Modular combined manipulator for intelligent cutting of scrap steel

Abstract

The utility model provides a modularized combined manipulator for intelligent cutting of scrap steel, which can be used for continuous cutting operation among a plurality of scrap steel cutting stations, a mobile workshop can be moved to any scrap steel cutting station, the internal space is used as an operation area for cutting the scrap steel, and dust hoods are arranged on two transverse side surfaces; in the operation area, a truss manipulator is suspended through a framework of a mobile workshop, the truss manipulator comprises a long-axis truss assembly, a short-axis truss assembly and an industrial robot, and the industrial robot and the short-axis truss assembly can be driven by the long-axis truss assembly together to horizontally move in the depth direction; the industrial robot can be driven by the short-axis truss assembly to move horizontally in the transverse direction, and the tail end of the industrial robot is detachably connected with the cutting unit through the first steel pipe and the extension steel pipe. According to the multi-station cutting machine, the dust pollution phenomenon caused by cutting can be remarkably improved, and the cutting operation among multiple stations can be more efficiently carried out.

Description

TECHNICAL FIELD

[0001] The utility model relates to a mechanical hand more specifically a modular combined mechanical hand for intelligent cutting of scrap steel. BACKGROUND

[0002] The scrap steel cutting is mainly operated by manual holding of a flame cutting gun at present, and the high temperature and serious dust are not conducive to the health of the operator. The intelligent cutting of the robot will be the future development trend of the scrap steel cutting operation, but the robots suitable for the scrap steel cutting are still few at present and need to be researched and developed. CONTENT OF THE UTILITY MODEL

[0003] To solve the above technical problems, the utility model provides a modular combined mechanical hand for intelligent cutting of scrap steel, which is suitable for scrap steel cutting operation in a steel plant and can significantly improve the dust pollution phenomenon caused by cutting and enable the cutting operation between multiple stations to be carried out more efficiently.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme:

[0005] A modular combined mechanical hand for intelligent cutting of scrap steel has the following structural characteristics:

[0006] It can be used for continuous cutting operation between multiple scrap steel cutting stations; a pair of walking guide rails is laid according to the position distribution trajectory of the multiple scrap steel cutting stations, a moving vehicle room is arranged on the upper end of the pair of walking guide rails, and the moving vehicle room is driven by the multiple rollers arranged at the bottom to roll with the pair of walking guide rails. The rollers are driven by a roller driving device to be displaced to any scrap steel cutting station along the walking guide rail. The internal space of the moving vehicle room serves as an operation area for cutting scrap steel, the moving vehicle room is longitudinally arranged along the walking guide rail in the length direction, both ends of the moving vehicle room are provided with openable and closable door bodies, dust removal covers with side suction are arranged on the lateral sides of the moving vehicle room, and the air outlets of the dust removal covers are connected to a dust removal fan through air pipes.

[0007] In the operation area, a truss mechanical hand is suspended from the framework of the moving vehicle room, the truss mechanical hand includes a long-shaft truss assembly, a short-shaft truss assembly and an industrial robot, the long-shaft truss assembly is arranged horizontally along the longitudinal direction and is centrally hoisted at the top of the framework of the moving vehicle room, the short-shaft truss assembly is arranged horizontally along the transverse direction and is detachably hoisted by the long-shaft truss assembly through a short-shaft connecting piece, the industrial robot is detachably hoisted by the short-shaft truss assembly through a robot connecting piece, and the industrial robot and the short-shaft truss assembly can be driven by a long-shaft driving device of the long-shaft truss assembly to horizontally and linearly reciprocate along the long-shaft guide rail in the longitudinal direction. The industrial robot can be driven by a short-shaft driving device of the short-shaft truss assembly to horizontally and linearly reciprocate along the short-shaft guide rail in the transverse direction. A first steel pipe is detachably connected to the end of the industrial robot, an extension steel pipe is detachably connected to the end of the first steel pipe, and a cutting unit is detachably connected to the end of the extension steel pipe.

[0008] The structural features of the utility model also lie in:

[0009] In the truss manipulator,

[0010] The long axis truss assembly comprises a long axis truss, a long axis driving device, a long axis transmission mechanism, long axis guide rails and a long axis roller box sliding block group, the long axis truss is detachably hoisted on the framework of the mobile workshop through a long axis connecting piece, a pair of long axis guide rails arranged horizontally along the longitudinal direction are symmetrically arranged on the long axis truss in the transverse direction, a plurality of long axis sliding blocks of the long axis roller box sliding block group are slidably sleeved on the long axis guide rails on the two sides in a half-enclosing mode, the plurality of long axis sliding blocks are connected with the short axis connecting piece, are driven by the long axis driving device and are transmitted through the long axis transmission mechanism, and the long axis transmission mechanism, the short axis connecting piece and the short axis truss assembly and the industrial robot are synchronously slid along the long axis guide rails;

[0011] The long axis transmission mechanism is a long axis rack and a long axis transmission gear in mesh, the long axis driving device is provided with driving force by a long axis servo motor, is decelerated through a long axis speed reducer, the long axis speed reducer output shaft is used as a long axis power shaft, the long axis servo motor, the long axis speed reducer and the long axis transmission gear are installed on the short axis connecting piece, the long axis transmission gear wheel shaft is directly connected with the long axis power shaft, is synchronously rotated by the long axis power shaft, is driven to synchronously slide along the long axis guide rails through mesh transmission between the long axis rack and the long axis transmission gear which are arranged in parallel on the long axis guide rails.

[0012] In the truss manipulator,

[0013] The short axis truss assembly comprises a short axis truss, a short axis driving device, a short axis transmission mechanism, short axis guide rails and a short axis roller box sliding block group, the short axis truss is detachably hoisted on the short axis connecting piece, a pair of short axis guide rails arranged horizontally along the transverse direction are symmetrically arranged on the short axis truss in the transverse direction, a plurality of short axis sliding blocks of the short axis roller box sliding block group are slidably sleeved on the short axis guide rails on the two sides in a half-enclosing mode, the plurality of short axis sliding blocks are connected with the robot connecting piece, are driven by the short axis driving device and are transmitted through the short axis transmission mechanism, and the short axis transmission mechanism, the robot connecting piece and the industrial robot are synchronously slid along the short axis guide rails.

[0014] The short axis transmission mechanism is a short axis rack and a short axis transmission gear in mesh, the short axis driving device is provided with driving force by a short axis servo motor, is decelerated through a short axis speed reducer, the short axis speed reducer output shaft is used as a short axis power shaft, the short axis servo motor, the short axis speed reducer and the short axis transmission gear are installed on the robot connecting piece, the short axis transmission gear wheel shaft is directly connected with the short axis power shaft, is synchronously rotated by the short axis power shaft, is driven to synchronously slide along the short axis guide rails through mesh transmission between the short axis rack and the short axis transmission gear which are arranged in parallel on the short axis guide rails.

[0015] The industrial robot is hoisted on each sliding block of the short axis roller box sliding block group through the robot connecting piece.

[0016] The industrial robot is a six-axis mechanical arm.

[0017] The industrial robot end is connected with the flange on the top end of the first steel pipe through bolts, the end of the first steel pipe is connected with the top end of the extension steel pipe through threads, the end of the extension steel pipe is connected with the cutting unit through a clamp, and the first steel pipe and the extension steel pipe are coaxial.

[0018] The cutting unit is a cutting torch.

[0019] The mobile workshop comprises a framework and a workshop dust cover arranged outside the framework, the framework is a single-span portal steel frame, and a plurality of triangular beams are arranged at intervals in the longitudinal direction at the top.

[0020] The opening and closing direction of the door body of the mobile workshop is arranged in the vertical direction, the door body is divided into two parts, comprising a fixed sealing plate located at the upper part and a movable sealing plate located at the lower part, and the movable sealing plate can slide in the vertical direction, slide upward to be opened, or slide downward to be closed.

[0021] The roller driving device comprises a roller servo motor, a roller speed reducer and a driving roller, the driving roller is driven by the roller servo motor and is reduced in speed by the roller speed reducer, rotates around a wheel shaft, and realizes the displacement of the mobile workshop along a pair of walking rails through the rollers at the bottom by the rolling cooperation between the driving roller and the walking rails.

[0022] Compared with the prior art, the mobile workshop has the beneficial effects that:

[0023] 1. The present application can significantly improve the dust pollution caused by scrap steel cutting.

[0024] The mobile workshop of the present application is provided with a dust removal cover, the dust removal cover is connected with an air pipe to a dust removal fan, scrap steel cutting is carried out in the mobile workshop, dust can be timely removed from the dust removal covers on both sides of the mobile workshop during cutting, dust spreading to the entire operation area is avoided, equipment operation is not affected, and environmental pollution is reduced.

[0025] 2. The present application adopts modular design, which can better adapt to rapid deployment in more cutting operation scenarios.

[0026] The truss manipulator is detachably connected with the framework of the mobile workshop, the long-shaft truss assembly, the short-shaft truss assembly and the industrial robot are detachably connected, the industrial robot and the cutting unit as the end effector are detachably connected through the first steel pipe and the extension steel pipe, the components of each detachable connection are convenient to disassemble and assemble, and the truss manipulator can be quickly combined with each specification mobile workshop according to the assembly form, the long-shaft truss assembly, the short-shaft truss assembly and the industrial robot of each specification type can also be quickly combined, and the industrial robot and the cutting unit can also be quickly combined, so that the truss manipulator can be quickly deployed in more cutting operation scenes. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a schematic diagram of the overall structure of the utility model;

[0028] Figure 2 is a schematic diagram of the structure of the utility model when the workshop dust cover is not shown;

[0029] Figure 3 is a schematic diagram of the internal main view structure of the utility model;

[0030] Figure 4 is a schematic diagram of the structure of the long-shaft connecting piece at both ends of the long-shaft truss;

[0031] Figure 5 is a schematic diagram of the structure of the long-shaft connecting piece in the middle of the long-shaft truss;

[0032] Figure 6 is a schematic diagram of the structure of the truss manipulator;

[0033] Figure 7 is a schematic diagram of the main view structure of the truss manipulator;

[0034] Figure 8 is a schematic diagram of the side view structure of the truss manipulator;

[0035] Figure 9 is a schematic diagram of the top view structure of the truss manipulator;

[0036] Figure 10 is a schematic diagram of the structure of the short-shaft truss assembly and the industrial robot.

[0037] In the drawings:

[0038] 1 mobile workshop; 11 fixed sealing plate; 12 mobile sealing plate; 13 dust cover; 14 air pipe; 15 framework; 151 triangular beam

[0039] 21 walking guide rail; 22 roller; 23 roller driving device; 24 driving roller;

[0040] 3 long axis truss assembly; 31 long axis connector; 32 long axis truss; 33 long axis driving device; 34 long axis transmission mechanism; 35 long axis guide rail; 36 long axis roller box sliding block group; 361 long axis sliding block;

[0041] 4 short axis truss assembly; 41 short axis connector; 42 short axis truss; 43 short axis driving device; 44 short axis transmission mechanism; 45 short axis guide rail; 46 short axis roller box sliding block group; 461 short axis sliding block;

[0042] 5 industrial robot; 51 robot connector; 52 first steel pipe; 53 extension steel pipe; 54 cutting unit. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0044] Please refer to Figures 1 to 10 The modular combined mechanical hand for intelligent cutting of scrap steel in the embodiment can be used for continuous cutting operation between multiple scrap steel cutting stations. A pair of walking guide rails 21 is laid according to the position distribution trajectory of the multiple scrap steel cutting stations. The mobile workshop 1 is arranged on the upper end of the pair of walking guide rails 21. The mobile workshop 1 is driven by the roller driving device 23 to be displaced to any scrap steel cutting station along the walking guide rail 21 by the rolling cooperation between the multiple rollers 22 arranged at the bottom and the pair of walking guide rails 21. The internal space of the mobile workshop 1 serves as the operation area for cutting scrap steel. The walking guide rail 21 is longitudinally and longitudinally arranged, and the two ends are provided with openable and closable door bodies. The dust removal cover 13 is provided with side suction on the lateral side surface. The air outlet of the dust removal cover 13 is connected to the dust removal fan through the air pipe 14.

[0045] In the working area, the truss manipulator is suspended by the framework 15 of the mobile workshop 1, the truss manipulator includes the long-axis truss assembly 3, the short-axis truss assembly 4 and the industrial robot 5, the long-axis truss assembly 3 is horizontally arranged along the longitudinal direction, is centrally hoisted at the top of the framework 15 of the mobile workshop 1, the short-axis truss assembly 4 is horizontally arranged along the transverse direction, is detachably hoisted by the long-axis truss assembly 3 through the short-axis connecting piece 41, the industrial robot 5 is detachably hoisted by the short-axis truss assembly 4 through the robot connecting piece 51, together with the short-axis truss assembly 4, can be driven by the long-axis driving device 33 of the long-axis truss assembly 3, horizontally linear reciprocatingly displaces along the long-axis guide rail 35 along the longitudinal direction, the industrial robot 5 can be driven by the short-axis driving device 43 of the short-axis truss assembly 4, horizontally linear reciprocatingly displaces along the short-axis guide rail 45 along the transverse direction, the end is detachably connected with the first steel pipe 52, the end of the first steel pipe 52 is detachably connected with the extension steel pipe 53, the end of the extension steel pipe 53 is detachably connected with the cutting unit 54.

[0046] In the specific implementation, the corresponding structural arrangement of the modular combined manipulator also includes:

[0047] In the truss manipulator: the long-axis truss assembly 3 includes the long-axis truss 32, the long-axis driving device 33, the long-axis transmission mechanism 34, the long-axis guide rail 35, the long-axis roller box sliding block group 36, is detachably hoisted on the framework 15 of the mobile workshop 1 through the long-axis connecting piece 31 by the long-axis truss 32, a pair of long-axis guide rails 35 horizontally arranged along the longitudinal direction are symmetrically arranged on the long-axis truss 32 along the transverse direction, a plurality of long-axis sliding blocks 361 of the long-axis roller box sliding block group 36 are respectively slidably sleeved on the long-axis guide rails 35 on both sides in a half-enclosing manner, the plurality of long-axis sliding blocks 361 are connected with the short-axis connecting piece 41, are driven by the long-axis driving device 33, are driven through the long-axis transmission mechanism 34, and slide along the long-axis guide rail 35 together with the short-axis connecting piece 41, the short-axis truss assembly 4 and the industrial robot 5;

[0048] The long-axis transmission mechanism 34 is a long-axis rack and a long-axis transmission gear engaged with each other, the long-axis driving device 33 is driven by a long-axis servo motor, is decelerated by a long-axis speed reducer, and the long-axis speed reducer output shaft is the long-axis power shaft, the long-axis servo motor, the long-axis speed reducer and the long-axis transmission gear are installed on the short-axis connecting piece 41, the long-axis transmission gear shaft is directly connected with the long-axis power shaft and is synchronously rotated by the long-axis power shaft, and is driven by the engagement transmission between the long-axis rack arranged in parallel on the long-axis guide rail 35 to drive the plurality of long-axis sliding blocks 361 to synchronously slide along the long-axis guide rail 35; the long-axis towline support with the long-axis towline installed thereon is fixedly connected to the framework 15 of the mobile workshop 1.

[0049] In the gantry robot: the short axis gantry assembly 4 includes a short axis gantry 42, a short axis drive device 43, a short axis transmission mechanism 44, a short axis guide rail 45, and a short axis roller box slider assembly 46. The short axis gantry 42 is detachably hoisted onto the short axis connector 41. A pair of short axis guide rails 45 arranged horizontally are symmetrically distributed on the short axis gantry 42. Multiple short axis sliders 461 of the short axis roller box slider assembly 46 are semi-enclosed and slidably sleeved on the short axis guide rails 45 on both sides. Multiple short axis sliders 461 are connected to the robot connector 51, driven by the short axis drive device 43 and transmitted through the short axis transmission mechanism 44, and slide along the short axis guide rail 45 together with the robot connector 51 and the industrial robot 5.

[0050] The short shaft transmission mechanism 44 consists of a meshing short shaft rack and a short shaft transmission gear. The short shaft drive device 43 is driven by a short shaft servo motor, which reduces the speed through a short shaft reducer. The output shaft of the short shaft reducer serves as the short shaft power shaft. The short shaft servo motor, short shaft reducer, and short shaft transmission gear are mounted on the robot connector 51. The short shaft transmission gear axle is directly connected to the short shaft power shaft and is driven to rotate synchronously by the short shaft power shaft. Through meshing transmission with the short shaft rack arranged parallel on the short shaft guide rail 45, it drives multiple short shaft sliders 461 to slide synchronously along the short shaft guide rail 45. The short shaft drag chain bracket, which is equipped with a short shaft drag chain, is fixedly connected to the short shaft truss 42.

[0051] The long axis slider 361 and long axis guide rail 35 of the long axis truss assembly 3, and the short axis slider 461 and short axis guide rail 45 of the short axis truss assembly 4, are all in a semi-enclosed sleeve configuration. This not only allows them to withstand the variable loads generated when the short axis truss assembly 4 and the industrial robot 5 move, but also facilitates the addition of reinforcing steel pipes to the inside of the long-stroke long axis truss 32 / short axis truss 42, increasing the overall rigidity and strength of the long axis truss 32 / short axis truss 42 and improving the overall stability of the long axis truss 32 / short axis truss 42.

[0052] The industrial robot 5 is suspended on each slider of the short-shaft roller box slider assembly 46 via the robot connector 51.

[0053] To prevent dust, both the long axis truss assembly 3 and the short axis truss assembly 4 are equipped with accordion covers.

[0054] In the gantry robot category: Industrial robot 5 is a six-axis robotic arm.

[0055] The industrial robot 5 is connected to the flange at the top end of the first steel pipe 52 by bolts, the first steel pipe 52 is connected to the top end of the extension steel pipe 53 by threads, the extension steel pipe 53 is connected to the cutting unit 54 by a clamp, and the first steel pipe 52 is coaxial with the extension steel pipe 53. By replacing the extension steel pipe 53 with different lengths, the distance between the cutting unit 54 and the scrap steel to be cut can be quickly changed to meet the operation requirements of the cutting unit 54 for cutting the scrap steel.

[0056] The cutting unit 54 is a cutting torch that is ignited by a matching ignition device.

[0057] The mobile workshop 1 includes a framework 15 and a workshop dust cover surrounding the outside of the framework 15. The framework 15 is a single-span portal steel frame with multiple triangular beams 151 spaced apart along the longitudinal direction at the top. The framework 15 and the truss manipulator installed on the framework 15 will cause the framework 15 to deform due to deflection. The triangular beams 151 effectively reduce the longitudinal deflection deformation of the framework 15 and increase the strength and stiffness of the framework 15.

[0058] The opening and closing direction of the door body of the mobile workshop 1 is vertically arranged, and the door body is divided into two parts, including a fixed cover plate 11 located at the upper part and a movable cover plate 12 located at the lower part. The movable cover plate 12 can slide vertically, either upward to open or downward to close, forming a closed space inside the mobile workshop 1, which facilitates the dust removal work of the dust removal fan in the operation area.

[0059] The roller drive device 23 includes a roller 22 servo motor, a roller 22 speed reducer, and a driving roller 24. The driving roller 24 is driven by the roller 22 servo motor and reduced in speed by the roller 22 speed reducer. The driving roller 24 rotates around the wheel shaft, and the mobile workshop 1 moves along a pair of walking rails 21 through the bottom rollers 22 by the rolling cooperation between the driving roller 24 and the walking rails 21.

[0060] When applied to continuous cutting operations between multiple scrap steel cutting stations, the following methods can be used for implementation:

[0061] The mobile workshop 1 moves along the walking rails 21 with the truss manipulator as a whole by the rolling cooperation between the rollers 22 and a pair of walking rails 21 driven by the roller drive device 23, until it is displaced to the scrap steel cutting station where the scrap steel to be cut is located.

[0062] The cutting unit 54 is displaced to the scrap steel cutting starting position along with the long-axis truss assembly 3, the short-axis truss assembly 4, and the industrial robot 5. After the cutting torch is ignited by the ignition device, the scrap steel is cut according to the set cutting path. The dust generated during the cutting process is promptly extracted from the dust removal cover 13 to prevent the dust from spreading in the operation area and causing adverse effects on the operation environment and the truss manipulator.

[0063] After the scrap steel cutting of the current scrap steel cutting station is completed, the door body of the mobile workshop 1 is opened, and the mobile workshop 1 is driven again by the roller driving device 23, so that the mobile workshop 1 with the truss manipulator as a whole moves along the walking guide rail 21 until it is displaced to the scrap steel cutting station where the scrap steel to be cut is located, the door body of the mobile workshop 1 is closed, and the cutting of the scrap steel at the station is completed according to the above process. During the cutting operation, the scrap steel that has been cut at the previous station can be transported out in time, and the scrap steel to be cut at the next station can be transported at the same time, which can effectively improve the operation efficiency of the scrap steel cutting.

[0064] The modular combined manipulator of the embodiment adopts a modular design idea, and is designed to be detachably connected between the truss manipulator and the framework 15 of the mobile workshop 1, detachably connected between the long-shaft truss assembly 3, the short-shaft truss assembly 4 and the industrial robot 5, and detachably connected between the industrial robot 5 and the cutting unit 54 as the end effector through the first steel pipe 52 and the extension steel pipe 53, and through the definition of standard mechanical, electrical and communication interfaces, the truss manipulator can be quickly combined with various mobile workshops 1 and quickly deployed in various scenes.

[0065] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A modular, combined robotic arm for intelligent cutting of scrap steel, characterized in that: It can be used for continuous cutting operations between multiple scrap steel cutting stations; a pair of walking guide rails are laid according to the location distribution trajectory of multiple scrap steel cutting stations. The mobile workshop is straddling the upper end of the pair of walking guide rails. It relies on the rolling cooperation between multiple rollers at the bottom and the pair of walking guide rails. Driven by the roller drive device, it can move along the walking guide rails to any scrap steel cutting station. The internal space of the mobile workshop serves as the working area for cutting scrap steel. The depth is set along the length of the walking guide rails, and there are openable doors at both ends. The two sides are equipped with side-suction dust hoods. The air outlet of the dust hood is connected to the dust removal fan through the air duct. Within the work area, a truss manipulator is suspended by the framework of the mobile workshop. The truss manipulator includes a long-axis truss assembly, a short-axis truss assembly, and an industrial robot. The long-axis truss assembly is arranged horizontally along the depth direction and is centrally suspended from the top of the mobile workshop framework. The short-axis truss assembly is arranged horizontally along the lateral direction and is detachably suspended from the long-axis truss assembly via a short-axis connector. The industrial robot is detachably suspended from the short-axis truss assembly via a robot connector. Together with the short-axis truss assembly, it can be driven by the long-axis drive device of the long-axis truss assembly and move horizontally back and forth along the long-axis guide rail along the depth direction. The industrial robot can also be driven by the short-axis drive device of the short-axis truss assembly and move horizontally back and forth along the short-axis guide rail along the lateral direction. The end of the robot is detachably connected to a first steel pipe, the end of which is detachably connected to an extension steel pipe, and the end of which is detachably connected to a cutting unit.

2. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 1, characterized in that, The truss robot arm: The long shaft truss assembly includes a long shaft truss, a long shaft drive device, a long shaft transmission mechanism, a long shaft guide rail, and a long shaft roller box slider assembly. It is detachably hoisted onto the frame of the mobile workshop via the long shaft connector. A pair of long shaft guide rails arranged horizontally along the longitudinal direction are symmetrically distributed on the long shaft truss. Multiple long shaft sliders of the long shaft roller box slider assembly are semi-enclosed and slidably sleeved on the long shaft guide rails on both sides. Multiple long shaft sliders are connected to the short shaft connector and driven by the long shaft drive device and transmitted through the long shaft transmission mechanism. They slide along the long shaft guide rail together with the short shaft connector, the short shaft truss assembly, and the industrial robot. The long shaft transmission mechanism consists of a meshing long shaft rack and a long shaft transmission gear. The long shaft drive device is driven by a long shaft servo motor, which reduces the speed through a long shaft reducer. The output shaft of the long shaft reducer serves as the long shaft power shaft. The long shaft servo motor, the long shaft reducer, and the long shaft transmission gear are mounted on the short shaft connector. The axle of the long shaft transmission gear is directly connected to the long shaft power shaft and is driven to rotate synchronously by the long shaft power shaft. Through meshing transmission with the long shaft rack arranged parallel on the long shaft guide rail, multiple long shaft sliders are driven to slide synchronously along the long shaft guide rail.

3. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 1, characterized in that, The truss robot arm: The short-axis truss assembly includes a short-axis truss, a short-axis drive device, a short-axis transmission mechanism, short-axis guide rails, and a short-axis roller box slider assembly. The short-axis truss is detachably suspended on the short-axis connector. A pair of short-axis guide rails arranged horizontally are symmetrically distributed on the short-axis truss. Multiple short-axis sliders of the short-axis roller box slider assembly are semi-enclosed and slidably fitted on the short-axis guide rails on both sides. The multiple short-axis sliders are connected to the robot connector and are driven by the short-axis drive device and transmitted through the short-axis transmission mechanism. They slide along the short-axis guide rails together with the robot connector and the industrial robot. The short-axis transmission mechanism consists of a meshing short-axis rack and a short-axis transmission gear. The short-axis drive device is driven by a short-axis servo motor, which reduces the speed through a short-axis reducer. The output shaft of the short-axis reducer serves as the short-axis power shaft. The short-axis servo motor, the short-axis reducer, and the short-axis transmission gear are mounted on the robot connector. The short-axis transmission gear axle is directly connected to the short-axis power shaft and is driven to rotate synchronously by the short-axis power shaft. Through meshing transmission with the short-axis rack arranged parallel on the short-axis guide rail, it drives multiple short-axis sliders to slide synchronously along the short-axis guide rail.

4. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 3, characterized in that: The industrial robot is suspended on each slider of the short-axis roller box slider assembly via robot connectors.

5. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 1 or 4, characterized in that, The gantry robot in question is a six-axis robotic arm.

6. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 1, characterized in that: The end effector of the industrial robot is bolted to the flange at the top of the first steel pipe, the end effector of the first steel pipe is threaded to the top of the extension steel pipe, the end effector of the extension steel pipe is clamped to the cutting unit, and the first steel pipe and the extension steel pipe are coaxial.

7. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 1 or 6, characterized in that: The cutting unit is a cutting gun.

8. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 1, characterized in that: The mobile workshop includes a frame and a dust cover surrounding the frame. The frame is a single-span portal steel frame with multiple triangular beams spaced at intervals along the depth direction at the top.

9. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 1, characterized in that: The door of the mobile workshop is set vertically, and the door is divided into two parts, including a fixed sealing plate at the top and a movable sealing plate at the bottom. The movable sealing plate can slide vertically, or slide upward to open, or slide downward to close.

10. The modular combined robotic arm for intelligent cutting of scrap steel according to claim 1, characterized in that: The roller drive device includes a roller servo motor, a roller reducer, and a drive roller. The roller servo motor drives the drive roller to rotate around the wheel axis. The movement of the mobile workshop is achieved by the rolling cooperation between the drive roller and the travel guide rail, through the bottom rollers along a pair of travel guide rails.

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