Double-station manipulator automatic flame cutting equipment

Abstract

The invention relates to the technical field of cutting equipment, in particular to double-station manipulator automatic flame cutting equipment which comprises a base and a flame cutting tool bit, and a transverse moving part is movably arranged at the top of the base and used for driving the flame cutting tool bit to transversely move. The cutting slag is collected through the arranged slag collecting component, the slag collecting frame in the slag collecting component can move along with the flame cutting tool bit to collect the cutting slag, and when the slag collecting frame moves, two torsion rods and a torsion limiting sliding strip move together, so that a blocking turning plate cannot rotate downwards, and the cutting slag located in the slag collecting frame cannot scatter from the bottom of the slag collecting frame; after a torsion limiting sliding strip slides into a fan-shaped groove along a path groove, the gravity action of a blocking turning plate drives a torsion rod and the torsion limiting sliding strip to rotate downwards, the bottom of a slag collecting frame is opened, cut slag located in the slag collecting frame falls into a scooping groove through a bottom opening opening, and therefore cleaning of the interior of the slag collecting frame is automatically completed; and the practicability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of cutting equipment, in particular to a dual-station manipulator automatic flame cutting equipment. Background Art

[0002] Common flame cutting gases include acetylene, propane, liquefied gas, coke oven gas, natural gas, etc. According to the Chinese patent authorization announcement number: CN115770923B, an alloy flame cutting processing equipment is disclosed. After the tightening bolt is loosened, the vertical hammer rod is hammered downward to spread the two semicircular simple plates apart, so as to prevent the two semicircular simple plates from being stuck together by the welded molten alloy slag and difficult to open, which hinders the cleaning of the alloy slag in the slag barrel. However, after use, the slag barrel of the above equipment still needs to be cleaned manually, which has limited practicality. In addition, there is a gap between the top of the slag barrel of the above equipment and the object to be cut. Some of the cut slag is easily splashed out from the gap, and the collection effect is not ideal. Summary of the Invention

[0003] To this end, the present invention provides a dual-station manipulator automatic flame cutting device to solve the above-mentioned problems.

[0004] The present invention provides the following technical solutions: a dual-station manipulator automatic flame cutting device, comprising a base and a flame cutting head;

[0005] A transverse moving component is movably provided on the top of the base, and is used to drive the transverse movement of the flame cutting head;

[0006] A longitudinal moving component is provided inside the transverse moving component, and the longitudinal moving component is used to drive the longitudinal movement of the flame cutting cutter head;

[0007] A slag collecting component is provided inside the transverse moving component, and the slag collecting component is used for collecting cut slag;

[0008] A supporting component is provided on the top of the base, and the supporting component is used to support the object to be cut.

[0009] As a preferred solution of the present invention, the transverse moving component includes two transverse moving vertical plates distributed front and back, the tops of the two transverse moving vertical plates are commonly connected to a transverse moving horizontal plate, the tops of the transverse moving horizontal plates are penetrated by a slide groove, the longitudinal moving component is slidably installed inside the slide groove, the bottoms of the transverse moving vertical plates are fixedly installed with linear sliders, the top of the base is fixedly installed with two linear guide rails distributed front and back, the outer walls of the two linear guide rails are respectively slidably connected to the inner walls of the two linear sliders.

[0010] As a preferred solution of the present invention, a shift bar is fixedly installed on the side where the two linear sliders are close to each other, and a ball screw sleeve is commonly connected to the end where the two shift bars are close to each other. A first servo motor is fixedly installed on the top end of the base, and a ball screw is fixedly installed on the end of the output shaft of the first servo motor through a coupling. The ball screw passes through the interior of the ball screw sleeve, and the ball screw and the ball screw sleeve are connected by threaded fitting. A bearing seat is fixedly installed on the end of the top of the base away from the first servo motor, and the inner wall of the bearing seat is rotatably connected to the outer wall of the ball screw.

[0011] As a preferred solution of the present invention, the longitudinal moving component includes a longitudinal slider slidably installed inside the slide groove, the flame cutting head is fixedly installed inside the longitudinal slider, a longitudinal travel motor is fixedly installed on the top of the longitudinal slider, a walking gear is fixedly installed on the output shaft of the longitudinal travel motor, a rack is fixedly installed on the top of the transverse moving cross plate, the rack is located on the opening side of the slide groove, and the rack is located at the bottom of the walking gear, and the walking gear and the rack are engaged with each other.

[0012] The two lever of the two guide wheels have the two locking plates at their sides and the two guide wheels have the two breakaway blocks at their sides and the breakaway blocks are located adjacent the two guide wheels.

[0013] As a preferred solution of the present invention, a stop seam frame is slidably installed on the upper part of the outer wall of the slag collecting frame, rolling rods are rotatably installed on the front and rear parts of the magnetic block, connecting strips are fixedly installed on the left and right parts of the stop seam frame, and a plurality of magnetic blocks equidistantly distributed front and back are fixedly installed on the top of the connecting strip.

[0014] As a preferred solution of the present invention, two left-right distributed support bars are fixedly installed on the top front end and the top rear end of the base, and a scooping trough is fixedly installed on the top of the two left-right distributed support bars, and the height of the scooping trough is adapted to the height of the slag collecting frame.

[0015] As a preferred solution of the present invention, a return spring is fixedly installed between the front portion of the slag collecting frame and the back portion of one of the transversely movable vertical plates facing it.

[0016] As a preferred solution of the present invention, the supporting component includes two left and right distributed light rods, both of which are fixedly installed on the front and rear support bars, and two adjustment blocks are slidably installed on the outer walls of the light rods, and two left and right distributed triangular plates are fixedly installed on the tops of the adjustment blocks, and support pallets are fixedly installed on the tops of the two left and right distributed triangular plates.

[0017] As a preferred solution of the present invention, a second servo motor is fixedly installed on the lower part of the outer side surface of one of the light rods, the output shaft of the second servo motor movably penetrates the horizontally movable vertical plate, and the end of the output shaft of the second servo motor is fixedly installed with a forward and reverse screw rod through a coupling, the outer peripheral threads of the forward and reverse screw rods are connected to two internal thread blocks distributed front and back, and the tops of the internal thread blocks are each provided with a slot, and the two internal thread blocks are respectively located at the positions of the two adjustment blocks corresponding to each other, and the inner wall of the slot is slidably connected to the outer wall of the adjustment block.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. In the present invention, the slag is collected by a slag collecting component, and the slag collecting frame in the slag collecting component can collect the slag as the flame cutting head moves. During the movement of the slag collecting frame, the two torsion bars and the torsion limiting slide bar move together, so that the blocking flap will not rotate downward, and the slag inside the slag collecting frame will not spill from the bottom of the slag collecting frame. When the torsion limiting slide bar slides into the interior of the fan-shaped groove along the path groove, the gravity of the blocking flap drives the torsion bar and the torsion limiting slide bar to rotate downward, the bottom of the slag collecting frame is opened, and the slag inside the slag collecting frame falls into the interior of the scooping groove through the bottom opening, thereby automatically completing the cleaning of the inside of the slag collecting frame, which is highly practical.

[0020] 2. In the present invention, the magnetic attraction between the magnetic block and the bottom of the steel plate causes multiple magnetic blocks to move upward. The upward movement of the multiple magnetic blocks drives the stop seam frame to slide upward along the outer wall of the slag collecting frame through the connecting strip, so that the top of the stop seam frame fits with the bottom of the steel plate, and the outer walls of the two rolling rods just abut against the bottom of the steel plate. Therefore, under the fitting effect of the top of the stop seam frame and the bottom of the steel plate, there will be no gap between the top of the slag collecting frame and the bottom of the steel plate, so that the cut slag can be better collected inside the slag collecting frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The structure of the present invention is schematically shown Figure 1 ;

[0022] Figure 2The structure of the present invention is schematically shown Figure 2 ;

[0023] Figure 3 For the present invention Figure 2 Schematic diagram of part of the structure;

[0024] Figure 4 Schematic diagram of the cross-sectional structure of the transversely movable vertical plate in the present invention;

[0025] Figure 5 Schematic diagram of the cross-sectional structure of the slag collecting frame in the present invention;

[0026] Figure 6 For the present invention Figure 4 A schematic diagram of the enlarged structure of part A;

[0027] Figure 7 For the present invention Figure 5 Schematic diagram of the enlarged structure of part B;

[0028] Figure 8 For the present invention Figure 5 Schematic diagram of the enlarged structure of part C.

[0029] In the figure: 1. Base; 2. Lateral moving part; 3. Longitudinal moving part; 4. Slag collecting part; 5. Support part; 6. Flame cutting head; 201. Lateral moving vertical plate; 202. Lateral moving horizontal plate; 203. Slide; 204. Linear slider; 205. Dial bar; 206. Ball screw sleeve; 207. First servo motor; 208. Ball screw; 209. Bearing seat; 2010. Linear guide; 301. Longitudinal slider; 302. Longitudinal travel motor; 303. Traveling gear; 304. Rack; 401. Guide rail frame; 402. Path Groove; 403, fan-shaped groove; 404, slag collecting frame; 4041, stop seam frame; 405, torsion rod; 406, blocking flap; 407, torque limiting slide; 408, rolling rod; 409, connecting strip; 4010, magnetic block; 4011, return spring; 4012, soft rope; 4013, support roller; 4014, support bar; 4015, scooping groove; 501, polished rod; 502, adjustment block; 503, triangle plate; 504, support tray; 505, second servo motor; 506, forward and reverse screw rod; 507, internal thread block; 508, slot. DETAILED DESCRIPTION

[0030] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] See also Figure 1 - Figure 8 The technical solution provided by the present invention specifically includes the following embodiments:

[0032] Embodiment 1, a dual-station manipulator automatic flame cutting device, comprising a base 1 and a flame cutting head 6;

[0033] The top of the base 1 is provided with a transverse moving part 2, which is used to drive the transverse movement of the flame cutting head 6. The transverse moving part 2 includes two transverse moving vertical plates 201 distributed front and back. The tops of the two transverse moving vertical plates 201 are connected to a transverse moving horizontal plate 202. The top of the transverse moving horizontal plate 202 is provided with a slide groove 203. The longitudinal moving part 3 is slidably installed in the interior of the slide groove 203. The bottoms of the transverse moving vertical plates 201 are fixedly installed with linear sliders 204. The top of the base 1 is fixedly installed with two linear guide rails 2010 distributed front and back. The outer walls of the two linear guide rails 2010 are respectively connected to the outer walls of the two linear sliders 204. The inner wall is slidably connected, and a shift bar 205 is fixedly installed on the side where the two linear sliders 204 are close to each other. The ends of the two shift bars 205 that are close to each other are commonly connected to a ball screw sleeve 206. A first servo motor 207 is fixedly installed on one end of the top of the base 1. A ball screw 208 is fixedly installed on the end of the output shaft of the first servo motor 207 through a coupling. The ball screw 208 passes through the interior of the ball screw sleeve 206, and the ball screw 208 and the ball screw sleeve 206 are connected by threaded fitting. A bearing seat 209 is fixedly installed on the end of the top of the base 1 away from the first servo motor 207. The inner wall of the bearing seat 209 is rotatably connected to the outer wall of the ball screw 208.

[0034] The transverse moving part 2 is provided with a longitudinal moving part 3 for driving the longitudinal movement of the flame cutting head 6. The longitudinal moving part 3 includes a longitudinal slider 301 slidably mounted inside the slide 203. The flame cutting head 6 is fixedly mounted inside the longitudinal slider 301. A longitudinal travel motor 302 is fixedly mounted on the top of the longitudinal slider 301. A walking gear 303 is fixedly mounted on the output shaft of the longitudinal travel motor 302. A rack 304 is fixedly mounted on the top of the transverse moving cross plate 202. The rack 304 is located on the opening side of the slide 203, and the rack 304 is located at the bottom of the walking gear 303. The walking gear 303 and the rack 304 are meshed with each other.

[0035] Specifically, the output shaft of the first servo motor 207 is started to drive the ball screw 208 to rotate, and the bearing seat 209 rotates to drive the ball screw sleeve 206 and the two selectors 205 connected to the ball screw sleeve 206 to move along the axial direction of the ball screw 208. The movement of the two selectors 205 drives the two linear sliders 204 to slide along the two linear guide rails 2010, and drives the two horizontal moving vertical plates 201 together with the horizontal moving horizontal plates 202 connected to the two horizontal moving vertical plates 201 to move together. The movement of the horizontal moving horizontal plate 202 further drives the longitudinal slider 301, the flame cutting tool head 6 and the slag collecting component 4 to move together through the slide groove 203, and the flame cutting tool head 6 and the slag collecting component 4 are moved together. The head 6 moves to the cutting position. Initially, the longitudinal slider 301 is located at one end inside the slide 203. When the flame cutting head 6 reaches the cutting position, the flame cutting head 6 is turned on. The flame cutting head 6 sprays cutting flame to cut the steel plate. At the same time, the output shaft of the longitudinal travel motor 302 drives the walking gear 303 to rotate, and the walking gear 303 is engaged with the rack 304. Therefore, the rotation of the walking gear 303 will roll along the top of the rack 304, and further drive the longitudinal slider 301 to move along one end of the slide 203 to the other end through the longitudinal travel motor 302. The movement of the longitudinal slider 301 will further drive the flame cutting head 6 to move, and perform linear cutting on the steel plate.

[0036] In the second embodiment, a slag collecting component 4 is provided for movement inside the transverse moving component 2. The slag collecting component 4 is used for collecting cut slag. The slag collecting component 4 includes a guide rail frame 401 fixedly installed between the front and rear two transverse moving vertical plates 201. There are two guide rail frames 401, and the two guide rail frames 401 are distributed left and right. A path groove 402 is provided on the side where the two guide rail frames 401 are close to each other. A fan-shaped groove 403 is provided at both ends of the path groove 402. A slag collecting frame 404 is movably provided between the two guide rail frames 401. Two torsion rods 405 are rotatably installed inside the slag collecting frame 404. The outer walls of the torsion rods 405 are fixedly installed with blocking flaps 406. The two blocking flaps The plates 406 are symmetrically distributed front to back about the central axis of the slag collecting frame 404. Torsion-limiting slide bars 407 are fixedly installed at both ends of the torsion rod 405. The torque-limiting slide bar 407 slides inside the path groove 402. A soft rope 4012 is fixedly installed at the rear of the slag collecting frame 404. The end of the soft rope 4012 away from the slag collecting frame 404 is fixedly connected to the front of the longitudinal slider 301. The soft rope 4012 movably passes through the transverse movable horizontal plate 202 and extends to the inside of the slide groove 203. Two support rollers 4013 distributed up and down are fixedly installed on the side away from each other of the two transverse movable vertical plates 201. The soft rope 4012 is wrapped around the periphery of each support roller 4013.

[0037] A stop frame 4041 is slidably mounted on the upper portion of the outer wall of the slag collecting frame 404. Rolling rods 408 are rotatably mounted on the front and rear portions of the magnetic blocks 4010. Connecting bars 409 are fixedly mounted on the left and right portions of the stop frame 4041. Multiple magnetic blocks 4010 are fixedly mounted on the top of the connecting bars 409 at equal distances from each other.

[0038] Two support bars 4014 are fixedly installed on the top front and the top rear of the base 1. A scooping groove 4015 is fixedly installed on the top of the two support bars 4014. The height of the scooping groove 4015 is adapted to the height of the slag collecting frame 404.

[0039] Specifically, in this embodiment, during the linear cutting of the flame cutting head 6, the longitudinal slider 301 moves and pulls the soft rope 4012, and under the support of multiple supporting rollers 4013, the soft rope 4012 pulls the slag collecting frame 404 to move along the bottom of the steel plate together with the longitudinal slider 301, thereby collecting the slag generated in the incision. Initially, due to the sealing effect of the two blocking flaps 406 on the bottom of the slag collecting frame 404, the slag falling into the slag collecting frame 404 will not fall, and during the movement of the slag collecting frame 404 along the bottom of the steel plate, the multiple magnetic blocks 4013 are pressed against the bottom of the steel plate. The magnetic attraction between the plurality of magnetic blocks 4010 and the bottom of the steel plate causes the plurality of magnetic blocks 4010 to move upward. The plurality of magnetic blocks 4010 move upward and drive the seam-stopping frame 4041 to slide upward along the outer wall of the slag collecting frame 404 through the connecting strip 409, so that the top of the seam-stopping frame 4041 fits with the bottom of the steel plate, and the outer walls of the two rolling rods 408 just abut against the bottom of the steel plate. Therefore, under the fitting effect of the top of the seam-stopping frame 4041 and the bottom of the steel plate, there is no gap between the top of the slag collecting frame 404 and the bottom of the steel plate, so that the slag can be better collected inside the slag collecting frame 404.

[0040] It should be noted that during the movement of the slag collecting frame 404, the two torsion bars 405 and the torsion limiting slide bar 407 move together. Since the torsion limiting slide bar 407 always slides along the inner wall of the path groove 402, the torsion limiting slide bar 407 will not twist, that is, the torsion bar 405 will not twist, so the blocking flap 406 fixedly connected to the outer wall of the torsion bar 405 will not rotate downward, and the cut slag inside the slag collecting frame 404 will not spill from the bottom of the slag collecting frame 404. When the torsion limiting slide bar 407 slides into the interior of the fan-shaped groove 403 along the path groove 402, the slag collecting frame 404 just moves To the top of a scooping trough 4015, at the same time, the gravity of the blocking flap 406 drives the torsion rod 405 and the torque limiting slide 407 to rotate downward until the bottom of the torque limiting slide 407 contacts the bottom wall of the fan-shaped groove 403, and the blocking flap 406 rotates downward, causing the bottom of the slag collecting frame 404 to be opened, and the cut slag inside the slag collecting frame 404 falls into the interior of the scooping trough 4015 through the bottom opening, thereby automatically completing the cleaning of the interior of the slag collecting frame 404. At the same time, since the slag collecting frame 404 dumps the cut slag into the interior of the scooping trough 4015, it will not cause pollution to the inside of the device.

[0041] Furthermore, a return spring 4011 is fixedly installed between the front of the slag collecting frame 404 and the back of a horizontally movable vertical plate 201 facing it. During the linear cutting of the flame cutting head 6, the longitudinal slider 301 moves and pulls the soft rope 4012, and under the support of multiple supporting rollers 4013, the soft rope 4012 pulls the slag collecting frame 404 to move along the bottom of the steel plate together with the longitudinal slider 301, causing the return spring 4011 to be stretched and stored. When the cutting is completed, the output shaft of the longitudinal travel motor 302 drives the walking gear 303 to rotate in the opposite direction, causing the walking gear 303 to move along the gear The top of the strip 304 rolls in the opposite direction, driving the longitudinal slider 301 and the flame cutting head 6 to reset, thereby releasing the tension on the soft rope 4012, and under the support of multiple support rollers 4013 on the soft rope 4012, the tension on the slag collecting frame 404 is released, causing the reset spring 4011 to rebound, pulling the slag collecting frame 404 to reset together with the longitudinal slider 301, and at the same time, the rebound force of the reset spring 4011 on the slag collecting frame 404 is transmitted to the soft rope 4012 through the slag collecting frame 404, so that the soft rope 4012 can be kept in a straight state at all times, avoiding the soft rope 4012 from bending and knotting.

[0042] In the third embodiment, a support component 5 is provided on the top of the base 1, and the support component 5 is used to support the object to be cut. The support component 5 includes two left and right distributed polished rods 501, and the two polished rods 501 are fixedly mounted on the front and rear support bars 4014. The outer walls of the polished rods 501 are slidably mounted with two adjustment blocks 502, and the tops of the adjustment blocks 502 are fixedly mounted with two left and right distributed triangular plates 503, and the tops of the two left and right distributed triangular plates 503 are fixedly mounted with support plates 504;

[0043] A second servo motor 505 is fixedly mounted on the lower outer side of one of the polished rods 501. The output shaft of the second servo motor 505 movably penetrates the transverse movable vertical plate 201. A forward and reverse screw rod 506 is fixedly mounted on the end of the output shaft of the second servo motor 505 via a coupling. The outer periphery of the forward and reverse screw rod 506 is threadedly connected to two internal thread blocks 507 distributed front and back. A slot 508 is provided on the top of each of the internal thread blocks 507. The two internal thread blocks 507 are respectively located at the positions of the two adjustment blocks 502 in a one-to-one correspondence, and the inner wall of the slot 508 is slidably connected to the outer wall of the adjustment block 502.

[0044] Specifically, in this embodiment, the steel plate to be cut is clamped by an external robot arm and placed on top of two supporting plates 504, as shown in the attached figure. Figure 1 The state shown is sufficient, and the distance between the front and rear support plates 504 in this device is adjustable to facilitate supporting and cutting steel plates of different widths. When adjustment is needed, the second servo motor 505 is started to make its output shaft drive the forward and reverse screw rods 506 to rotate. Due to the forward and reverse thread settings of the forward and reverse screw rods 506, the two internal thread blocks 507 move closer to each other or away from each other during the rotation of the forward and reverse screw rods 506. The movement of the internal thread block 507 further drives the triangular plate 503 together with the support plate 504 through the adjustment block 502, so that the front and rear support plates 504 move together, thereby realizing the adjustment of the distance, meeting the support requirements for steel plates of different widths, and improving the flexibility of the device.

[0045] In this solution, a dual-station manipulator automatic flame cutting device is used. When the device is working, the steel plate to be cut is clamped by an external robot arm and placed on top of two supporting plates 504. Figure 1The state shown is sufficient, and the distance between the front and rear support plates 504 in the device is adjustable, so as to support and cut steel plates of different widths. When adjustment is needed, the second servo motor 505 is started to make its output shaft drive the forward and reverse screw rods 506 to rotate. Due to the forward and reverse thread settings of the forward and reverse screw rods 506, the two internal thread blocks 507 move closer to each other or away from each other during rotation. The movement of the internal thread block 507 further drives the triangular plate 503 together with the support plate 504 through the adjustment block 502, so that the front and rear support plates 504 move together, thereby realizing the adjustment of the distance, meeting the support requirements for steel plates of different widths, and improving the flexibility of the device.

[0046] After the steel plate is placed on top of the two supporting plates 504, the first servo motor 207 is started, so that its output shaft drives the ball screw 208 to rotate, and the bearing seat 209 rotates to drive the ball screw sleeve 206 together with the two selectors 205 connected to the ball screw sleeve 206 to move along the axial direction of the ball screw 208. The movement of the two selectors 205 drives the two linear sliders 204 to slide along the two linear guide rails 2010, and drives the two transverse moving vertical plates 201 together with the transverse moving horizontal plates 202 connected to the two transverse moving vertical plates 201 to move together. The movement of the transverse moving horizontal plates 202 further drives the longitudinal slider 301, the flame cutting head 6 and the slag collecting component 4 to move together through the slide groove 203. After the flame cutting head 6 is moved to the cutting position, the first servo motor 207 is turned off.

[0047] Initially, the longitudinal slider 301 is located at one end of the inner part of the chute 203. When the flame cutting head 6 reaches the cutting position, the flame cutting head 6 is turned on, and the flame cutting head 6 sprays cutting flame to cut the steel plate. At the same time, the output shaft of the longitudinal travel motor 302 drives the traveling gear 303 to rotate, and the traveling gear 303 is engaged with the rack 304. Therefore, the rotation of the traveling gear 303 will roll along the top of the rack 304, and the longitudinal travel motor 302 will further drive the longitudinal slider 301 to move along one end of the chute 203 to the other end. The movement of the longitudinal slider 301 will further drive the flame cutting head 6 to move, and the steel plate will be linearly cut.

[0048] During the linear cutting of the flame cutting head 6, the longitudinal slider 301 moves and pulls the soft rope 4012, and under the support of multiple supporting rollers 4013, the soft rope 4012 pulls the slag collecting frame 404 along the bottom of the steel plate and moves together with the longitudinal slider 301, thereby collecting the slag generated in the incision. Initially, due to the sealing effect of the two blocking flaps 406 on the bottom of the slag collecting frame 404, the slag falling into the slag collecting frame 404 will not fall, and during the movement of the slag collecting frame 404 along the bottom of the steel plate, multiple magnetic blocks 4010 and The magnetic attraction at the bottom of the steel plate causes the multiple magnetic blocks 4010 to move upward. The multiple magnetic blocks 4010 move upward and drive the seam-stopping frame 4041 to slide upward along the outer wall of the slag collecting frame 404 through the connecting strip 409, so that the top of the seam-stopping frame 4041 fits against the bottom of the steel plate, and the outer walls of the two rolling rods 408 just abut against the bottom of the steel plate. Therefore, under the fitting effect of the top of the seam-stopping frame 4041 and the bottom of the steel plate, there is no gap between the top of the slag collecting frame 404 and the bottom of the steel plate, so that the slag can be better collected inside the slag collecting frame 404.

[0049] During the movement of the slag collecting frame 404, the two torsion bars 405 and the torsion limiting slide bar 407 move together. Since the torsion limiting slide bar 407 always slides along the inner wall of the path groove 402 when it moves, the torsion limiting slide bar 407 will not twist, that is, the torsion bar 405 will not twist, so the blocking flap 406 fixedly connected to the outer wall of the torsion bar 405 will not rotate downward, and the cut slag inside the slag collecting frame 404 will not spill from the bottom of the slag collecting frame 404. When the torsion limiting slide bar 407 slides into the interior of the fan-shaped groove 403 along the path groove 402, the slag collecting frame 404 just moves to a receiving position. The top of the scooping groove 4015, at the same time, the gravity of the blocking flap 406 drives the torsion rod 405 and the torque limiting slide 407 to rotate downward until the bottom of the torque limiting slide 407 contacts the bottom wall of the fan-shaped groove 403, and the blocking flap 406 rotates downward, causing the bottom of the slag collecting frame 404 to be opened, and the cut slag inside the slag collecting frame 404 falls into the interior of the scooping groove 4015 through the bottom opening, thereby automatically completing the cleaning of the interior of the slag collecting frame 404. At the same time, since the slag collecting frame 404 dumps the cut slag into the interior of the scooping groove 4015, it will not cause pollution to the inside of the device.

[0050] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A dual-station manipulator automatic flame cutting equipment, characterized by: It includes a base (1) and a flame cutting head (6); A transverse moving component (2), wherein the top of the base (1) is movably provided with a transverse moving component (2), and the transverse moving component (2) is used to drive the flame cutting head (6) to move transversely; A longitudinal moving part (3), wherein the longitudinal moving part (3) is provided inside the transverse moving part (2), and the longitudinal moving part (3) is used to drive the longitudinal movement of the flame cutting head (6); A slag collecting component (4), wherein the lateral moving component (2) is provided with a slag collecting component (4) for collecting cut slag; A supporting component (5) is provided on the top of the base (1), and the supporting component (5) is used to support the object to be cut.

2. The dual-station manipulator automatic flame cutting equipment according to claim 1, characterized in that: The transverse moving component (2) comprises two transverse moving vertical plates (201) distributed front to back, the tops of the two transverse moving vertical plates (201) are connected to a transverse moving horizontal plate (202), the tops of the transverse moving horizontal plates (202) are provided with a slide groove (203), the longitudinal moving component (3) is slidably mounted inside the slide groove (203), the bottoms of the transverse moving vertical plates (201) are fixedly mounted with linear sliders (204), the top of the base (1) is fixedly mounted with two linear guide rails (210) distributed front to back, the outer walls of the two linear guide rails (210) are slidably connected to the inner walls of the two linear sliders (204) respectively.

3. The dual-station manipulator automatic flame cutting equipment according to claim 2, characterized in that: A shift bar (205) is fixedly installed on the side where the two linear sliders (204) are close to each other, and a ball screw sleeve (206) is commonly connected to the end where the two shift bars (205) are close to each other. A first servo motor (207) is fixedly installed on the top end of the base (1), and a ball screw (208) is fixedly installed on the end of the output shaft of the first servo motor (207) through a coupling. The ball screw (208) passes through the interior of the ball screw sleeve (206), and the ball screw (208) and the ball screw sleeve (206) are connected by threaded fitting. A bearing seat (209) is fixedly installed on the end of the top of the base (1) away from the first servo motor (207), and the inner wall of the bearing seat (209) is rotatably connected to the outer wall of the ball screw (208).

4. The dual-station manipulator automatic flame cutting equipment according to claim 3, characterized in that: The longitudinal moving component (3) includes a longitudinal slider (301) slidably mounted inside the chute (203), the flame cutting head (6) is fixedly mounted inside the longitudinal slider (301), a longitudinal travel motor (302) is fixedly mounted on the top of the longitudinal slider (301), a wandering gear (303) is fixedly mounted on the output shaft of the longitudinal travel motor (302), a rack (304) is fixedly mounted on the top of the transverse moving cross plate (202), the rack (304) is located on one side of the opening of the chute (203), and the rack (304) is located at the bottom of the wandering gear (303), and the wandering gear (303) and the rack (304) are meshed with each other.

5. The dual-station manipulator automatic flame cutting equipment according to claim 4, characterized in that: The slag collecting component (4) includes a guide rail frame (401) fixedly installed between two front and rear transverse movable vertical plates (201), the number of the guide rail frames (401) is two, and the two guide rail frames (401) are distributed left and right, and the adjacent side surfaces of the two guide rail frames (401) are each provided with a path groove (402), and both ends of the path groove (402) are each provided with a fan-shaped groove (403), and a slag collecting frame (404) is movably provided between the two guide rail frames (401), and two torsion rods (405) are rotatably installed inside the slag collecting frame (404), and the outer walls of the torsion rods (405) are each fixedly installed with a blocking flap (406), and the two blocking flaps (406) are about the central axis of the slag collecting frame (404). The slag collecting frame (404) is symmetrically distributed front to back, and both ends of the torsion rod (405) are fixedly installed with a limited torsion slide bar (407), and the limited torsion slide bar (407) is slidably located inside the path groove (402). A soft rope (4012) is fixedly installed at the rear of the slag collecting frame (404), and the end of the soft rope (4012) away from the slag collecting frame (404) is fixedly connected to the front of the longitudinal slider (301), and the soft rope (4012) is movable through the transverse movable horizontal plate (202) and extends to the inside of the slide groove (203). Two supporting rollers (4013) distributed up and down are fixedly installed on the side away from each other of the two transverse movable vertical plates (201), and the soft rope (4012) is wound around the periphery of each supporting roller (4013).

6. The dual-station manipulator automatic flame cutting equipment according to claim 5, characterized in that: A stop seam frame (4041) is slidably mounted on the upper portion of the outer wall of the slag collecting frame (404), rolling rods (408) are rotatably mounted on the front and rear portions of the magnetic block (4010), connecting bars (409) are fixedly mounted on the left and right portions of the stop seam frame (4041), and a plurality of magnetic blocks (4010) are fixedly mounted on the top of each connecting bar (409) and are distributed equidistantly in the front and rear.

7. The dual-station manipulator automatic flame cutting equipment according to claim 6, characterized in that: Two left-right distributed support bars (4014) are fixedly mounted on the top front end and the top rear end of the base (1), and a scooping trough (4015) is fixedly mounted on the top of the two left-right distributed support bars (4014), wherein the height of the scooping trough (4015) matches the height of the slag collecting frame (404).

8. The dual-station manipulator automatic flame cutting equipment according to claim 7, characterized in that: A return spring (4011) is fixedly installed between the front portion of the slag collecting frame (404) and the back portion of one of the transversely movable vertical plates (201) facing it.

9. The dual-station manipulator automatic flame cutting equipment according to claim 8, characterized in that: The support component (5) comprises two left-right distributed polished rods (501), the two polished rods (501) are fixedly mounted on two front and rear support bars (4014), the outer walls of the polished rods (501) are slidably mounted with two adjustment blocks (502), the tops of the adjustment blocks (502) are fixedly mounted with two left-right distributed triangular plates (503), and the tops of the two left-right distributed triangular plates (503) are fixedly mounted with support plates (504).

10. The dual-station manipulator automatic flame cutting equipment according to claim 9, characterized in that: A second servo motor (505) is fixedly mounted on the lower portion of the outer side surface of one of the polished rods (501), the output shaft of the second servo motor (505) movably penetrates the transverse movable vertical plate (201), and a forward and reverse screw rod (506) is fixedly mounted on the end of the output shaft of the second servo motor (505) via a coupling, the outer periphery of the forward and reverse screw rod (506) is threadedly connected to two internal thread blocks (507) distributed front and back, and a slot (508) is provided on the top of each of the internal thread blocks (507), and the two internal thread blocks (507) are respectively located at the positions of the two adjustment blocks (502) in a one-to-one correspondence, and the inner wall of the slot (508) is slidably connected to the outer wall of the adjustment block (502).

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