High-pressure water pipe rotating conveying structure and water jet cutter robot
By designing a multi-circle winding pipeline coil at the rotating joint of the waterjet robot, the deformation and breakage problems caused by twisting during the rotation of the high-pressure water pipe are solved, and 360-degree cutting and smooth sand output of the sand supply pipe is achieved. .
Patent Information
- Application Number
- CN202323385638.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-12
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2033-12-12
AI Technical Summary
High-pressure water pipes are easily deformed or broken due to torsion during rotation of multi-axis robots, and the prior art is difficult to effectively solve this problem.
A high-pressure water pipe rotation and conveying structure is designed. By setting up a multi-turn pipe coil at the rotating joint, the torsional properties of the pipe coil are used to remove the torque brought by the rotating joint, thereby avoiding deformation and breaking of the high-pressure pipe.
It effectively avoids deformation and breakage problems caused by twisting during rotation of the high-pressure pipe. At the same time, it realizes cutting and processing of water drill robots at 360 degrees in all directions and angles, and the installation method of the sand supply pipe ensures smooth sand output.
Smart Images
Figure CN222200169U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of water jets, and in particular to a high-pressure water pipe rotating conveying structure and a water jet robot. Background Art
[0002] Waterjet cutting is a high-pressure water jet cutting technology, which is a machine that uses high-pressure water flow for cutting. Since high-pressure water is transported in the pipeline, the pipes of the high-pressure pipeline are all made of hard pipes with high hardness and strong pressure resistance. Therefore, the high-pressure pipeline should reduce the dead angles and turns of the pipeline itself as much as possible, otherwise it is easy to deform and break. In the related technology, the water jet is installed on a multi-axis robot to achieve cutting at various angles, so the water jet robot is designed and developed. Since the water jet robot has a high degree of freedom, it can complete a variety of actions such as rotation and swinging. Therefore, it is easy to cause the high-pressure pipeline to be pulled and twisted, causing it to break or deform. Summary of the invention
[0003] In view of this, the present application provides a high-pressure water pipe rotating conveying structure and a water jet robot, which are used to solve the problem that the previous hard high-pressure water supply pipeline is easily deformed or broken during the rotation and conveying process following the rotating joint.
[0004] In order to achieve the above objectives, this application is implemented through the following technical solutions:
[0005] A high-pressure water pipe rotating conveying structure, characterized in that it includes a pipeline coil and a rotating joint, the rotating joint includes two arms that can rotate relative to each other, one of the arms is rotatably arranged relative to the other arm around the rotating axis of the rotating joint, the pipeline coil has a plurality of coils that are continuously wound around an axis, the two ends of the pipeline coil are respectively fixedly connected to the two arms, the winding axis of the pipeline coil is arranged parallel to the rotating axis of the rotating joint, so that when the two arms of the rotating joint rotate relative to each other, the plurality of coils of the pipeline coil can be twisted accordingly; the coils of the pipeline coil are composed of a hollow hard tube in the middle for conveying high-pressure water.
[0006] The above-mentioned high-pressure water pipe rotating delivery structure of the present application designs the corresponding high-pressure pipeline into a pipeline coil at the rotating joint. Since the multiple coils of the pipeline coil are arranged in a surrounding manner, when the rotating joint rotates, the multiple coils of the pipeline coil can be twisted accordingly, thereby removing the torque caused by the joint twisting, which can effectively avoid the problem of high-pressure pipes being easily deformed or broken at a single point in related technologies.
[0007] In some preferred embodiments, the winding axis of the pipeline coil is coaxial with the rotation axis of the rotation joint.
[0008] The present application also provides a water jet robot, comprising a robot, a water jet mounted on the robot, and a high-pressure water supply pipe for supplying water to the water jet, wherein the robot has one or more rotating joints which are sequentially connected to a base of the robot and the water jet, each rotating joint comprising two arms which can rotate relative to each other, wherein one arm is arranged to rotate relative to the other arm around the rotation axis of the rotating joint; the high-pressure water supply pipe comprises at least one pipeline coil arranged on at least one rotating joint for cooperating with the corresponding rotating joint for rotation and transmission; each pipeline coil has a coil body which is continuously wound around an axis in sequence with multiple turns, and the two ends of the pipeline coil are respectively fixedly connected to the two arms of the same rotating joint corresponding to it, and the winding axis of the pipeline coil is parallel to the rotation axis of the corresponding rotating joint, so that when the two arms of the rotating joint rotate relative to each other, the multiple coils of the corresponding pipeline coil can twist accordingly; the coil body of the pipeline coil is composed of a hollow hard pipe in the middle for conveying high-pressure water.
[0009] In some embodiments, the robot also includes an upper arm arranged on the base and capable of swinging up and down relative to the base, a wrist rotating arm connected to rotate relative to the upper arm around a fourth axis, a wrist swinging arm connected to swing up and down relative to the wrist rotating arm around a fifth axis, and a wrist rotating arm connected to rotate relative to the wrist swinging arm around a sixth axis. The water jet is installed on the wrist rotating arm through a fixed plate, and the high-pressure water supply pipe is introduced from the upper arm position. The high-pressure water supply pipe includes a first pipeline coil coaxially arranged with the fourth axis, a second pipeline coil coaxially arranged with the fifth axis, and a third pipeline coil coaxially arranged with the sixth axis. The coils are connected in sequence, and the output port of the third pipeline coil is connected to the waterway inlet of the water jet.
[0010] In the above scheme, the robot has more rotating joints, which can realize 360-degree cutting processing in all directions and angles. When the rotating joints of the robot move, the lower rotating arm only swings left and right relative to the base, and the lower arm and the upper arm also only swing up and down within a certain range, and the rotation amplitude is small. Therefore, the high-pressure water supply pipe is introduced from the upper arm position. As long as the high-pressure water supply pipe between the introduction end of the upper arm of the high-pressure water supply pipe and the water supply source arranged on the side of the robot is left with an appropriate length, it will not be twisted and entangled due to the relative rotation of the lower rotating arm, lower arm and upper arm of the robot; and the subsequent pipelines of the high-pressure water supply pipe after the introduction end are successively wound and connected to the wrist rotating arm, wrist swing arm, and wrist swivel arm with a larger rotation amplitude through various pipeline coils. When each rotating joint rotates, the multiple circles of the corresponding pipeline coils can be followed by twisting, so as to avoid the problem of the high-pressure water supply pipeline being easily broken due to large deformation and twisting during the transportation process of following the rotation of the rotating joint.
[0011] In some embodiments, the robot also includes a lower rotating arm that is rotatably connected to the base via a vertical first axis so that it can swing left and right relative to the base, a lower arm that is connected to swing up and down relative to the lower rotating arm around a second axis, and an upper arm that is connected to swing up and down relative to the lower arm around a third axis so that it can swing up and down relative to the base.
[0012] In some embodiments, the first pipeline coil is placed on the outer periphery of the wrist rotation arm, and the two ends of the first pipeline coil are respectively fixed to the upper arm and the wrist rotation arm; the second pipeline coil is located on the axial side of the rotation connection part of the wrist swing arm and the wrist rotation arm, and the two ends of the second pipeline coil are respectively fixed to the wrist rotation arm and the wrist swing arm; the third pipeline coil is placed on the outer periphery of the wrist rotation arm, and the third pipeline coil is respectively fixed to the wrist swing arm and the wrist rotation arm.
[0013] In some embodiments, adjacent pipeline coils are connected via high-pressure pipe connectors.
[0014] In some embodiments, a sawing device is further provided on the fixed plate, and an avoidance mechanism for driving the water jet to switch between a working position and an avoidance position is further provided between the fixed plate and the water jet.
[0015] In some embodiments, the avoidance mechanism includes a track mounting plate arranged on a fixed plate, a lifting rail arranged on the track, a water jet mounting plate installed on the lifting rail and arranged for lifting and lowering, and a cylinder installed on the track mounting plate for driving the water jet mounting plate to lift and lower, and the water jet is arranged on the water jet mounting plate.
[0016] In some embodiments, the avoidance mechanism includes a track mounting plate fixedly mounted on a fixed plate, a lifting rail arranged on the track mounting plate, a water jet mounting plate installed on the lifting rail and movable relative to the lifting rail, and a cylinder installed on the track mounting plate for driving the water jet mounting plate to lift and lower, and the water jet is arranged on the water jet mounting plate.
[0017] The water jet robot also includes a sand supply pipe for supplying sand to the water jet. A bracket is arranged on the upper arm. The sand supply pipe is fixedly installed and connected to the bracket. The sand inlet of the sand supply pipe is arranged at the upper part of the sand supply pipe. The sand outlet of the sand supply pipe is arranged at the bottom of the sand supply pipe and is connected to the sand inlet of the water jet through a hose. In the process of the upper arm and the lower arm of the water jet robot swinging up and down, the sand outlet of the sand supply pipe is always located below its sand inlet.
[0018] In the above scheme, when the robot has more rotating joints, since when the robot's rotating joints move, the lower rotating arm only swings left and right relative to the base, and the lower arm and the upper arm also only swing up and down within a certain range, and the rotation amplitude is small, the sand supply pipe is installed on the bracket set on the upper arm, rather than on the subsequent rotating arms such as the wrist rotating arm. This is beneficial for keeping the sand supply pipe as upright or nearly upright as possible when the robot is working, so that the sand inlet is on the top and the sand outlet is facing downward, so that the sand in the sand supply pipe can flow out more smoothly with the help of gravity, avoiding the phenomenon of smooth sand discharge.
[0019] It can be seen from the above technical solution that the present application has at least the following advantages and positive effects:
[0020] (1) In the present application, the corresponding high-pressure pipeline is designed as a pipeline coil at the rotating joint. Since the multiple coils of the pipeline coil are arranged in a surrounding manner, when the rotating joint rotates, the multiple coils of the pipeline coil can be twisted accordingly, which can effectively avoid the problem of the high-pressure pipe being easily deformed or broken at a single point in the related art.
[0021] (2) In the preferred embodiment of the present application, the water jet can achieve 360-degree cutting processing in all directions and angles through the multi-axis transmission of the robot. By cleverly setting the high-pressure water supply pipe to be introduced from the upper arm position and coordinating the subsequent multiple coils with the rotating joints, the problem of the high-pressure water supply pipe being easily broken due to large deformation and torsion during the rotation and transportation process following the rotating joints can be effectively solved while achieving 360-degree cutting processing in all directions and angles of the water jet.
[0022] (3) In the preferred embodiment of the present application, when the robot is provided with a plurality of rotating joints, installing the sand supply pipe on the upper arm of the robot not only facilitates smooth sand discharge, but also avoids entanglement of the sand supply pipe. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;
[0024] Figure 2 for Figure 1 Schematic diagram of the structure of the first movable joint;
[0025] Figure 3 for Figure 1 Schematic diagram of the structure of the water jet and cutting device.
[0026] Explanation of reference numerals: 1. Robot; 11. Base; 12. Lower rotating arm; 13. Lower arm; 14. Upper arm; 15. Wrist rotating arm; 16. Wrist swinging arm; 17. Wrist rotating arm; 101. First axis; 102. Second axis; 103. Third axis; 104. Fourth axis; 105. Fifth axis; 106. Sixth axis; 2. Water jet; 3. High-pressure water supply pipe; 31. First pipeline coil; 32. Second pipeline coil; 33. Third pipeline coil; 4. Fixed plate; 5. High-pressure pipe connector; 6. Sawing device; 61. Motor; 62. Saw blade; 7. Avoidance mechanism; 71. Track mounting plate; 72. Lifting linear rail; 73. Water jet mounting plate; 74. Cylinder; 8. Bracket; 9. Sand supply pipe. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The terms used in the implementation method of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.
[0028] See also Figures 1 to 3 An embodiment of the present application provides a water jet robot, comprising a robot 1, a water jet 2 mounted on the robot 1, and a high-pressure water supply pipe 3 for supplying water to the water jet 2, wherein the robot 1 has a plurality of rotating joints, the high-pressure water supply pipe 3 comprises at least one pipeline coil, the rotating joint comprises two rotatable arms, the pipeline coil comprises a coil body with multiple turns wound around an axis, the two ends of the pipeline coil are respectively fixedly connected to the two arms of the same rotating joint, and the axis of the pipeline coil is parallel to the rotation axis of the corresponding rotating joint.
[0029] Since the corresponding high-pressure pipeline is designed as a pipeline coil at the rotating joint, and the multiple coils of the pipeline coil are arranged in a surrounding manner, when the rotating joint rotates, the multiple coils of the pipeline coil can be twisted accordingly, which can effectively avoid the problem of easy deformation or breakage of the high-pressure pipe at a single point in the related technology.
[0030] In some embodiments, the robot 1 is a six-axis robot 1, mainly including a base 11, a lower rotating arm 12 connected to rotate left and right relative to the base 11 around a first axis 101, a lower arm 13 connected to swing up and down relative to the rotating arm around a second axis 102, an upper arm 14 connected to swing up and down relative to the lower arm 13 around a third axis 103, a wrist rotating arm 15 connected to rotate relative to the upper arm 14 around a fourth axis 104, a wrist swinging arm 16 connected to swing up and down relative to the rotating arm around a fifth axis 105, and a wrist rotating arm 17 connected to rotate relative to the wrist swinging arm 16 around a sixth axis 106, and the water jet 2 is installed on the wrist rotating arm 17 through a fixing plate 4;
[0031] The base 11 and the lower rotating arm 12 constitute a first movable joint, the lower rotating arm 12 and the lower arm 13 constitute a second movable joint, the lower arm 13 and the upper arm 14 constitute a third movable joint, the upper arm 14 and the wrist rotating arm 15 constitute a fourth movable joint, the wrist rotating arm 15 and the wrist swing arm 16 constitute a fifth movable joint, and the wrist swing arm 16 and the wrist rotating arm 17 constitute a sixth movable joint. The high-pressure water supply pipe 3 is introduced from the upper arm 14, and the high-pressure water supply pipe 3 includes a first pipeline coil 31 coaxially arranged with the fourth axis 104, a second pipeline coil 32 coaxially arranged with the fifth axis 105, and a third pipeline coil 33 coaxially arranged with the sixth axis 106.
[0032] In this embodiment, pipeline coils are only added on the fourth axis 104, the fifth axis 105 and the sixth axis 106. Since the high-pressure water supply pipe 3 is mainly introduced into the upper arm 14, the first to third movable joints have little effect on the high-pressure water supply pipe 3 during the movement, so there is no need to set pipeline coils at these joints. It should be noted that the structure of the pipeline coil can be applied not only to the six-axis robot 1, but also to the five-axis or other mechanical structures with rotating joints.
[0033] In some embodiments, the first pipeline coil 31 is placed on the outer periphery of the rotating arm, and both ends of the first pipeline coil 31 are fixed to the upper arm 14 and the rotating arm. The second pipeline coil 32 is located beside the wrist swing arm 16, and both ends of the second pipeline coil 32 are fixed to the rotating arm and the wrist swing arm 16. The third pipeline coil 33 is placed on the outer periphery of the wrist rotation arm 17, and the third pipeline line is respectively fixed to the wrist swing arm 16 and the wrist rotation arm 17.
[0034] In some embodiments, adjacent pipeline coils are connected via a high-pressure pipe connector 5. Since the pipeline coil is wound and arranged in a spring-like shape, it is usually difficult to manufacture multiple pipeline coils at one time, so each pipeline coil needs to be manufactured separately, and adjacent coils are connected via a high-pressure pipe connector 5 during on-site installation.
[0035] In some embodiments, a sawing device 6 is also provided on the fixed plate 4, and an avoidance mechanism 7 is provided between the fixed plate 4 and the water jet 2 for driving the water jet 2 to switch between the working position and the avoidance position. The sawing device 6 mainly includes a motor 61 installed on the fixed plate 4 and a saw connected to the output shaft of the motor 61. Therefore, when the robot 1 is equipped with the water jet 2 of the sawing device 6, the sawing and the water jet 2 can work alternately. The function of the avoidance mechanism 7 is to prevent the water jet 2 from interfering with the workpiece to be processed when the sawing device 6 is in the working state.
[0036] In some embodiments, the avoidance mechanism 7 includes a track mounting plate 71 disposed on the fixed plate 4, a lifting line rail 72 disposed on the track, a water jet 2 mounting plate mounted on the lifting line rail 72 and movable in lifting, and a cylinder 74 mounted on the track mounting plate 71 for driving the water jet 2 mounting plate to move upward and downward, and the water jet 2 is disposed on the water jet 2 mounting plate. The avoidance mechanism 7 may also be other linear motion mechanisms, or a swing mechanism that drives the water jet 2 to perform a yaw motion through a swing arm.
[0037] In some embodiments, the water jet robot further includes a sand supply pipe 9 for supplying sand to the water jet 2, a bracket 8 is provided on the upper arm 14, and a portion of the sand supply pipe 9 is fixedly connected to the bracket 8. When the robot has a large number of rotating joints, since when each rotating joint of the robot moves, the lower rotating arm only swings left and right relative to the base, and the lower arm and the upper arm also only swing up and down within a certain range, and the rotation amplitude is small, the sand supply pipe is installed on the bracket provided on the upper arm, rather than on the subsequent rotating arms such as the wrist rotating arm, which is conducive to keeping the sand supply pipe as upright or nearly upright as possible when the robot is working, so that the sand inlet is upward and the sand outlet is downward, so that the sand in the sand supply pipe can flow out more smoothly with the help of gravity, avoiding the phenomenon of unsmooth sand discharge.
[0038] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.
[0039] The terms "first," "second," "third," "fourth," etc., if any, are used to distinguish between similar objects and not necessarily to describe a particular order or sequence.
[0040] In the description of the embodiments of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application have been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A high-pressure water pipe rotating conveying structure, characterized in that: It includes a pipeline coil and a rotating joint, the rotating joint includes two arms that can rotate relative to each other, one of the arms is rotatably arranged relative to the other arm around the rotating axis of the rotating joint, the pipeline coil has a plurality of coils that are successively wound around an axis, the two ends of the pipeline coil are respectively fixedly connected to the two arms, the winding axis of the pipeline coil is arranged parallel to the rotating axis of the rotating joint, so that when the two arms of the rotating joint rotate relative to each other, the plurality of coils of the pipeline coil can be twisted accordingly; the coils of the pipeline coil are composed of a hollow hard pipe in the middle for conveying high-pressure water.
2. A high-pressure water pipe rotating conveying structure according to claim 1, characterized in that: The winding axis of the pipeline coil is coaxial with the rotation axis of the rotation joint.
3. A water jet robot, characterized in that: It includes a robot, a water knife installed on the robot, and a high-pressure water supply pipe for supplying water to the water knife. The robot has more than one rotating joint that is sequentially connected to the base of the robot and the water knife. Each rotating joint includes two arms that can rotate relative to each other, and one arm is arranged to rotate relative to the other arm around the rotating axis of the rotating joint; the high-pressure water supply pipe includes at least one pipeline coil arranged on at least one rotating joint for cooperating with the corresponding rotating joint for rotation and transmission; each pipeline coil has a coil body that is continuously wound around an axis in sequence, and the two ends of the pipeline coil are respectively fixedly connected to the two arms of the same rotating joint corresponding to it, and the winding axis of the pipeline coil is parallel to the rotating axis of the corresponding rotating joint, so that when the two arms of the rotating joint rotate relative to each other, the multiple coils of the corresponding pipeline coil can be twisted accordingly; the coil body of the pipeline coil is composed of a hollow hard pipe in the middle for conveying high-pressure water.
4. A water jet robot according to claim 3, characterized in that: The robot also includes an upper arm arranged on the base and capable of swinging up and down relative to the base, a wrist rotating arm connected to rotate relative to the upper arm around a fourth axis, a wrist swinging arm connected to swing up and down relative to the wrist rotating arm around a fifth axis, and a wrist rotating arm connected to rotate relative to the wrist swinging arm around a sixth axis. The water jet is installed on the wrist rotating arm through a fixing plate, and the high-pressure water supply pipe is introduced from the upper arm position. The high-pressure water supply pipe includes a first pipeline coil coaxially arranged with the fourth axis, a second pipeline coil coaxially arranged with the fifth axis, and a third pipeline coil coaxially arranged with the sixth axis. The coils are connected in sequence, and the output port of the third pipeline coil is connected to the waterway inlet of the water jet.
5. A water jet robot according to claim 4, characterized in that: The robot also includes a lower rotating arm rotatably connected to the base via a vertical first axis so that it can swing left and right relative to the base, a lower arm connected to swing up and down relative to the lower rotating arm around a second axis, and an upper arm connected to swing up and down relative to the lower arm around a third axis so that it can swing up and down relative to the base.
6. A water jet robot according to claim 4 or 5, characterized in that: The first pipeline coil is sleeved on the outer circumference of the wrist rotation arm, and the two ends of the first pipeline coil are respectively fixed to the upper arm and the wrist rotation arm; the second pipeline coil is located on the axial side of the rotation connection part of the wrist swing arm and the wrist rotation arm, and the two ends of the second pipeline coil are respectively fixed to the wrist rotation arm and the wrist swing arm; the third pipeline coil is sleeved on the outer circumference of the wrist rotation arm, and the third pipeline coil is respectively fixed to the wrist swing arm and the wrist rotation arm.
7. A water jet robot according to claim 4 or 5, characterized in that: Adjacent pipeline coils are connected via high-pressure pipe connectors.
8. A water jet robot according to claim 4 or 5, characterized in that: The fixed plate is also provided with a sawing device, and a avoidance mechanism for driving the water jet to switch between a working position and an avoidance position is also provided between the fixed plate and the water jet.
9. A water jet robot according to claim 8, characterized in that: The avoidance mechanism includes a track mounting plate fixedly mounted on a fixed plate, a lifting rail arranged on the track mounting plate, a water jet mounting plate mounted on the lifting rail and movable relative to the lifting rail, and a cylinder mounted on the track mounting plate for driving the water jet mounting plate to move up and down, wherein the water jet is arranged on the water jet mounting plate.
10. A water jet robot according to claim 4 or 5, characterized in that: The water jet robot also includes a sand supply pipe for supplying sand to the water jet. A bracket is arranged on the upper arm. The sand supply pipe is fixedly installed and connected to the bracket. The sand inlet of the sand supply pipe is arranged at the upper part of the sand supply pipe. The sand outlet of the sand supply pipe is arranged at the bottom of the sand supply pipe and is connected to the sand inlet of the water jet through a hose. In the process of the upper arm and the lower arm of the water jet robot swinging up and down, the sand outlet of the sand supply pipe is always located below its sand inlet.