Pipe cutting robot

Abstract

The application discloses a pipeline cutting robot, belongs to a plasma cutting device, and is used for cutting and comprises a bottom plate, a circumferential sliding seat and a cutting device. Limiting sliding blocks of the cutting device slide along the circumferential sliding seat, and a plurality of sliding seat drivers are arranged on the circumferential sliding seat and are in engagement transmission with the limiting sliding blocks. Both ends of a sliding block connecting rod are connected with the limiting sliding blocks at corresponding positions, a horizontal sliding seat is slidably arranged on the sliding block connecting rod, a horizontal driver is located between the horizontal sliding seat and the limiting sliding blocks, a sliding seat sliding rod is located on the horizontal sliding seat, an adjusting seat is slidably arranged on the sliding seat sliding rod, a lifting driver is arranged on the adjusting seat, a cutting head is arranged at a telescopic end of the lifting driver, and the cutting head slides relative to the adjusting seat. The horizontal sliding seat is further hinged with a connecting arm, and two groups of cutting devices are connected into one through the connecting arm. The application can reduce the complexity of the structure of the pipeline cutting robot while ensuring that the cutting device stably surrounds the pipeline to complete stable cutting of the pipeline.

Description

Technical Field

[0001] This application pertains to apparatus for plasma cutting, and more particularly, to a pipe cutting robot. Background Technology

[0002] Refer to Chinese Patent Publication No. CN111644735A, which discloses a pipe cutting robot and specifically discloses the following technical solutions: It includes a clamping mechanism, a rotating mechanism, a clamp, a cutting torch, a frame structure, a robot shell, a baffle, a motor control circuit, and a voltage control circuit. The clamping mechanism includes a geared motor, a gear transmission system, a worm gear transmission system, a rack and pinion transmission system, a V-block and its components, a linear guide rail and its components, and a clamping mechanism shell, which are fixed together with bolts or screws to form a complete transmission mechanism through transmission or assembly relationships. The rotating mechanism includes a clamp fixing plate, an external gear ring connecting ring, an external gear ring, a rolling bearing inner ring connecting ring, a rolling bearing inner ring fixing ring, a rolling bearing, a rolling bearing outer ring fixing ring, a stepper motor transmission gear, a stepper motor fixing plate, a positioning pin, a connecting rib, and a stepper motor. The cutting torch clamp includes a cutting torch fixing block and a clamp connecting seat. The motor control circuit and voltage control circuit include a control board, a drive expansion board, a motor drive chip, a Bluetooth module, a relay module, a wiring socket, a voltage inverter, and a plasma cutter.

[0003] Referring to Chinese Patent Publication No. CN111085788A, a high-efficiency pipe outer ring cutting robot is disclosed. The robot includes a robot with a robotic arm. A first bidirectional cylinder is symmetrically fixed laterally at the lower end of the robotic arm. A first air pump is mounted on the robotic arm. A first electromagnetic reversing valve is installed at the air inlet of the first air pump. One end of the first air inlet pipe is connected to the outside, and the other end is connected to the first electromagnetic reversing valve. One end of a second air inlet pipe is connected to the first bidirectional cylinder, and the other end is connected to the first electromagnetic reversing valve. A second electromagnetic reversing valve is installed at the air outlet of the first air pump, and one end of the first air outlet pipe is connected to the second electromagnetic reversing valve. This invention uses automatic control, increasing the cutting efficiency by two times compared to previous methods. The laser emitter cuts simultaneously with the pipe rotation, reducing thermal deformation at the cutting location. During the air blowing process, the pipe rotation and air blowing occur synchronously, resulting in more uniform cooling and easier removal of the cut fragments.

[0004] However, the aforementioned pipe cutting robot has the problem of high structural complexity. It also relies heavily on itself to walk on the outer wall of the pipe, resulting in low stability during the walking process. The instability of its own movement can easily lead to a reduction in cutting quality. Summary of the Invention

[0005] The purpose of this application is to provide a pipe cutting robot that can achieve stable pipe cutting by reducing the complexity of its own structure while ensuring the stable movement of the cutting device around the pipe.

[0006] To achieve the above objectives, this application employs the following technical solution: The pipe cutting robot described in this application includes a pair of base plates mounted on a pipe. A circumferential slide block is mounted on each base plate, and a cutting device is mounted on adjacent circumferential slide blocks. The cutting device consists of two sets, each set including a limiting slider, a slider connecting rod, a horizontal driver, a horizontal slide block, a slide block rod, an adjusting seat, a lifting driver, a cutting head, and a fine-tuning driver. The limiting slider slides along the circumferential slide block, and the circumferential slide block is equipped with several slide block drivers that mesh with and drive the limiting slider. The slide block drivers are distributed circumferentially along the circumferential direction of the circumferential slide block. The two ends of the slider connecting rod are respectively connected to the limiting slider at corresponding positions. The horizontal slide block is slidably mounted on the slider connecting rod. The horizontal driver is located between the horizontal slide block and the limiting slider. The slide block rod is located on the horizontal slide block, and an adjusting seat is slidably mounted on the slide block rod. A lifting driver is mounted on the adjusting seat, and a cutting head is mounted on the telescopic end of the lifting driver. The cutting head slides relative to the adjusting seat. A connecting arm is also hinged to the horizontal slide block, and the two sets of cutting devices are connected as one unit via the connecting arm.

[0007] As one of the preferred technical solutions, the base plate described in this application is composed of two arc-shaped plates that fit the pipe, and the adjacent base plates are connected as one unit by a base plate connecting block.

[0008] As one of the preferred technical solutions, the circumferential slide in this application is an arc-shaped plate with an L-shaped cross section. The circumferential slide is attached to the base plate and fixed by a slide fixing component. The slide fixing component and the slide driver are alternately arranged on the circumferential slide. Adjacent circumferential slides on the same side of the pipeline are fixedly connected by a slide connecting plate and fasteners.

[0009] As one of the preferred technical solutions, the circumferential slide block described in this application is provided with a guide groove at the vertical plate position of the L-shaped arc plate. The guide groove is an arc-shaped strip through hole, and the two ends of the slider connecting rod extend into the guide groove and slide relative to each other in the guide groove.

[0010] As one of the preferred technical solutions, the connecting arm described in this application has a plurality of arm body connecting holes distributed in the length direction. The two sets of cutting devices are connected by connecting arms through the arm body connecting holes and fasteners. The connecting arm is rotatably provided with an arm body guide wheel at the end away from the horizontal slide, and the arm body guide wheel moves along the outer wall of the pipe.

[0011] As one of the preferred technical solutions, the slide driver described in this application includes a drive motor frame, on which a drive motor is mounted, and at the output end of the drive motor is a drive gear; the limiting slider includes a slot that engages with the vertical plate on the circumferential slide, and a top plate extending in the direction of the slide driver is provided at the top of the limiting slider, and a gear tooth structure is provided at the bottom of the top plate, through which the limiting slider meshes with the drive gear for transmission.

[0012] As one of the preferred technical solutions, a number of rollers are provided at the connection position between the base plate and the circumferential slide block as described in this application.

[0013] As one of the preferred technical solutions, the cutting head described in this application is a plasma cutting head.

[0014] Compared with the prior art, the beneficial effects of this application are: This application sets up a base plate and a circumferential slide that are fixedly connected to the pipeline. Two sets of cutting devices that move relative to the pipeline are set on the circumferential slide. Through the cooperation of the two sets of cutting devices and the circumferential slide, the pipeline can be cut. The stability and reliability of the movement are guaranteed during the cutting process. Moreover, it has a simpler structure and adjustability compared to complex mechanical equipment. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present application (the fine-tuning driver between the horizontal slide and the adjusting seat is not shown in the figure, the same below).

[0016] Figure 2 yes Figure 1 A magnified view of part I in the middle.

[0017] Figure 3 yes Figure 1 A magnified view of part II.

[0018] Figure 4 This is a top view of this application.

[0019] Figure 5 yes Figure 4 A cross-sectional view at the position and direction shown in AA.

[0020] Figure 6 This is the main view of this application.

[0021] Figure 7 yes Figure 6 A cross-sectional view at the position and direction shown in BB.

[0022] In the diagram: 1. Pipe; 2. Base plate; 3. Circumferential slide; 4. Slide driver; 5. Limit slider; 6. Slide connecting rod; 7. Horizontal driver; 8. Horizontal slide; 9. Slide rod; 10. Adjusting seat; 11. Lifting driver; 12. Cutting head; 13. Connecting arm; 14. Arm body connecting hole; 15. Arm body guide wheel; 16. Slide connecting plate; 17. Guide groove; 18. Slide fixing component; 19. Base plate connecting block. Detailed Implementation

[0023] The technical solutions described in this application will be further described below with reference to the accompanying drawings and embodiments.

[0024] Example 1: See Figures 1 to 7 A pipe cutting robot includes a pair of base plates 2 mounted on a pipe 1. A circumferential slide block 3 is mounted on the base plate 2, and a cutting device is mounted on adjacent circumferential slide blocks 3. The cutting device consists of two sets, each set including a limiting slider 5, a slider connecting rod 6, a horizontal driver 7, a horizontal slide block 8, a slide block rod 9, an adjusting seat 10, a lifting driver 11, a cutting head 12, and a fine-tuning driver. The limiting slider 5 slides along the circumferential slide block 3, and the circumferential slide block 3 is equipped with several slide block drivers 4 that mesh with and drive the limiting slider 5. The slide block drivers 4 are distributed circumferentially along the circumference of the circumferential slide block 3. Both ends of the slider connecting rod 6 are respectively connected to the limiting slider 5 at the corresponding positions. The horizontal slide block 8 is slidably disposed on the slider connecting rod 6. The horizontal driver 7 is located between the horizontal slide block 8 and the limiting slider 5. The slide block rod 9 is located on the horizontal slide block 8. An adjusting seat 10 is slidably disposed on the slide block rod 9. A lifting driver 11 is disposed on the adjusting seat 10. A cutting head 12 is disposed at the telescopic end of the lifting driver 11. The cutting head 12 slides relative to the adjusting seat 10. A connecting arm 13 is also hinged on the horizontal slide block 8. The two sets of cutting devices are connected as one unit through the connecting arm 13.

[0025] Example 2: See also Figures 1 to 7A pipe cutting robot is disclosed, wherein the circumferential slide 3 is an L-shaped arc plate. The circumferential slide 3 is attached to the base plate 2 and fixed by a slide fixing member 18. The slide fixing member 18 and the slide driver 4 are alternately arranged on the circumferential slide 3. Adjacent circumferential slides 3 on the same side of the pipe 1 are fixedly connected by a slide connecting plate 16 and fasteners. The connecting arm 13 has a plurality of arm connecting holes 14 distributed in the length direction. The two sets of cutting devices are connected by connecting arms 13 through the arm connecting holes 14 and fasteners. The connecting arm 13 has an arm guide wheel 15 rotatably arranged at the end away from the horizontal slide 8. The arm guide wheel 15 moves along the outer wall of the pipe 1. The slide block driver 4 includes a drive motor frame, on which a drive motor is mounted, and a drive gear is mounted at the output end of the drive motor; the limiting slider 5 includes a slot that engages with the vertical plate on the circumferential slide block 3, and a top plate extending in the direction of the slide block driver 4 is mounted on the top of the limiting slider 5, and a gear tooth structure is mounted on the bottom of the top plate, through which the limiting slider 5 meshes with the drive gear for transmission.

[0026] For the structure and connection relationships of the remaining parts, please refer to the structure and connection relationships described in Example 1.

[0027] Example 3: See also Figures 1 to 7 A pipe cutting robot is disclosed. The base plate 2 consists of two arc-shaped plates that conform to the pipe 1, and adjacent base plates 2 are connected as one unit via a base plate connecting block 19. The circumferential slide block 3 has a guide groove 17 at the vertical position of the L-shaped arc-shaped plate. The guide groove 17 is an arc-shaped strip-shaped through hole. Both ends of the slider connecting rod 6 extend into the guide groove 17 and slide relative to each other within the guide groove 17. Several rollers are provided at the connection point between the base plate 2 and the circumferential slide block 3. The cutting head 12 is a plasma cutting head.

[0028] For the structure and connection relationships of the remaining parts, please refer to the structure and connection relationships described in Example 1 or Example 2.

[0029] In the technical solution described in this embodiment, the base plate 2 comprises two semi-circular plate bodies that can fit against the outer wall of the pipe 1, and a base plate connecting block 19 is provided at the connection position of the two semi-circular plate bodies to connect the two parts. The base plate connecting block 19 is a plate body, and its two ends are connected by fasteners.

[0030] In the technical solution described in this embodiment, the circumferential slide block 3 is connected to the base plate 2, and the circumferential slide block 3 is also a two-part arc-shaped structure. The two arc-shaped structures are connected by the slide block connecting plate 16 and fasteners to ensure the stable movement of the limiting slider 5 along the circumferential slide block 3.

[0031] In the technical solution described in this embodiment, the slide driver 4 includes a drive motor frame disposed on the circumferential slide 3, a drive motor is disposed on the motor frame, a drive gear is disposed on the output shaft of the drive motor, and the drive motor drives the limit slider 5 to move along the circumferential slide 3 through the drive gear.

[0032] In the technical solution described in this embodiment, the slider connecting rod 6 is used to connect the limiting sliders 5 at both ends. The slider connecting rod 6 has two functions: one is to cooperate with the limiting sliders 5 to achieve stable limiting on the circumferential slide block 3, and the other is to connect to the horizontal slide block 8 to ensure the movement of the horizontal slide block 8 relative to the limiting sliders 5, thereby realizing the fine adjustment of the horizontal slide block 8.

[0033] In the technical solution described in this embodiment, the horizontal actuator 7 is used to realize the movement of the horizontal slide 8 along the slider connecting rod 6. The bottom end of the horizontal actuator 7 is fixed on the limiting slider 5, and the telescopic end of the horizontal actuator 7 is connected to the horizontal slide 8. The horizontal actuator 7 is distributed on both sides of the horizontal slide 8.

[0034] In the technical solution described in this embodiment, the horizontal slide block 8 is located between adjacent limiting sliders 5 and slides along the slider connecting rod 6. The horizontal slide block 8 is composed of two plates that slide along the slider connecting rod 6, and the two plates are connected by a slide block rod 9.

[0035] In the technical solution described in this embodiment, an adjustment seat 10 is slidably disposed on the slide rod 9, and the adjustment seat 10 can slide along the slide rod 9. Furthermore, a fine-tuning driver is disposed on the horizontal slide 8, the fine-tuning driver having a telescopic end connected to the adjustment seat 10, and the bottom end of the micro-driver being fixed to the horizontal slide 8.

[0036] In the technical solution described in this embodiment, the adjustment seat 10 is provided with a frame for setting the lifting driver 11. The telescopic end of the lifting driver 11 is connected to a cutting head 12, which is a plasma cutting head. The cutting head 12 moves relative to the adjustment seat 10 and can adjust its relative distance to the pipe 1 under the adjustment of the lifting driver 11 to complete the cutting.

[0037] In the technical solution described in this embodiment, a connecting arm 13 is also hinged to the horizontal slide 8. The connecting arm 13 extends away from the horizontal slide 8 and can be connected to a connecting arm 13 in another cutting device. To achieve the connection of the connecting arm 13, an arm body connecting hole 14 is provided on the connecting arm 13. The aligned arm body connecting hole 14 is connected by fasteners. The connecting arm 13 enables the linkage of the two cutting devices, ensuring that the two cutting devices have synchronous cutting speed and relative position.

[0038] In the technical solution described in this embodiment, the connecting arm 13 is provided with an arm guide wheel 15 at the end away from the horizontal slide block 8. The arm guide wheel 15 slides along the outer wall of the pipe 1 and can guide the connecting arm 13.

[0039] In the technical solution described in this embodiment, the limiting slider 5 has a sliding groove that slides with the circumferential slide block 3. The top of the limiting slider 5 has a top plate extending in the direction of the slide block driver 4. The bottom of the top plate of the limiting slider 5 is provided with a gear tooth structure, which can mesh with the drive gear on the slide block driver 4 for transmission. The top plate on the limiting slider 5 can span at least two slide block drivers 4, that is, it is connected to at least two slide block drivers 4.

[0040] In the technical solution described in this embodiment, the longitudinal section of the circumferential slide block 3 is L-shaped, and the limiting slider 5 is slidably disposed on the vertical plate of the circumferential slide block 3 via a sliding groove. The top plate of the limiting slider 5 is located above the L-shaped plate. The slide block driver 4 is located at the horizontal position of the L-shaped plate.

[0041] In the technical solution described in this embodiment, the circumferential slide 3 can adjust its position and angle on the base plate 2. Both the base plate 2 and the circumferential slide 3 are provided with threaded holes for connection between them. A slide fixing member 18 is installed within the threaded hole, achieving a stable connection between the base plate 2 and the circumferential slide 3. The slide fixing member 18 and the threaded holes are distributed circumferentially on the base plate 2 and the circumferential slide 3.

[0042] In the technical solution described in this embodiment, the two parts of the circumferential slide 3 on the same side of the pipe 1 are connected by the slide connecting plate 16, and the slide connecting plate 16 is provided with a notch for the sliding of the limiting slider 5.

[0043] In the technical solution described in this embodiment, the circumferential slide block 3 is provided with a guide groove 17 on the vertical plate. The guide groove 17 is a strip-shaped through hole adapted to the shape of the vertical plate of the circumferential slide block 3. The end of the slider connecting rod 6 connected to the limiting slider 5 is located in the guide groove 17, and the slider connecting rod 6 slides along the guide groove 17.

[0044] In the technical solution described in this embodiment, a plurality of rollers are provided on the base plate 2, the rollers are distributed along the circumference of the base plate 2, and the base plate 2 is connected to the circumferential slide block 3 through a plurality of roller groups.

[0045] When using this application, the two parts of the base plate 2 need to be attached to the outer wall of the pipe 1, and the two parts of the base plate 2 are connected by the base plate connecting block 19, with enough distance between the adjacent base plates 2 to place two cutting devices.

[0046] A circumferential slide block 3 is provided on the base plate 2. The two parts of the circumferential slide block 3 are connected by a slide block connecting plate 16 and fasteners, thereby connecting the circumferential slide block 3 to the base plate 2. Since several roller groups are provided on the base plate 2, the circumferential slide block 3 can rotate with the base plate 2. The circumferential slide block 3 and the base plate 2 are connected by a slide block fixing member 18. The slide block fixing member 18 is a threaded fastener, and the connection between the base plate 2 and the circumferential slide block 3 is achieved through two aligned threaded holes.

[0047] The circumferential slide 3 is an arc-shaped plate with an L-shaped cross section. When two circumferential slides 3 are connected, they can wrap around the pipe 1.

[0048] A limiting slider 5 slides on the circumferential slide block 3. The circumferential slide block 3 achieves meshing transmission with the limiting slider 5 through its circumferentially distributed slide block drivers 4. The limiting slider 5 slides along the circumferential slide block 3 under the drive of the slide block drivers 4. The limiting slider 5 can cover at least two slide block drivers 4.

[0049] Driven by the slide block driver 4, the limiting slider 5 can slide along the circumferential slide block 3, and adjacent limiting sliders 5 can be connected into one unit through the slider connecting rod 6.

[0050] Driven by the horizontal driver 7, the horizontal slide 8 can slide along the slider connecting rod 6 to adjust the distance between the horizontal slide 8 and the limiting slider 5, thereby adjusting the cutting position of the cutting head 12.

[0051] Under the action of the fine-tuning driver on the horizontal slide 8, the adjusting seat 10 can fine-tune its own distance on the slide rod 9 of the horizontal slide 8, thereby realizing the fine-tuning of the distance of the cutting head 12 itself.

[0052] In this application, the two cutting devices are linked together by a connecting arm 13. The connecting arm 13 is connected by an arm body connecting hole 14 and fasteners. The arm body guide wheel 15 at the end of the connecting arm 13 can move along the pipe 1.

[0053] After the main body of pipe 1 is cut, the slide fastener 18 needs to be loosened so that the circumferential slide 3 and the base plate 2 can rotate relative to each other by a certain angle through the action of the roller group. After the circumferential slide 3 and the threaded hole on the base plate 2 are aligned, they are connected again by the slide fastener 18 so that the plasma cutting head 12 can complete the cutting of the remaining part.

[0054] Finally, although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A pipe cutting robot, comprising a pair of base plates (2) disposed on a pipe (1), wherein circumferential slides (3) are disposed on the base plates (2), and cutting devices are disposed on adjacent circumferential slides (3), characterized in that, The cutting device consists of two sets. Each set includes a limiting slider (5), a slider connecting rod (6), a horizontal driver (7), a horizontal slide (8), a slide rod (9), an adjusting seat (10), a lifting driver (11), a cutting head (12), and a fine-tuning driver. The limiting slider (5) slides along the circumferential slide (3). The circumferential slide (3) is provided with several slide drivers (4) that mesh with the limiting slider (5). The slide drivers (4) are distributed circumferentially along the circumferential slide (3). The two ends of the slider connecting rod (6) are connected to the limiting slider (5) at the corresponding positions. The horizontal slide (8) is slidably disposed on the slider connecting rod (6). The horizontal driver (7) is located between the horizontal slide (8) and the limiting slider (5). The slide rod (9) is located on the horizontal slide (8). The adjusting seat (9) is slidably disposed on the slide rod (9). The adjustment seat (10) is provided with a lifting driver (11), and the extension end of the lifting driver (11) is provided with a cutting head (12). The cutting head (12) slides relative to the adjustment seat (10). The horizontal slide (8) is also hinged with a connecting arm (13). The two sets of cutting devices are connected as one unit through the connecting arm (13). The base plate (2) is composed of two arc-shaped plates that fit the pipe (1). The adjacent base plates (2) are connected as one unit through the base plate connecting block (19). The connecting arm (13) has several arm body connecting holes (14) distributed in the length direction. The two sets of cutting devices are connected by the connecting arm (13) through the arm body connecting holes (14) and fasteners. The connecting arm (13) is rotatably provided with an arm body guide wheel (15) at the end away from the horizontal slide (8). The arm body guide wheel (15) moves along the outer wall of the pipe (1).

2. The pipe cutting robot according to claim 1, characterized in that, The circumferential slide (3) is an arc-shaped plate with an L-shaped cross section. The circumferential slide (3) is attached to the base plate (2) and fixed by the slide fixing member (18). The slide fixing member (18) and the slide driver (4) are alternately arranged on the circumferential slide (3). The adjacent circumferential slides (3) on the same side of the pipe (1) are fixedly connected by the slide connecting plate (16) and fasteners.

3. The pipe cutting robot according to claim 2, characterized in that, The circumferential slide block (3) has a guide groove (17) at the vertical position of the L-shaped arc plate. The guide groove (17) is an arc-shaped strip through hole. The two ends of the slider connecting rod (6) extend into the guide groove (17) and slide relative to each other in the guide groove (17).

4. The pipe cutting robot according to claim 2, characterized in that, The slide block driver (4) includes a drive motor frame, on which a drive motor is mounted, and a drive gear is mounted at the output end of the drive motor; the limiting slider (5) includes a slot that engages with the vertical plate on the circumferential slide block (3), and a top plate extending in the direction of the slide block driver (4) is mounted on the top of the limiting slider (5), and a gear tooth structure is mounted on the bottom of the top plate, and the limiting slider (5) engages with the drive gear through the gear tooth structure.

5. The pipe cutting robot according to any one of claims 1 to 4, characterized in that, Several rollers are provided at the connection position between the base plate (2) and the circumferential slide (3).

6. The pipe cutting robot according to any one of claims 1 to 4, characterized in that, The cutting head (12) is a plasma cutting head.

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