Six-axis automatic plain-end expanded joint robot

Abstract

The utility model discloses a six-axis automatic plain-end expanded joint robot which is mainly used for automatic operation of tube plate connection in industrial production. The robot is composed of a six-axis mechanical arm, a plain end expanded connection structure, a supporting base, an electrical control box and a hydraulic control box, and plain end expanded connection and pipe orifice flat cutting operation can be efficiently and accurately completed. The six-axis mechanical arm is installed on the supporting base and drives the plain-end expanded connection structure to achieve multi-degree-of-freedom flexible movement and precise positioning. The plain end expanded connection structure is composed of a supporting frame, a hydraulic tube expander, a stable pressing plate, a motor and a plurality of sets of air cylinders, a carried sensing module comprises a 3D vision camera and an infrared distance sensor, the expanded connection position and the tube plate parallelism can be dynamically detected, and the operation precision and stability are ensured. By means of the automatic design, the production efficiency is effectively improved, the labor intensity of manual operation is relieved, meanwhile, dangerous operation such as high-altitude operation is avoided, and safety is remarkably improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of flat mouth expansion joint machine, concretely is from six axle automatic flat mouth expansion joint robot. BACKGROUND

[0002] With the rapid development of industrial automation and intelligentization, the traditional pipe plate expansion joint process has gradually failed to meet the growing demand for high efficiency, high precision and safety in many industrial fields, such as petrochemical industry, boiler manufacturing, shipbuilding and refrigeration equipment industry. In the traditional pipe plate expansion joint process, the operator needs to manually complete the expansion joint operation in a narrow or high-altitude work environment. This way not only has high labor intensity, but also has high skill requirements for the operator, and is prone to cause the expansion joint quality to be substandard due to human error. In addition, manual operation needs to frequently climb and adjust the working position, which has great safety hazards, especially in work scenes involving high altitude and complex space structures, the potential falling risk and other accident hazards seriously threaten the personal safety of workers.

[0003] Although the existing part of the automatic equipment can reduce the operation difficulty to a certain extent, it has the following shortcomings: first, the equipment structure is complex, the cost is high, and it is difficult to popularize on a large scale; second, the working precision of the existing equipment is limited, and it cannot meet the high-precision expansion joint demand; finally, the intelligent positioning and detection function is lacking, and it is difficult to realize accurate calibration and automatic adjustment of the target position during the expansion joint process, which limits the applicability and reliability of the equipment.

[0004] Therefore, it is an urgent technical problem in the industry to develop an automatic flat mouth expansion joint equipment with high precision, modularity, intelligence and adaptability to various work scenes. The six-axis automatic flat mouth expansion joint robot proposed by the utility model combines the flexibility of the six-axis mechanical arm and the precise positioning function of the intelligent sensing module, can realize efficient, safe and precise expansion joint operation, has modular design and multi-functional expansion capability, and can be widely used in various complex industrial scenes, effectively solving the shortcomings of the prior art. UTILITY MODEL CONTENTS

[0005] The utility model aims at the shortcomings of the prior art, and provides a six-axis automatic flat mouth expansion joint robot to solve the problems proposed in the background art.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a six-axis automatic flat mouth expansion joint robot, comprising a mechanical arm and a flat mouth expansion joint structure, the mechanical arm is installed on a support base, and the output shaft of the mechanical arm is provided with the flat mouth expansion joint structure;

[0007] The flat mouth expansion joint structure comprises a support frame, a first cylinder, a second cylinder, a motor, a third cylinder, a hydraulic pipe expander and a stable pressing plate.

[0008] The first cylinder and the second cylinder are symmetrically arranged on the two side walls of the support frame, the output shafts of the first cylinder and the second cylinder are fixed on the two ends of the stable pressing plate, the motor is installed in the middle of the inner cavity of the support frame, and the output shaft of the motor is connected with the middle part of the stable pressing plate, the output shaft of the third cylinder is installed with the hydraulic pipe expander, and the support frame is fixed on the output shaft of the mechanical arm.

[0009] As a preferred technical scheme of the utility model, the mechanical arm adopts a six-axis mechanical arm or a four-axis mechanical arm.

[0010] As a preferred technical scheme of the utility model, the side wall of the support frame is installed with an induction module, and the induction module comprises a 3D vision camera and an infrared distance sensor.

[0011] As a preferred technical scheme of the utility model, the hydraulic pipe expander is located directly below the stable pressing plate.

[0012] As a preferred technical scheme of the utility model, the first cylinder and the second cylinder are of the same specification.

[0013] As a preferred technical scheme of the utility model, the support base is installed with an electrical control box and a hydraulic control box.

[0014] Compared with the prior art, the utility model has the beneficial effects that:

[0015] Compared with the prior art, the utility model has the following advantages. First, through the combination of the six-axis mechanical arm and the automatic flat-end expansion structure, the robot can independently complete the expansion operation, reducing the labor intensity of manual operation, and avoiding the safety hazards existing in traditional manual operation. The whole system design is compact and reasonable, can adapt to complex environment, and ensures more efficient and reliable operation.

[0016] Secondly, the robot realizes accurate identification and automatic calibration of the expansion position by integrating the 3D vision camera and the infrared distance sensor, ensuring high precision and stability in the operation process. At the same time, the modular design enables the equipment to be quickly adjusted according to the needs, adapting to various functions and process requirements, and improving the flexibility and application range of the robot.

[0017] Finally, the utility model significantly improves the work efficiency through the automatic design, reduces the manual intervention and human errors. In addition, the robot control system supports real-time monitoring and intelligent adjustment, ensuring the efficiency and traceability of the operation process, saving the operation cost, and improving the overall management level of the production line. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a whole structure schematic view of the six-axis automatic flat-end expansion robot.

[0019] Figure 2 Figure 1 is a structural diagram of a six-axis automatic flat expansion joint robot.

[0020] In the figure: 1, mechanical arm; 2, flat expansion joint structure; 3, hydraulic control box; 4, electrical control box; 5, support base; 21 support frame, 22 first cylinder, 23 second cylinder, 24 motor, 25 third cylinder, 26 hydraulic pipe expander, 27 stabilizing plate, 28 sensing module. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] The specific embodiments of the present application will be described in detail below in combination with the drawings and multiple embodiments.

[0023] 1. System composition and connection The six-axis automatic flat expansion joint robot is composed of the following parts:

[0024] Six-axis mechanical arm 1: The mechanical arm is installed on the support base 5 and is responsible for driving the flat expansion joint structure 2 to the designated position. The mechanical arm can be selected as a six-axis or four-axis structure according to actual application.

[0025] Flat expansion joint structure 2: Connected to the output shaft of the mechanical arm 1, including support frame 21, hydraulic pipe expander 26, stabilizing plate 27, first cylinder 22, second cylinder 23, motor 24, third cylinder 25 and sensing module 28, the sensing module 28 includes a 3D vision camera and an infrared distance sensor.

[0026] Sensing module 28: Installed on the side wall of the support frame, used for dynamic visual positioning and real-time distance measurement.

[0027] Control module: composed of electrical control box 4 and hydraulic control box 3, the robot action and expansion process are controlled by the upper computer.

[0028] 2. The flat expansion joint structure 2 realizes multifunctional operation through modular design, including the following components:

[0029] Support frame 21: As the main structure of the flat expansion joint module, it is installed on the output shaft of the mechanical arm 1 to ensure the stability during the expansion process.

[0030] Stable pressing plate 27: used for clamping and fixing the tube plate, connected by the first and second cylinders 22 and 23 symmetrically on both sides, with the motor 24 located in the middle of the support frame and connected to the center of the stable pressing plate 27 to stabilize the position of the stable pressing plate 27.

[0031] Hydraulic tube expander 26: installed on the output shaft of the third cylinder 25, responsible for performing the tube expansion operation, located directly below the stable pressing plate 27. The hydraulic tube expander 26 adjusts its position by the extension and retraction of the third cylinder 25.

[0032] Induction module 28: installed on the side wall of the support frame, used to detect the parallelism of the tube plate and the expansion position, combined with the laser distance sensor to achieve precise positioning.

[0033] 3. The specific steps of the robot implementing the flat expansion operation are as follows:

[0034] The working principle of the six-axis automatic flat expansion robot is realized by the flexible movement of the six-axis mechanical arm 1 to achieve precise positioning and efficient operation of the equipment. The mechanical arm is installed on the support base 5, which provides stability and firm support for the equipment. The output shaft of the mechanical arm 1 is connected to the flat expansion structure 2, which drives the flat expansion module to move to the target expansion position. According to the operation needs, the six-axis mechanical arm can complete multi-degree of freedom angle adjustment to meet the expansion operation requirements in complex environments.

[0035] The flat expansion structure 2 is the core part of the equipment, including the support frame 21, the hydraulic tube expander 26, the stable pressing plate 27, the motor 24, and the first, second, and third cylinders 22, 23, and 25. The induction module 28 integrates a 3D vision camera and an infrared distance sensor. After the equipment is started, the induction module 28 collects the position and angle information of the target tube plate in real time, identifies and locates the tube plate through visual algorithms, and detects the parallelism of the tube plate to ensure that the expansion module is accurately aligned with the tube plate.

[0036] The expansion operation process is automatically executed by the control systems 3 and 4. When the hydraulic tube expander 26 is in standby state, the mechanical arm 1 moves to the expansion position through the control module. At the beginning of the expansion, the first and second cylinders 22 and 23 drive the stable pressing plate 27 to firmly clamp the tube plate, ensuring the stability during the expansion process. The hydraulic tube expander 26 is driven by the third cylinder 25, which realizes the extension and retraction action through the hydraulic control box 3, completing the expansion connection of the tube plate and the pipe mouth. If it is necessary to cut the flat pipe mouth, only need to replace the appropriate cutter head, which is driven by the motor 24 to complete the flat mouth operation. The whole process is intelligently managed by the electrical control box 4 and the hydraulic control box 3 in cooperation with the upper computer, realizing precise, efficient, and safe automatic operation.

[0037] The modular design of the device enables the flat-end expansion structure 2 to quickly switch to other functional modules, such as a mechanical expander or other operation tools, after the expansion is completed. Through flexible adjustment, the device can meet the needs of various industrial scenes and provide efficient and safe automated solutions for production.

[0038] The contents not described in detail in the description belong to the prior art known to those skilled in the art, although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement for part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims

1. A six-axis automatic flaring robot comprising a robot arm (1) and a flaring structure (2), characterized in that, The mechanical arm (1) is installed on a support base (5), and an output shaft of the mechanical arm (1) is provided with a flat expanding joint structure (2); The flat expanding joint structure (2) comprises a support frame (21), a first air cylinder (22), a second air cylinder (23), a motor (24), a third air cylinder (25), a hydraulic pipe expander (26) and a stabilizing pressing plate (27); The first air cylinder (22) and the second air cylinder (23) are symmetrically arranged on the two side walls of the support frame (21), the output shafts of the first air cylinder (22) and the second air cylinder (23) are fixed on the two ends of the stabilizing pressing plate (27), the motor (24) is installed in the middle part of the inner cavity of the support frame (21), and the output shaft of the motor (24) is connected with the middle part of the stabilizing pressing plate (27), the output shaft of the third air cylinder (25) is provided with the hydraulic pipe expander (26), and the support frame (21) is fixed on the output shaft of the mechanical arm (1).

2. The six-axis automatic flat facing expansion joining robot according to claim 1, characterized in that: The mechanical arm (1) is a six-axis mechanical arm or a four-axis mechanical arm.

3. The six-axis automatic flat facing expansion joining robot according to claim 2, characterized in that: A sensing module (28) is installed on the side wall of the support frame (21), and the sensing module (28) comprises a 3D vision camera and an infrared distance sensor.

4. The six-axis automatic flat facing expansion joining robot according to claim 3, characterized in that: The hydraulic pipe expander (26) is located directly below the stabilizing pressing plate (27).

5. The six-axis automatic flat facing expansion joining robot according to claim 4, characterized in that: The first air cylinder (22) and the second air cylinder (23) are of the same specification.

6. The six-axis automatic flat facing expansion joining robot according to claim 5, characterized in that: An electrical control box (4) and a hydraulic control box (3) are installed on the support base (5).

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