Water pipe winding preventing robot water jet device and six-axis robot

Abstract

The utility model provides a robot waterjet device and six-axis robot capable of avoiding winding of water pipe, the waterjet device is fixedly connected with the tail of a sixth-axis mechanical arm of the six-axis robot, the waterjet device comprises a waterjet body and a support, the top of the support is fixedly connected with the tail of the sixth-axis mechanical arm, and the six-axis robot is provided with the six-axis mechanical arm. The water jet cutter body penetrates through a fixing hole of the support and is arranged in the same direction as the support, a shaft portion of the water jet cutter body is rotatably connected with the support through a bearing, and a water inlet is formed in the top of the water jet cutter body and connected with a high-pressure hose through an elbow joint. The six-axis robot limits the position and posture of the water jet device by adjusting the mechanical arm, so that the high-pressure hose drives the water jet body to rotate around the radial axis of the support through the bearing, and then the relative angle between the end of the high-pressure hose and the support is changed. By means of the water jet cutter device, the problem that the high-pressure hose is prone to winding in the moving process of the water jet cutter device can be effectively solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of water jet cutting, and in particular relates to a robot water jet device and a six-axis robot for preventing water pipe entanglement. Background Art

[0002] Waterjet, formerly known as high-pressure water jet cutting technology, is a tool that uses high-pressure water flow to cut objects. Its working principle is to pressurize the water flow to more than 200MPa, and form a high-speed water column through a nozzle with a very small aperture (generally greater than 0.2mm), so as to achieve the purpose of cutting materials. Furthermore, mixed abrasives can be added to the high-pressure water flow supplied to the waterjet, so that various hard materials such as rock, glass, steel plate, etc. can be cut. Waterjet is favored for its cold cutting characteristics that will not change the physical and chemical properties of the material. After continuous improvement of technology, waterjet technology has been widely used in many industries such as ceramics, stone, glass, metal, composite materials, etc.

[0003] With the continuous development of industrial technology and the increasingly stringent requirements for processing technology, in order to improve the cutting efficiency and accuracy of water jets, existing water jets are often used in conjunction with multi-axis robots, which drive the water jets to adjust their positions and postures, thereby achieving a more refined and more efficient fully automated cutting operation. However, under the existing technology, if the water jet uses abrasive water for cutting operations, that is, when the high-pressure water contains mixed abrasives, the abrasive water will cause greater wear on the curved pipes during the transmission process, and the hose can try to maintain a relatively smooth trajectory. Therefore, a hose that can move in real time with the multi-axis robot is generally used as a pipeline for transmitting high-pressure abrasive water. However, when the water jet cuts the product to be processed with a circular contour, the hose moves with the moving water jet, and the hose is prone to entanglement, and the hose may even appear in the cutting direction of the water jet, causing damage to the hose. Utility Model Content

[0004] The utility model provides a robot water jet device and a six-axis robot for preventing water pipe entanglement, so as to solve the technical problems that the existing water jet device has low control accuracy and the hose for conveying high-pressure abrasive water is prone to entanglement and damage.

[0005] In order to solve the above problems, the technical solution of the utility model is: a robot water jet device for preventing water pipe entanglement, the water jet device is arranged at the tail of the sixth-axis mechanical arm, and includes a water jet body and a bracket, the top of the bracket is fixedly connected to the tail of the sixth-axis mechanical arm, and a fixing hole is arranged at the center of the bottom of the bracket, the water jet body is inserted into the fixing hole and is arranged in the same direction as the bracket;

[0006] A water inlet is provided on the top of the water jet body, and the water inlet is connected to a high-pressure hose for supplying high-pressure fluid through an elbow joint, and the elbow joint is further used to limit the intersection of the end of the high-pressure hose and the water jet body at a certain angle;

[0007] A bearing is also provided on the outside of the shaft portion of the water jet body passing through the fixing hole, the outer ring of the bearing is fixedly connected to the inner wall of the fixing hole, the inner ring of the bearing is fixedly connected to the outside of the shaft portion of the water jet body, the bearing is used to fix the water jet body and the bracket, and limits the water jet body and the end of the high-pressure hose to rotate around the radial axis of the bracket.

[0008] Preferably, the bracket is laterally provided with a bracket opening, and the bracket opening is used to set the elbow joint to connect the water inlet with the high-pressure hose, and limit the angle of rotation of the end of the high-pressure hose around the radial axis of the water jet body.

[0009] Preferably, a positioning portion is provided at the top of the bracket along the extension direction of the radial axis of the bracket, and a positioning matching portion matching the positioning portion is provided at the bottom of the sixth-axis robotic arm along the extension direction of the radial axis of the sixth-axis robotic arm, and the positioning portion and the positioning matching portion are engaged and connected to limit the bracket and the sixth-axis robotic arm to be coaxially arranged.

[0010] Preferably, the bracket includes a first bracket and a second bracket, and the first bracket and the second bracket are detachably connected via a locking member.

[0011] Preferably, a accommodating chamber is provided inside the water jet body, a water jet nozzle is provided at the bottom of the water jet body, the water inlet end of the accommodating chamber is connected with the water inlet, and the water outlet end of the accommodating chamber is connected with the water jet nozzle, so that the fluid injection direction of the water jet nozzle is coaxially arranged with the water jet body and the sixth-axis robotic arm.

[0012] Preferably, the elbow joint and the water jet nozzle are both made of wear-resistant materials.

[0013] Based on the same concept, the utility model also provides a six-axis robot, comprising any one of the water jet devices described above;

[0014] The six-axis robot includes a plurality of mechanical arms which are connected end to end and can rotate independently. The tail of the sixth-axis mechanical arm of the six-axis robot is fixedly connected to the water jet device. The six-axis robot is used to limit the position and posture of the water jet device.

[0015] Preferably, the six-axis robot is further provided with a frame, and the six-axis robot base is fixedly arranged on the top crossbeam of the frame.

[0016] Preferably, a liquid supply device at a fixed point is provided on the lateral or vertical frame of the frame, the water outlet end of the liquid supply device is connected to an opening at one end of a high-pressure hose, and the liquid supply device is used to supply high-pressure fluid to the water knife device through the high-pressure hose.

[0017] Preferably, a workbench is provided within the movable coverage range of the sixth-axis robot arm, and the workbench is used to place the products to be processed. A waste liquid collecting device is provided at the bottom of the workbench, and the waste liquid collecting device is used to collect waste materials and waste liquid of the products to be processed.

[0018] Due to the adoption of the above technical solution, the utility model has the following advantages and positive effects compared with the prior art:

[0019] (1) The utility model provides a robot water jet device and a six-axis robot for preventing water pipe entanglement. The water jet device is arranged at the tail end of the sixth-axis mechanical arm of the six-axis robot. The position and posture of the water jet device are adjusted by the motion control of the six-axis robot. With the help of the high-precision control method of the six-axis robot, the cutting accuracy and movement speed of the water jet device are improved, and high-efficiency cutting operations are achieved. Furthermore, in the utility model, the water jet device including the water jet body, the water jet nozzle, etc. are coaxially arranged with the sixth-axis mechanical arm, further improving the controllability and accuracy of the landing point and moving direction of the high-pressure water column ejected by the water jet device.

[0020] (2) The utility model provides a robot water jet device and a six-axis robot for preventing water pipe entanglement. A bracket is provided on the outside of the water jet body, a fixing hole is provided at the center of the bottom of the bracket, the water jet body is penetrated by the fixing hole and is rotatably connected to the bracket through a bearing, and the top of the water jet body is connected to the high-pressure hose through a bend pipe joint, that is, the high-pressure hose can rotate accordingly with the water jet body compared to the central axis of the bracket. When the six-axis robot drives the water jet device to move, when the posture of the water jet body changes, the end of the hose will rotate relative to the bracket, that is, the hose can adaptively adjust its relative posture with the bracket, so that the hose can maintain a stable posture during the movement of the water jet device to avoid excessive movement and shaking. At the same time, the long-distance movement requirement of the water jet device can be met by a shorter hose, reducing the probability of entanglement caused by the excessive length of the hose itself. In addition, by arranging the bend pipe joint, the end of the hose and the water jet body are arranged to intersect at a certain angle, which can further reduce the risk of accidentally touching the water jet nozzle due to the drooping of the hose end. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of the six-axis robot provided by the utility model;

[0022] Figure 2 A schematic structural diagram of a water jet device provided by the utility model;

[0023] Figure 3 The structure of the water jet device provided by the utility model is shown in the exploded diagram:

[0024] Figure 4 A structural sectional view of a water jet device provided by the utility model.

[0025] Explanation of the reference numerals: 1: six-axis robot; 101: sixth-axis robotic arm; 2: water jet device; 21: water jet body; 211: water inlet; 212: accommodating chamber; 213: water jet nozzle; 22: first bracket; 221: positioning portion; 23: second bracket; 24: elbow joint; 25: bearing; 3: high-pressure hose; 4: frame; 5: liquid supply device; 6: workbench; 7: waste liquid collection device. DETAILED DESCRIPTION

[0026] The following is a further detailed description of a robot water jet device and a six-axis robot for preventing water pipe entanglement proposed by the utility model in combination with the accompanying drawings and specific embodiments. The advantages and features of the utility model will become clearer according to the following description and claims.

[0027] First embodiment

[0028] See also Figures 1 to 4 This embodiment provides a robot water jet device for preventing water pipe entanglement. The water jet device 2 includes a water jet body 21 and a bracket arranged outside the water jet body 21, wherein the bracket is a columnar structure as a whole, the top of the bracket is fixedly connected to the tail of the sixth-axis robot arm 101, and a fixing hole is provided at the center of the bottom of the bracket. The diameter of the fixing hole is larger than the shaft diameter of the water jet body 21. The water jet body 21 is inserted into the fixing hole and arranged in the same direction as the bracket. Furthermore, a bearing 25 is also provided in the fixing hole, the inner ring of the bearing 25 is fixedly connected to the outer side of the shaft of the water jet body 21, and the outer ring of the bearing 25 is fixedly connected to the inner wall of the fixing hole, that is, through the linkage of the bearing 25, the water jet body 21 is connected to the bracket in rotation, and the water jet body 21 can rotate around the radial axis of the bracket. Preferably, the bracket and the sixth-axis robot 101 can be coaxially arranged, and the water jet body 21 and the bracket can also be coaxially arranged, that is, the water jet body 21, the bracket and the sixth-axis robot 101 are all arranged in a coaxial relationship, thereby improving the control accuracy when the sixth-axis robot 101 drives the water jet body 21 to move.

[0029] A accommodating chamber 212 is provided inside the water jet body 21, a water inlet 211 is provided on the top, and a water jet nozzle 213 is provided on the bottom. High-pressure fluid flows into the accommodating chamber 212 from the water inlet 211, and is ejected through the water jet nozzle 213 with a smaller diameter to form a high-pressure water column, thereby achieving the purpose of cutting materials. Preferably, the fluid injection direction of the water jet nozzle 213, the accommodating chamber 212, and the water inlet 211 are all coaxially arranged with the sixth-axis robot 101, that is, the axes of the four coincide, so that the high-pressure fluid causes less wear on the inside of the water jet body 21, and the high-pressure water column finally ejected through the water jet nozzle 213 is not easy to produce an injection deviation angle. The water inlet 211 is connected to the external high-pressure hose 3 for supplying fluid through an elbow joint 24. Preferably, the elbow joint 24 can be selected to have a 90° angle, that is, when the high-pressure hose 3 is connected to the water inlet 211, the end of the high-pressure hose 3 is vertically arranged with the water jet body 21. At the same time, since the high-pressure hose 3 is fixedly connected to the water jet body 21, the high-pressure hose 3 can also be rotated relative to the bracket with the help of the bearing 25 of the water jet device 2.

[0030] In the operation process of the robot using the water jet device to avoid water pipe entanglement provided in the present embodiment, the high-pressure hose 3 transports high-pressure fluid to the water jet body 21, thereby forming a high-pressure water column to cut the material. A robot is provided to adjust and change the position and posture of the water jet device 2 in real time through a multi-axis mechanical arm to meet the needs of annular cutting of the product to be processed. During the position and posture adjustment process of the water jet device 2, the high-pressure hose 3 is affected by its own gravity and will generate a certain force on the water jet body 21. Since the water jet body 21 and the bracket are rotatably connected through the bearing 25, when the water jet device 2 moves to a position that is not directly opposite to the liquid supply device 5 connected to the high-pressure hose 3, the high-pressure hose 3 can drive the water jet body 21 to rotate through the bearing 25, that is, the high-pressure hose 3 can adaptively rotate to adjust the relative angle between itself and the bracket, so that during the movement of the water jet device 2, the high-pressure hose 3 can maintain a stable posture as much as possible to avoid excessive movement and shaking, thereby effectively reducing the probability of self-entanglement.

[0031] At the same time, since the high-pressure hose 3 can rotate relative to the bracket, compared with the existing technical solution in which the hose and the water jet device 2 need to maintain an integrated fixed connection, the high-pressure hose 3 provided in this embodiment can achieve a shorter hose length to meet the requirement of a longer movement distance of the water jet device 2. Specifically, the length of the high-pressure hose 3 can be limited to be slightly longer than the maximum distance value of the sixth-axis robot arm 101 moving to the water outlet of the liquid supply device 5. Under the prior art, since the existing hose is generally unable to autonomously adjust its relative angle with the bracket, the existing hose also needs to be provided with a relatively large redundant length to achieve a large-angle bending of the hose when the water jet device 2 is not directly opposite to the liquid supply device 5. Therefore, the utility model can also effectively reduce the length of the high-pressure hose 3 through the improved water jet device 2 structure, and further reduce the probability of entanglement due to the excessive length of the high-pressure hose 3. In addition, by setting the elbow joint 24, the end of the high-pressure hose 3 is set vertically to the water jet body 21. No matter what angle the water jet body 21 moves to, the end of the high-pressure hose 3 can be kept away from the water jet nozzle 213, thereby preventing the end of the high-pressure hose 3 from falling and mistakenly entering the cutting area of ​​the water jet nozzle 213, causing damage to the water pipe.

[0032] The robot water jet device for preventing water pipe entanglement provided in this embodiment further improves the control accuracy and cutting efficiency of the water jet device 2 with the help of the six-axis robot 1, and effectively avoids the entanglement or even damage of the hose used to supply high-pressure fluid by improving the structure of the water jet device 2, thereby improving the safety of the water jet cutting operation.

[0033] Preferably, a bracket opening is provided on the side of the bracket, and the bracket opening is used to set a bend pipe joint 24, so that the water inlet 211 of the water jet body 21 inside the bracket can be connected with the external high-pressure hose 3. At the same time, the width of the bracket opening limits the angle at which the high-pressure hose 3 can rotate relative to the bracket. The larger the width of the bracket opening, the larger the angle at which the high-pressure hose 3 can rotate relative to the bracket, and thus during the movement of the water jet device 2, the high-pressure hose 3 is easier to remain stable, and the length of the high-pressure hose 3 can be shorter than the setting.

[0034] Preferably, a cylindrical positioning portion 221 is provided at the top of the bracket along the extension direction of the radial axis of the bracket, and a positioning matching portion matching the positioning portion 221 is provided at the bottom of the sixth-axis robot arm 101 along the extension direction of the radial axis of the sixth-axis robot arm 101. The positioning portion 221 and the positioning matching portion can be interlocked and connected. Through the interlocking connection structure design between the positioning portion 221 and the positioning matching portion, the bracket and the water jet body 21 can maintain a relatively stable and precise concentricity with the sixth-axis robot arm 101, realize a coaxial arrangement, and thereby improve the cutting accuracy and operation stability of the subsequent water jet device 2.

[0035] Preferably, the bracket includes a first bracket 22 and a second bracket 23, and the first bracket 22 and the second bracket 23 are detachably connected via a locking member. The detachable setting of the first bracket 22 and the second bracket 23 facilitates the assembly of the water jet device 2 and subsequent debugging and maintenance operations.

[0036] Preferably, the elbow joint 24 and the water jet nozzle 213 are both made of wear-resistant materials. The water jet cutting robot device provided in this embodiment can use pure water as the high-pressure fluid or abrasive water as the high-pressure fluid. Further limitations are placed on the materials of the elbow joint 24 and the water jet nozzle 213, which helps to increase the service life of the water jet device 2.

[0037] Second embodiment

[0038] See also Figure 1 The present embodiment provides a six-axis robot 1, which includes a plurality of mechanical arms connected end to end and capable of rotating independently to achieve complex posture control with six degrees of freedom. A water jet device 2 is provided at the tail of a sixth-axis mechanical arm 101 of the six-axis robot 1. The water jet device 2 is fixedly connected to the sixth-axis mechanical arm 101. When the six-axis robot 1 moves in a three-dimensional space, the water jet device 2 can be driven to generate corresponding movements. By setting the program of the six-axis robot 1, the water jet device 2 can be controlled to automatically adjust its position and posture, thereby meeting the high-precision and high-efficiency requirements for water jet cutting operations in the field of modern industrial processing.

[0039] Furthermore, a frame 4 is also provided outside the range of motion of the six-axis robot 1. In this embodiment, in order to further improve the range of motion coverage of the six-axis robot 1, the six-axis robot 1 is arranged vertically, and its base is fixedly arranged on the top crossbeam of the frame 4. A liquid supply device 5 is arranged on one side of the frame 4. Since the problem of the hose being easily entangled has been solved in this embodiment, there is no need to design a structural device for the liquid supply device 5 to be movable circumferentially with the water knife device 2. That is, in this embodiment, the liquid supply device 5 can be arranged at any point on the lateral or vertical frame of the bracket and remain fixed. The water outlet end of the liquid supply device 5 is connected to an opening of one end of the high-pressure hose 3, and is used to supply high-pressure fluid to the water knife body 21 through the high-pressure hose 3 and the elbow joint 24. A workbench 6 is also arranged within the movable coverage of the six-axis robot 1 for placing the product to be processed. At the same time, a waste liquid collection device 7 is also arranged at the bottom of the workbench 6 for collecting waste materials of the product to be processed and waste liquid generated by the cutting operation.

[0040] During the operation of the six-axis robot 1 provided in this embodiment, the six-axis robot 1 adjusts the position and posture of the water jet device 2 by adjusting the multi-axis robotic arm, and the liquid supply device 5 supplies high-pressure fluid to the water jet device 2. The water jet device 2 sprays a high-pressure water column to achieve water jet cutting of the material. The waste product and waste liquid generated during the processing operation are collected by the waste liquid collection device 7.

[0041] The above is a detailed description of the embodiments of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A robot water jet device to avoid entanglement of water pipes, It is characterized in that The water jet device is arranged at the tail of the sixth-axis mechanical arm, and comprises a water jet body and a bracket. The top of the bracket is fixedly connected to the tail of the sixth-axis mechanical arm. A fixing hole is arranged at the center of the bottom of the bracket. The water jet body is inserted into the fixing hole and arranged in the same direction as the bracket. A water inlet is provided on the top of the water jet body, and the water inlet is connected to a high-pressure hose for supplying high-pressure fluid through an elbow joint, and the elbow joint is further used to limit the intersection of the end of the high-pressure hose and the water jet body at a certain angle; A bearing is also provided on the outside of the shaft portion of the water jet body passing through the fixing hole, the outer ring of the bearing is fixedly connected to the inner wall of the fixing hole, the inner ring of the bearing is fixedly connected to the outside of the shaft portion of the water jet body, the bearing is used to fix the water jet body and the bracket, and limits the water jet body and the end of the high-pressure hose to rotate around the radial axis of the bracket.

2. The robot water jet device for preventing water pipe entanglement as claimed in claim 1, It is characterized in that The bracket is laterally provided with a bracket opening, and the bracket opening is used to set the elbow joint to connect the water inlet with the high-pressure hose and limit the rotation angle of the end of the high-pressure hose around the radial axis of the water jet body.

3. The robot water jet device for preventing water pipe entanglement as claimed in claim 1, It is characterized in that A positioning portion is provided at the top of the bracket along the extending direction of the radial axis of the bracket, and a positioning matching portion matching the positioning portion is provided at the bottom of the sixth-axis robotic arm along the extending direction of the radial axis of the sixth-axis robotic arm. The positioning portion and the positioning matching portion are engaged and connected to limit the bracket and the sixth-axis robotic arm to be coaxially arranged.

4. The robot water jet device for preventing water pipe entanglement as claimed in claim 1, It is characterized in that The bracket includes a first bracket and a second bracket, and the first bracket and the second bracket are detachably connected via a locking member.

5. The robot water jet device for preventing water pipe entanglement as claimed in claim 1, It is characterized in that A accommodating chamber is provided inside the water jet body, a water jet nozzle is provided at the bottom of the water jet body, a water inlet end of the accommodating chamber is communicated with the water inlet, and a water outlet end of the accommodating chamber is communicated with the water jet nozzle, so that the fluid injection direction of the water jet nozzle is coaxially arranged with the water jet body and the sixth-axis robotic arm.

6. The robot water jet device for preventing water pipe entanglement as claimed in claim 5, It is characterized in that The elbow joint and the water jet nozzle are both made of wear-resistant materials.

7. A six-axis robot, It is characterized in that A water jet device comprising any one of claims 1 to 6; The six-axis robot includes a plurality of mechanical arms which are connected end to end and can rotate independently. The tail of the sixth-axis mechanical arm of the six-axis robot is fixedly connected to the water jet device. The six-axis robot is used to limit the position and posture of the water jet device.

8. The six-axis robot according to claim 7, It is characterized in that A frame is also provided, and the six-axis robot base is fixedly arranged on the top crossbeam of the frame.

9. The six-axis robot according to claim 8, It is characterized in that A liquid supply device at a fixed point is provided on the lateral or vertical frame of the frame, the water outlet end of the liquid supply device is connected to an opening at one end of a high-pressure hose, and the liquid supply device is used to supply high-pressure fluid to the water knife device through the high-pressure hose.

10. The six-axis robot according to claim 7, It is characterized in that A workbench is provided within the movable coverage range of the sixth-axis robot arm, and the workbench is used to place the products to be processed. A waste liquid collecting device is provided at the bottom of the workbench, and the waste liquid collecting device is used to collect waste materials and waste liquid of the products to be processed.

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