline, a linear slide rail is fixed to one side of the top surface of the feeding conveyor, a stand column is fixed to the top of the sliding block of the linear slide rail, a lifting slide table is slidably installed in the stand column, a baffle is fixed to one side of the feeding conveyor close to the lifting slide table, the baffle is used for blocking the end of the pipeline, and a laser range finder is arranged on the top of the baffle.

[0008] Preferably, a plurality of supporting tables are uniformly and fixedly connected in the middle of the top surface of the feeding conveyor; the top of the supporting tables is hingedly connected with a pushing groove plate; the concave inner wall of the pushing groove plate is in sliding contact with the outer wall of the pipeline; a plurality of first hydraulic cylinders are rotationally installed between the side of the pushing groove plate close to the linear slide rail and the top surface of the feeding conveyor.

[0009] Preferably, the cutting mechanism comprises a mounting plate; the two sides of the mounting plate are fixedly connected with the top surface of the drum conveyor and the top surface of the feeding conveyor respectively; a pair of half-ring tracks are rotationally installed in the middle of the mounting plate; the two half-ring tracks can form a complete ring track; a second hydraulic cylinder is hingedly connected between each half-ring track and the mounting plate; a moving structure is arranged in the inside of the half-ring track and can slide along the half-ring track; a third hydraulic cylinder is arranged on the moving structure; a cutting machine is arranged at the output end of the third hydraulic cylinder; the cutting blade of the cutting machine can cut the pipeline.

[0010] Preferably, the moving structure comprises an arc-shaped outer rack and an arc-shaped inner rack; the arc-shaped outer rack is fixedly connected to the outside of the inner cavity of the half-ring track; the arc-shaped inner rack is fixedly connected to the inside of the inner cavity of the half-ring track; the two arc-shaped outer racks can be butt-jointed to form an inner gear ring; the two arc-shaped inner racks can be butt-jointed to form an outer gear ring; a moving shell is slidably arranged in the inside of the half-ring track; moving gears are rotationally installed on the two sides of the moving shell; the two moving gears are respectively engaged with the arc-shaped outer rack and the arc-shaped inner rack; a driving assembly is arranged in the inside of the moving shell and drives the two moving gears to synchronously rotate.

[0011] Preferably, the driving assembly comprises a driving motor fixedly connected to one end of the inside of the moving shell; the output shaft end structure of the driving motor has a driving gear; a rotating rod is rotationally installed in the middle of the moving shell; a face gear is arranged on the outer circle of the rotating rod; the face gear can be engaged with the driving gear; synchronous wheels are fixedly connected to the bottom outer circle of the rotating rod and the rotating shaft of the moving gear; a plurality of synchronous wheels are sleeved with a synchronous belt.

[0012] Preferably, rotating arms are rotationally installed at the four corners of the moving shell; torsional springs are arranged between the rotating arms and the moving shell; notches are formed in the ends of the rotating arms away from the moving shell; stabilizing gears are rotationally installed in the notches; the stabilizing gears can be engaged with the arc-shaped outer rack and the arc-shaped inner rack.

[0013] Preferably, two locking units are arranged inside the two rotating arms at one end of the mobile shell, the locking unit comprises a pair of clamping plates, the two clamping plates are respectively slidably arranged on the top surface and the bottom surface of the notch, and the two clamping plates are respectively located at the top and the bottom of the stabilizing gear, the clamping plates can slide to press the stabilizing gear, a first sliding rod is slidably arranged inside the clamping plate close to one end of the mobile shell, a plurality of springs are fixed between the first sliding rod and the inside of the clamping plate, four first connecting rods are arranged inside the notch, the four first connecting rods are hingedly connected to form a rhombus structure, and a torsion spring is arranged at the hinge of the first connecting rod, a second connecting rod is arranged on the outer circle of the hinge rod of the two first connecting rods at the top and the bottom, the other end of the second connecting rod is fixedly connected with the first sliding rod, a cable is fixedly connected with the hinge rod of one of the first connecting rods close to one end of the mobile shell, the cable penetrates through the outer wall of the rotating arm and the mobile shell, and a transmission structure is arranged inside the mobile shell and connected with the cable and the driving assembly.

[0014] Preferably, the transmission structure comprises a lifting sleeve rod arranged on the outer circle of the rotating rod, a limiting sliding groove is arranged on the outer circle of the rotating rod, a protrusion matched with the limiting sliding groove is fixedly connected to the inner circle bottom of the lifting sleeve rod, the face gear is fixedly connected to the outer circle of the lifting sleeve rod, a horizontal rod is rotatably arranged on the top outer circle of the lifting sleeve rod, a guide rod slidably penetrating through the horizontal rod is fixedly connected to the inner cavity of the mobile shell, four fourth hydraulic cylinders are fixedly connected between the top surface of the horizontal rod and the top surface of the inner cavity of the mobile shell, a connecting frame is fixedly connected to one end of the inner cavity of the mobile shell close to the locking unit, a connecting piece is slidably arranged in the connecting frame, the cable is fixedly connected with the connecting piece, the end of the connecting piece away from the cable slidably penetrates through the connecting frame, and a third connecting rod is hingedly connected between the connecting piece and the horizontal rod.

[0015] Preferably, guide frames are fixedly connected to the two sides of the notch, the hinge rods of one of the first connecting rods close to the mobile shell are slidably connected with the guide frames on the two sides, and the hinge rods of one of the first connecting rods away from the mobile shell are rotatably connected with the guide frames on the two sides.

[0016] Preferably, brake ring plates are fixedly connected to the top surface and the bottom surface of the stabilizing gear, and a non-slip pad is fixedly connected to the side of the clamping plate close to the stabilizing gear.

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

[0018] 1. A pipeline cutting robot, the pipeline cutting robot is characterized by comprising a linear slide rail, a stand, a slide table and a baffle, a laser range finder on the baffle detects the distance from the cutting mechanism, the position of the baffle is accurately controlled and adjusted, the slide table inside the stand is controlled to lift and lower, the baffle is lifted and lowered, the baffle can block the end of the pipeline, at this time, the length of the pipeline on the unloading conveyor is the set cutting length, the cutting work difficulty is reduced, the work efficiency is improved, and the cutting precision is improved.

[0019] 2. The pipeline cutting robot is characterized by comprising a support table, a lifting groove plate and a first hydraulic cylinder, the cut pipeline falls on the top groove of the lifting groove plate, at this time, the first hydraulic cylinder pushes one side of the lifting groove plate, the lifting groove plate is turned over to the other side, the cut pipeline is rolled and slid to the side of the unloading conveyor, so that the unloading work of the pipeline is realized, and the position of the baffle is not affected by the unloading work. BRIEF DESCRIPTION OF DRAWINGS

[0020] The application will be further described below with reference to the drawings.

[0021] Figure 1 is a perspective view of the application;

[0022] Figure 2 is a perspective view of the unloading conveyor in the application;

[0023] Figure 3 is a perspective view of the cutting mechanism in the application;

[0024] Figure 4 is an exploded view of the cutting mechanism in the application;

[0025] Figure 5 is an internal structure diagram of the semi-annular track in the application;

[0026] Figure 6 is a perspective view of the moving structure in the application;

[0027] Figure 7 is an internal structure diagram of the moving shell in the application;

[0028] Figure 8 is an exploded view of the moving structure in the application;

[0029] Figure 9 is a perspective view of the transmission structure in the application;

[0030] Figure 10 is an exploded view of the rotating arm in the application;

[0031] Figure 11 is an internal structure diagram of the rotating arm in the application;

[0032] Figure 12 is a perspective view of the locking unit in the present application;

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

[0034] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application is further described below in combination with specific embodiments.

[0035] As shown in Figures 1-2 the figure, the pipe cutting robot provided by the embodiment of the present application 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 for conveying a pipe 3; the cutting mechanism is used for cutting the pipe 3; a linear slide rail 4 is fixedly connected to a top side of the feeding conveyor 2; a stand 5 is fixedly connected to a top of a sliding block of the linear slide rail 4; a sliding table 6 capable of lifting is slidingly installed in the stand 5; a baffle 7 is fixedly connected to a side of the sliding table 6 close to the feeding conveyor 2; the baffle 7 is used for blocking an end of the pipe 3; a laser range finder is arranged on a top of the baffle 7;

[0036] In the embodiment, the roller conveyor 1 is driven to rotate by a motor to perform the conveying work of the pipe 3, and a clamping mechanism for clamping and fixing the pipe 3 is arranged on the roller conveyor 1;

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

[0038] In the embodiment, a ball screw driven by a motor is arranged in the stand 5, and the ball screw is used for driving the sliding table 6 to lift;

[0039] The laser range finder in the embodiment can accurately measure the distance between the cutting mechanism and the baffle 7, that is, the length of the pipe 3 to be cut;

[0040] In work, according to the length of the pipe, the sliding distance of the sliding block on the linear slide rail 4 is set, and the distance between the baffle 7 and the cutting mechanism is detected by the laser range finder on the baffle 7 to accurately control the position of the baffle 7; then the lifting platform 6 inside the stand 5 is controlled to lift and drive the baffle 7 to lift, so that the baffle 7 can block the end of the pipe 3; when cutting pipes of the same length, it only needs to be adjusted once and does not need to be adjusted again.

[0041] After adjustment, the pipe 3 is conveyed to the cutting mechanism by the drum conveyor 1, the pipe 3 moves through the cutting mechanism to the top of the discharging 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 discharging conveyor 2 is the set cutting length, at this time, the cutting mechanism cuts the pipe 3, then the discharging conveyor 2 discharges the cut pipe 3, and at the same time, the drum conveyor 1 continues to convey the pipe 3 to be cut; not only reduces the difficulty of cutting work, but also improves the work efficiency and cutting precision.

[0042] As shown in Figures 1-2 , a plurality of support tables 8 are uniformly and fixedly connected to the middle of the top surface of the discharging conveyor 2; a plurality of push-up groove plates 9 are hingedly connected to the top of the plurality of support tables 8; the concave inner wall of the push-up groove plate 9 is in sliding contact with the outer wall of the pipe 3; a plurality of first hydraulic cylinders 10 are rotatably installed between the side of the push-up groove plate 9 close to the linear slide rail 4 and the top surface of the discharging conveyor 2;

[0043] In work, when the pipe 3 moves through the cutting mechanism to the top of the discharging conveyor 2, at this time, the plurality of first hydraulic cylinders 10 are in a contracted state, so that the push-up groove plate 9 is in a horizontal state, and the pipe 3 can slide to the top concave surface of the push-up groove plate 9; through the groove structure of the push-up groove plate 9, the stability of the pipe 3 during cutting can be effectively improved;

[0044] When the pipe 3 is cut, the cut pipe 3 falls on the top groove of the push-up groove plate 9, at this time, the first hydraulic cylinder 10 pushes one side of the push-up groove plate 9, so that the push-up groove plate 9 flips to the other side, so that the cut pipe 3 rolls and slides to the side surface of the discharging conveyor 2, thereby realizing the discharging work of the pipe 3, and avoiding the influence of the discharging work on the position of the baffle 7 and the adjustment of the position of the baffle 7.

[0045] As shown in Figure 1 , Figure 3 , and Figure 4As shown, the cutting mechanism comprises a mounting plate 11; the two sides of the mounting plate 11 are respectively fixedly connected with the top surface of the drum conveyor 1 and the top surface of the discharging conveyor 2; a pair of half-ring tracks 12 are rotatably installed at the middle part of the mounting plate 11; the two half-ring tracks 12 can form a complete ring track; a No. 2 hydraulic cylinder 13 is hingedly connected between each half-ring track 12 and the mounting plate 11; a moving structure is arranged inside the half-ring track 12 and can slide along the half-ring track 12; a No. 3 hydraulic cylinder 14 is arranged on the moving structure; a cutting machine 15 is arranged at the output end of the No. 3 hydraulic cylinder 14; the cutting blade of the cutting machine 15 can cut the pipeline 3;

[0046] When the drum conveyor 1 conveys the pipeline 3 towards the cutting mechanism, at this time, the No. 2 hydraulic cylinder 13 is in an extended state, pushes the two half-ring tracks 12 to approach each other to form a complete ring track, so that the moving structure can move in a ring along the complete ring track, at the same time, the No. 3 hydraulic cylinder 14 is in a retracted state, so that the cutting machine 15 is located at the side of the half-ring track 12;

[0047] When cutting the pipeline 3, the No. 3 hydraulic cylinder 14 pushes the cutting machine 15 to approach the pipeline 3, until the cutting blade of the cutting machine 15 cuts through the outer wall of the pipeline 3, at this time, the moving structure moves in a ring along the complete ring track, driving the cutting machine 15 to rotate and cut around the pipeline 3;

[0048] When the pipeline 3 is cut, the No. 3 hydraulic cylinder 14 drives the cutting machine 15 to move and reset, so that the cutting blade of the cutting machine 15 is separated from the pipeline 3; then, the No. 2 hydraulic cylinder 13 is retracted to drive the half-ring track 12 to rotate, so that the two half-ring tracks 12 are rotated and opened; thereby avoiding that the half-ring track 12 blocks the pipeline 3 from being turned over and discharged.

[0049] As shown in the figure, Figures 3-8 As shown, the moving structure comprises an arc-shaped outer gear rack 16 and an arc-shaped inner gear rack 17; the arc-shaped outer gear rack 16 is fixedly connected to the outside of the inner cavity of the half-ring track 12; the arc-shaped inner gear rack 17 is fixedly connected to the inside of the inner cavity of the half-ring track 12; the two arc-shaped outer gear racks 16 can be butt-jointed to form an inner gear ring; the two arc-shaped inner gear racks 17 can be butt-jointed to form an outer gear ring; a moving shell 18 is slidably arranged inside the half-ring track 12; moving gears 19 are rotatably installed at the two sides of the moving shell 18; the two moving gears 19 are respectively engaged with the arc-shaped outer gear rack 16 and the arc-shaped inner gear rack 17; a driving assembly is arranged inside the moving shell 18, and the driving assembly drives the two moving gears 19 to synchronously rotate;

[0050] When working, the driving assembly drives the two moving gears 19 to rotate synchronously, and through the meshing of the two moving gears 19 with the arc-shaped outer gear rack 16 and the arc-shaped inner gear rack 17 respectively, the moving shell 18 is driven to slide along the semi-annular track 12 at a constant speed, thereby driving the cutting machine 15 to move around the pipeline 3 for cutting;

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

[0052] As shown in Figures 7-8 , the driving assembly comprises a driving motor 20 fixedly connected to an inner end of the moving shell 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 at the middle part of the moving shell 18; a face gear 23 is arranged at the outer circle of the rotating rod 22; the face gear 23 can be meshed with the driving gear 21; a synchronous wheel 24 is fixedly connected to the bottom outer circle of the rotating shaft of the moving gear 19 and the bottom outer circle of the rotating rod 22; a plurality of synchronous wheels 24 are sleeved with a synchronous belt 25;

[0053] When working, the driving motor 20 drives the driving gear 21 to rotate, cooperates with the meshing transmission of the face gear 23, drives the rotating rod 22 to rotate, drives one synchronous wheel 24 to rotate, and through the transmission of the synchronous belt 25, the other two synchronous wheels 24 rotate synchronously, so that the two moving gears 19 rotate synchronously, thereby providing sufficient power for the movement of the moving shell 18.

[0054] As shown in Figures 6-10 , rotating arms 26 are rotatably installed at the four corners of the moving shell 18; torsional springs are arranged between the rotating arms 26 and the moving shell 18; notches 27 are formed at the ends of the rotating arms 26 away from the moving shell 18; stable gears 28 are rotatably installed inside the notches 27; the stable gears 28 can be meshed with the arc-shaped outer gear rack 16 and the arc-shaped inner gear rack 17;

[0055] When working, the rotating arms 26 are driven by the torsional springs to rotate towards the arc-shaped outer gear rack 16 and the arc-shaped inner gear rack 17, so that the stable gears 28 can be meshed with the arc-shaped outer gear rack 16 and the arc-shaped inner gear rack 17; through the meshing of the plurality of stable gears 28 with the arc-shaped outer gear rack 16 and the arc-shaped inner gear rack 17 respectively, the stability of the movement of the moving shell 18 is improved, and the stability of the cutting is further improved.

[0056] As shown in Figures 7-12As shown, two locking units are arranged inside the two rotating arms 26 at one end of the moving shell 18, each of which comprises a pair of clamping plates 29; the two clamping plates 29 are respectively slidingly installed on the top surface and the bottom surface of the slot 27, and are respectively located at the top and the bottom of the stabilizing gear 28; the clamping plates 29 can slide to press the stabilizing gear 28; a first sliding rod 30 is slidingly installed inside the clamping plate 29 near one end of the moving shell 18; a plurality of springs are fixed between the first sliding rod 30 and the inside of the clamping plate 29; four first connecting rods 31 are arranged inside the slot 27; the four first connecting rods 31 are hingedly connected to form a rhombus structure, and a torsion spring is arranged at the hinge of the first connecting rod 31; the outer circle of the hinge rod of the two first connecting rods 31 at the top and the bottom is sleeved with a second connecting rod 32; the other end of the second connecting rod 32 is fixedly connected with the first sliding rod 30; a cable 33 is fixedly connected with the hinge rod of one of the first connecting rods 31 near one end of the moving shell 18; the cable 33 penetrates through the outer wall of the rotating arm 26 and the moving shell 18; a transmission structure is arranged inside the moving shell 18, and the transmission structure is connected with the cable 33 and the driving assembly;

[0057] When the two half-ring tracks 12 need to be separated and opened after the cutting of the pipeline 3 is completed, the transmission structure controls the driving assembly to stop driving the rotating of the moving gear 19, at the same time, the transmission structure pulls the cable 33 to move, so that the middle two ends of the rhombus structure composed of the four first connecting rods 31 are pulled to the two sides, and the top end and the bottom end move towards the middle, so that the two second connecting rods 32 move towards the moving shell 18 and approach each other, driving the first sliding rod 30 to slide out of the clamping plate 29, at the same time, the two first sliding rods 30 drive the clamping plates 29 to approach each other, and the two clamping plates 29 approach each other to clamp the two surfaces of the stabilizing gear 28, locking and fixing the stabilizing gear 28; thereby fixing the moving structure in the half-ring track 12, thereby avoiding the situation that the moving structure and the cutting machine 15 are separated from the half-ring track 12 after the half-ring track 12 is separated.

[0058] As Figures 7-9As shown, the transmission structure comprises a lifting sleeve rod 34 sleeved on the outer ring of the rotating rod 22; the outer ring of the rotating rod 22 is provided with a limiting sliding groove 35; the inner ring bottom of the lifting sleeve rod 34 is fixedly connected with a protruding block matched with the limiting sliding groove 35; the face gear 23 is fixedly connected to the outer ring of the lifting sleeve rod 34; the top outer ring of the lifting sleeve rod 34 is rotatably installed with a cross rod 36; the inside of the moving shell 18 is fixedly connected with a guide rod slidingly penetrating through the cross rod 36; the top surface of the cross rod 36 and the inner cavity top surface of the moving shell 18 are fixedly connected with a No. 4 hydraulic cylinder 37; the inner cavity of the moving shell 18 is fixedly connected with a connecting frame 38 near one end of the locking unit; the inside of the connecting frame 38 is slidingly installed with a connecting piece 39; the connecting piece 39 is fixedly connected with the inhaul cable 33; the end of the connecting piece 39 away from the inhaul cable 33 slidingly penetrates through the connecting frame 38; the connecting piece 39 and the cross rod 36 are hingedly connected with a No. 3 connecting rod 40;

[0059] In operation, when the moving structure moves on the semi-annular track 12, the No. 4 hydraulic cylinder 37 is in a contracted state, driving the cross rod 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 moving gear 19 to rotate; at the same time, the cross rod 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 inhaul cable 33 is relaxed; at this time, the torsional spring on the No. 1 connecting rod 31 resets, so that the two ends of the diamond-shaped structure composed of the No. 1 connecting rod 31 are close to each other, the top end and the bottom end are far away from each other, the spring in the clamping plate 29 resets, the No. 1 sliding rod 30 is pulled into the clamping plate 29, so that the two clamping plates 29 are far away from each other and reset, the moving gear 19 is relaxed, so that the moving gear 19 can rotate;

[0060] When the cutting is completed and the two semi-annular tracks 12 need to be separated and opened; at this time, the No. 4 hydraulic cylinder 37 extends to push the cross rod 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 rod 36 drives the No. 3 connecting rod 40 to move, driving the connecting piece 39 to slide along the connecting frame 38, pulling the inhaul cable 33 to be taut and move, so that the middle part of the diamond-shaped structure composed of the four No. 1 connecting rods 31 is pulled to the two sides, and the top end and the bottom end move toward the middle part, so that the two No. 2 connecting rods 32 move toward the moving shell 18 and are close to each other, driving the No. 1 sliding rod 30 to slide from the clamping plate 29, at the same time, the two No. 1 sliding rods 30 drive the clamping plates 29 to be close to each other, the two clamping plates 29 clamp and stabilize the two surfaces of the stabilizing gear 28, locking and fixing the stabilizing gear 28; so as to fix the moving structure in the semi-annular track 12, thereby avoiding the situation that the moving structure and the cutting machine 15 are separated from the semi-annular track 12 after the semi-annular track 12 is separated;

[0061] Through the transmission structure, the driving disconnection of the driving assembly corresponds to the starting and closing of the locking unit, thereby effectively improving the stability of the moving structure during moving and stopping, and improving the safety of the cutting work.

[0062] As shown in Figures 10-12 The both sides of the notch 27 are fixedly connected with guide frames 41; the both ends of the hinged rod of the one connecting rod 31 close to the moving shell 18 are respectively slidably connected with the both guide frames 41; the both ends of the hinged rod of the one connecting rod 31 far from the moving shell 18 are respectively rotatably connected with the both guide frames 41.

[0063] The guide frames 41 provide the moving of the diamond-shaped structure composed of the four connecting rods 31 with guiding function, effectively improving the overall stability of the diamond-shaped structure, and further improving the clamping stability of the locking unit.

[0064] As shown in Figures 9-11 The top surface and the bottom surface of the stabilizing gear 28 are fixedly connected with brake ring plates 42; the one side of the clamping plate 29 close to the stabilizing gear 28 is fixedly connected with a non-slip pad; the brake ring plates 42 and the non-slip pad cooperate, effectively improving the firmness of the locking of the stabilizing gear 28.

[0065] Working principle: according to the length of the required pipeline, the sliding distance of the slider on the linear slide rail 4 is set, and the distance between the laser range finder on the baffle 7 and the cutting mechanism is detected, so as to accurately control the position of the baffle 7; then the slide table 6 inside the stand column 5 is controlled to ascend and descend, driving the baffle 7 to ascend and descend, so that the baffle 7 can block the end of the pipeline 3; when cutting the pipeline with the same length, it is only necessary to control and adjust once without the need for further adjustment.

[0066] The second hydraulic cylinder 13 is in an extended state, pushing the two semi-annular tracks 12 to approach to form a complete annular track, so that the moving structure can move along the complete annular track, at the same time, the third hydraulic cylinder 14 is in a retracted state, so that the cutting machine 15 is on the side of the semi-annular track 12; at the same time, the fourth hydraulic cylinder 37 is in a retracted state, driving the cross rod 36 and the lifting sleeve rod 34 to slide, driving the face gear 23 to mesh with the drive gear 21, so that the drive motor 20 can drive the moving gear 19 to rotate; at the same time, the cross rod 36 drives the third 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 torsional spring on the first connecting rod 31 resets, so that the two ends of the diamond-shaped structure composed of the first connecting rod 31 approach, the top and bottom ends are far away, at the same time, the spring in the clamp plate 29 resets, pulling the first sliding rod 30 into the clamp plate 29, so that the two clamp plates 29 are far away from each other and reset, relaxing the moving gear 19, so that the moving gear 19 can rotate; at the same time, the rotating arm 26 rotates under the action of the torsional spring, so that the rotating arm 26 rotates towards the arc-shaped outer gear rack 16 and the arc-shaped inner gear rack 17, so that the stabilizing gear 28 can mesh with the arc-shaped outer gear rack 16 and the arc-shaped inner gear rack 17;

[0067] After adjustment, the drum conveyor 1 conveys the pipe 3 to the cutting mechanism, the pipe 3 passes through the cutting mechanism and moves to the top of the discharging 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 discharging conveyor 2 is set to the cutting length;

[0068] When cutting the pipe 3, the third hydraulic cylinder 14 pushes the cutting machine 15 to approach the pipe 3, until the cutting blade of the cutting machine 15 cuts through the outer wall of the pipe 3, the drive motor 20 drives the drive gear 21 to rotate, cooperates with the meshing transmission of the face gear 23, drives the rotating rod 22 to rotate, drives one of the synchronous wheels 24 to rotate, through the transmission of the synchronous belt 25, so that the other two synchronous wheels 24 rotate synchronously, so that the two moving gears 19 rotate synchronously; the moving structure moves along the complete annular track, driving the cutting machine 15 to rotate and cut around the pipe 3;

[0069] When the pipe 3 cutting is completed, the No. 3 hydraulic cylinder 14 drives the cutting machine 15 to move back to reset, so that the cutting blade of the cutting machine 15 is separated from the pipe 3; then, the No. 2 hydraulic cylinder 13 retracts to drive the semi-ring track 12 to rotate, so that the two semi-ring tracks 12 are opened by rotating; at this time, the No. 4 hydraulic cylinder 37 extends to push the cross rod 36 and the lifting sleeve rod 34 to slide, drive 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 rod 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 be taut and moves, so that the middle two ends of the diamond structure composed of four No. 1 connecting rods 31 are pulled to the two sides, and the top end and the bottom end move to the middle, so that the two No. 2 connecting rods 32 move to the moving shell 18 while approaching, drive the No. 1 slide rod 30 to slide from the clamping plate 29, at the same time, the two No. 1 slide rods 30 drive the clamping plate 29 to approach, and the two clamping plates 29 approach to clamp the two sides of the stable gear 28, lock and fix the stable gear 28; so as to fix the moving structure in the semi-ring track 12, thereby avoiding the situation that the moving structure and the cutting machine 15 are separated from the semi-ring track 12 after the semi-ring track 12 is opened;

[0070] The cut pipe 3 falls in the top groove of the push groove plate 9, at this time, the No. 1 hydraulic cylinder 10 pushes one side of the push groove plate 9, so that the push groove plate 9 is turned to the other side, so that the cut pipe 3 rolls and slides to the side surface of the discharging conveyor 2, so as to realize the discharging work of the pipe 3.

[0071] The above shows and describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A pipe cutting robot, characterized in that: The system includes a roller conveyor and a discharge conveyor; a cutting mechanism is provided between the roller conveyor and the discharge conveyor; the roller conveyor is used to transport pipes; the cutting mechanism is used to cut the pipes; a linear slide rail 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 rail; a liftable slide is slidably installed inside the column; a baffle is fixedly connected to the side of the slide near the discharge conveyor; the baffle is used to block the end of the pipe; a laser rangefinder is provided on the top of the baffle. The cutting mechanism includes a mounting plate; both sides of the mounting plate are fixedly connected to the top surface of the roller conveyor and the top surface of the unloading conveyor, respectively; 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 second hydraulic cylinder is hinged between each semi-circular track and the mounting plate; a movable structure is provided inside the semi-circular track, and the movable structure can slide along the semi-circular track; a third hydraulic cylinder is provided on the movable structure; a cutting machine is provided at the output end of the third hydraulic cylinder; the cutting blade of the cutting machine can cut pipes; The movable structure includes an arc-shaped external rack and an arc-shaped internal rack; the arc-shaped external rack is fixed to the outer side of the inner cavity of the semi-circular track; the arc-shaped internal rack is fixed to the inner side of the inner cavity of the semi-circular track; two arc-shaped external racks can be joined together to form an internal gear ring; two arc-shaped internal racks can be joined together to form an external gear ring; a movable housing is slidably disposed inside the semi-circular track; movable gears are rotatably mounted on both sides of the movable housing; two movable gears respectively mesh with the arc-shaped external rack and the arc-shaped internal rack; a drive assembly is disposed inside the movable housing, and the drive assembly drives the two movable gears to rotate synchronously; The drive assembly includes a drive motor fixedly connected to one end of the interior of the movable housing; the output shaft of the drive motor has a drive gear at its end; a rotating rod is rotatably mounted in the middle of the movable housing; a face gear is provided on the outer ring of the rotating rod; the face gear can mesh with the drive gear; a synchronous pulley is fixedly connected to the bottom outer ring of the rotating rod and the bottom outer ring of the rotating shaft of the movable gear; a synchronous belt is sleeved on the outer ring of the multiple synchronous pulleys. Rotary arms are rotatably mounted at each of the four corners of the movable housing; torsion springs are provided between the rotary arms and the movable housing; a slot is opened at the end of the rotary arm away from the movable housing; a stabilizing gear is rotatably mounted inside the slot; the two stabilizing gears above the movable housing can mesh with the arc-shaped external rack, and the two stabilizing gears below the movable housing can mesh with the arc-shaped internal rack; Both rotating arms located at one end of the movable housing are equipped with locking units, each including a pair of clamping plates. The two clamping plates are slidably mounted on the top and bottom surfaces of the slot, respectively, and are positioned at the top and bottom of the stabilizing gear. The clamping plates can slide close to and compress the stabilizing gear. A first sliding rod is slidably mounted inside the end of each clamping plate near the movable housing. Multiple springs are fixedly connected between the first sliding rod and the interior of the clamping plate. Four first connecting rods are provided inside the slot. The four first connecting rods are hinged end-to-end to form a rhomboid structure, and torsion springs are provided at the hinge points of the first connecting rods. Second connecting rods are fitted around the hinges of the top and bottom two first connecting rods. The other end of the second connecting rod is fixedly connected to the first sliding rod. A cable is fixedly connected to the hinge of one of the first connecting rods near the movable housing. The cable passes through the rotating arm and the outer wall of the movable housing. A transmission structure is provided inside the movable housing, connecting the cable and the drive assembly. The transmission structure includes a lifting sleeve sleeved on the outer ring of the rotating rod; a limiting groove is formed on the outer ring of the rotating rod; a protrusion that mates with the limiting groove is fixedly connected to the bottom of the inner ring of the lifting sleeve sleeve; the face gear is fixedly connected to the outer ring of the lifting sleeve sleeve; a crossbar is rotatably mounted on the top outer ring of the lifting sleeve sleeve; a guide rod that slides through the crossbar is fixedly connected inside the movable housing; a hydraulic cylinder No. 4 is fixedly connected between the top surface of the crossbar and the top surface of the inner cavity of the movable housing; a connecting frame is fixedly connected to one end of the inner cavity of the movable housing near 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 connecting rod No. 3 is hinged between the connecting piece and the crossbar.

2. The pipe cutting robot according to claim 1, characterized in that: Multiple support platforms are uniformly fixed to the center of the top surface of the feeding conveyor; a lifting trough plate is hinged to the top of the multiple support platforms; the concave inner wall of the lifting trough plate slides in contact with the outer wall of the pipe; multiple hydraulic cylinders are rotatably installed between the side of the lifting trough plate near the linear slide rail and the top surface of the feeding conveyor.

3. The pipe cutting robot according to claim 1, characterized in that: Guide frames are fixed to both sides of the slot; the two ends of the hinge rod of the first connecting rod closer to the movable housing are slidably engaged with the guide frames on both sides; the two ends of the hinge rod of the first connecting rod farther from the movable housing are rotatably connected to the guide frames on both sides.

4. A pipe cutting robot according to claim 1, characterized in that: Brake rings are fixed to both the top and bottom surfaces of the stabilizing gear; an anti-slip pad is fixed to the side of the clamp plate closest to the stabilizing gear.

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