3D curved surface post-mixing water cutting device

Abstract

The utility model discloses a 3D curved surface post-mixing water cutting device which comprises a high-pressure water device, a robot device, an air supply device and a material supply device, the high-pressure water device provides high-pressure water for a cutting spray head through a low-pressure water supply unit, an ultrahigh-pressure energy storage device and a high-pressure pipeline, and efficient cutting is achieved; the feeding device provides stable abrasive supply for the cutting nozzle through a storage tank, a quantitative feeding tank, a sand conveying hose and a sand suction pipe; the air supply device is connected with the feeding device to assist in abrasive conveying; the robot device is composed of a base, a trunk, a swing arm, a rotating arm, an arm and a wrist, space accurate positioning and flexible movement of a cutting spray head are achieved through a high-precision flexible intelligent robot, the device is high in cutting spray head mounting and positioning efficiency and high in workpiece clamping and positioning precision, and the device is suitable for efficient and high-precision cutting machining of a complex 3D curved surface; wide application prospects are realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to a 3D curved surface post-mixed water cutting device. BACKGROUND

[0002] The water jet cutting equipment at home and abroad is divided into three applications at present, one is a simple 3-axis 2-linkage water jet cutting machine, X-axis Y-axis linkage, Z-axis cannot participate in linkage, and is mainly used for plane blanking and other forming cutting, and is mostly used for rough machining, such as stone cutting, precious metal sheet metal blanking and the like. The shortcomings of this kind of equipment are that cutting with taper or swing angle cannot be realized, the second kind is 5-axis 5-linkage high-end water cutting equipment, linear moving shaft X-axis Y-axis Z-axis, rotating shaft A-axis and B-axis. The advantages of 5-axis water jet are that parts with taper and swing angle can be cut; the shortcomings are that the swing angle is small, the angle is not enough or there is a dead angle when cutting some complex parts, and the cutting point cannot be reached; the third kind is water jet cutting equipment using an industrial robot, which is divided into pure water jet cutting and abrasive water jet cutting, the pure water jet cutting equipment is characterized by not having an abrasive supply system, and the cutting pressure is relatively low, generally about 200MPa, and is mostly used for cutting non-metallic materials (such as automotive interiors and the like); the abrasive water jet cutting is used for cutting metal parts, and the existing industrial robot abrasive water jet cutting equipment has poor rigidity and precision due to the selected robot, the nozzle installation and debugging are extremely simple, therefore, the consistency of the nozzle installation and the design precision cannot be guaranteed, thereby causing the precision of the cut workpiece to be low, and even causing waste products; in addition, the existing industrial robot water jet cutting equipment does not have a perfect clamping and positioning device, therefore, the installation and positioning of the workpiece are extremely difficult, and problems such as unqualified positioning precision and low production efficiency easily occur; and the method and safety for cutting 3D curved surfaces are poor.

[0003] Due to the above reasons, the existing water jet 3D curved surface forming cutting process has the following problems and shortcomings: 1, the nozzle adopts a simple installation method, lacks effective positioning and repositioning measures, causes the installation and debugging to be extremely complex after installation, it is difficult to guarantee the installation precision and machining precision, and the efficiency is low; 2, for the clamping and positioning of an aviation complex workpiece, effective installation positioning and detection means are lacked, therefore, the installation efficiency and installation precision are low, and unqualified products easily occur; 3, a high-efficiency, reliable nozzle and effective actuator for workpiece installation, positioning and detection have not been developed at present, so that the quality of product machining and production efficiency are low, the product scrap rate is high, and the production efficiency is extremely low.

[0004] Therefore, the person skilled in the art urgently needs a high-efficiency 3D curved surface forming cutting device. UTILITY MODEL CONTENTS

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a 3D curved surface post-mixing waterjet cutting device. Utilizing the flexible and precise spatial movement capabilities of a high-precision, flexible intelligent robot, it is equipped with a nozzle precision installation and positioning mechanism, a high-precision workpiece clamping platform, and a detection and positioning device. This results in high nozzle installation and positioning efficiency and high installation accuracy, as well as high workpiece installation efficiency and high positioning accuracy. It enables efficient and high-precision cutting of complex 3D curved surfaces. The specific solution is as follows:

[0006] A 3D curved surface post-mixing waterjet cutting device includes a high-pressure water device, a robot device, an air supply device, and a feeding device. The high-pressure water device includes a cutting nozzle, a high-pressure pipeline, a low-pressure water supply unit, and an ultra-high-pressure energy storage device. Starting from the low-pressure water supply unit, the ultra-high-pressure energy storage device, the high-pressure pipeline, and the cutting nozzle are sequentially connected along the water flow direction. The robot device includes a base, a torso, a swing arm, a rotating arm, an arm, and a wrist connected in sequence. The feeding device includes a storage tank, a metering supply tank, a sand delivery hose, and a sand suction pipe. Starting from the storage tank, the sand delivery hose, the metering supply tank, and the sand suction pipe are sequentially connected along the abrasive flow direction. The air supply device is connected to the feeding device, and the sand suction pipe is connected to the cutting nozzle.

[0007] Furthermore, the cutting nozzle includes a dynamic balance mounting bracket, a high-pressure water switch, an abrasive jet nozzle body, a water nozzle, a sand mixing chamber, a sand nozzle, and an abrasive jet pipe.

[0008] Furthermore, the high-pressure pipeline includes a first spiral high-pressure rigid pipe, a second spiral high-pressure rigid pipe, a third spiral high-pressure rigid pipe, a fourth spiral high-pressure rigid pipe, a fifth spiral high-pressure rigid pipe, and a sixth spiral high-pressure rigid pipe. The first spiral high-pressure rigid pipe is sleeved on the base, the second spiral high-pressure rigid pipe is located on the lower side of the torso, the third spiral high-pressure rigid pipe is located on the upper side of the torso, the fourth spiral high-pressure rigid pipe is sleeved on the swing arm, the fifth spiral high-pressure rigid pipe is sleeved on the rotating arm, and the sixth spiral high-pressure rigid pipe is sleeved on the arm.

[0009] Furthermore, it also includes a rotary worktable, which includes a servo motor, a rotating shaft, a clamping device, and a precision positioning mechanism. The rotary worktable corresponds to the cutting nozzle, and a water collection tank is provided on one side of the rotary worktable.

[0010] Furthermore, the robot device is equipped with a protective cover on its outer side, and the protective cover is equipped with a water mist collection device and a touch screen.

[0011] Furthermore, the torso can rotate in both vertical and horizontal directions, the swing arm can rotate in the horizontal direction, the rotating arm can rotate in the horizontal direction, the arm can rotate in the horizontal direction, and the wrist can rotate in the horizontal direction.

[0012] Furthermore, the sand nozzle is made of cemented carbide.

[0013] Furthermore, the quantitative feeding tank includes a large material tank, a quantitative small material pipe, a high-pressure pure water nozzle, and a sand mixing section, wherein the large material tank is connected to the sand delivery hose.

[0014] Beneficial effects: The cutting nozzle structure is installed using a dynamic balance mounting bracket for precise positioning. The dynamic balance mounting bracket is installed on the sixth axis RV connecting wrist of the flexible intelligent robot device. The dynamic balance mounting bracket clamps the cutting nozzle. The nozzle installation steps are simple and reliable, and the positioning is precise. Due to the setting of the dynamic balance mounting bracket, the nozzle installation method is simple. Effective positioning and repeated positioning measures are adopted, so the installation and debugging are extremely simple and reliable, with high efficiency and high precision.

[0015] The rotary worktable is equipped with a workpiece mounting and positioning mechanism, which can effectively clamp and position complex aerospace workpieces, with high installation efficiency and accuracy, ensuring safe and reliable workpiece mounting and positioning.

[0016] The system is equipped with effective actuators for nozzle and workpiece installation, positioning, and detection to ensure nozzle installation accuracy and increase workpiece processing quality and production efficiency. Attached Figure Description

[0017] Figure 1 This is a three-dimensional perspective schematic diagram of a 3D curved surface post-mixing waterjet cutting device.

[0018] Figure 2 This is a three-dimensional perspective schematic diagram of a robotic device for a 3D curved surface post-mixing waterjet cutting apparatus.

[0019] Figure 3 This is a side view schematic diagram of the cutting nozzle of a 3D curved surface post-mixing waterjet cutting device;

[0020] Figure 4 This is a side view schematic diagram of the quantitative feeding tank of a 3D curved surface post-mixing water cutting device;

[0021] In the diagram: 100, High-pressure water device; 110, Cutting nozzle; 111, Dynamic balancing mounting bracket; 112, High-pressure water switch; 113, Abrasive jet nozzle body; 114, Water nozzle; 115, Sand mixing chamber; 116, Sand nozzle; 117, Abrasive jet pipe; 120, High-pressure pipeline; 121, First spiral high-pressure rigid pipe; 122, Second spiral high-pressure rigid pipe; 123, Third spiral high-pressure rigid pipe; 124, Fourth spiral high-pressure rigid pipe; 125, Fifth spiral high-pressure rigid pipe; 126, Sixth spiral high-pressure rigid pipe; 130, Low-pressure water supply unit; 140, Ultra-high pressure energy storage device; 200, Robot device; 2 10. Base; 220. Torso; 230. Swing arm; 240. Rotating arm; 250. Arm; 260. Wrist; 300. Rotary worktable; 310. Servo motor; 320. Rotating shaft; 330. Clamping device; 340. Precision positioning mechanism; 400. Air supply device; 500. Protective cover; 510. Water mist collection device; 520. Touch screen; 600. Feeding device; 610. Storage tank; 620. Quantitative feeding tank; 621. Large material tank; 622. Quantitative small material pipe; 623. High-pressure pure water nozzle; 624. Sand mixing section; 630. Sand delivery hose; 640. Sand suction pipe; 700. Water collection tank. Detailed Implementation

[0022] To enhance understanding of this utility model, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. These embodiments are only used to explain the present utility model and do not constitute a limitation on the scope of protection of the present utility model.

[0023] Please refer to Figures 1-3 A 3D curved surface post-mixing waterjet cutting device includes a high-pressure water device 100, a robot device 200, an air supply device 400, and a feeding device 600. The high-pressure water device 100 includes a cutting nozzle 110, a high-pressure pipeline 120, a low-pressure water supply unit 130, and an ultra-high-pressure energy storage device 140. Starting from the low-pressure water supply unit 130, the ultra-high-pressure energy storage device 140, the high-pressure pipeline 120, and the cutting nozzle 110 are sequentially connected along the water flow direction. The robot device 200 includes... The base 210, torso 220, swing arm 230, rotating arm 240, arm 250 and wrist 260 are connected in sequence. The feeding device 600 includes a storage tank 610, a quantitative feeding tank 620, a sand feeding hose 630 and a sand suction pipe 640. Starting from the storage tank 610, the sand feeding hose 630, the quantitative feeding tank 620 and the sand suction pipe 640 are connected in sequence along the abrasive flow direction. The air supply device 400 is connected to the feeding device 600 and the sand suction pipe 640 is connected to the cutting nozzle 110.

[0024] The cutting nozzle 110 includes a dynamic balance mounting bracket 111, a high-pressure water switch 112, an abrasive jet nozzle body 113, a water nozzle 114, a sand mixing chamber 115, a sand nozzle 116, and an abrasive jet pipe 117; the high-pressure pipeline 120 includes a first spiral high-pressure rigid pipe 121, a second spiral high-pressure rigid pipe 122, a third spiral high-pressure rigid pipe 123, a fourth spiral high-pressure rigid pipe 124, a fifth spiral high-pressure rigid pipe 125, and a sixth spiral high-pressure rigid pipe 126. The first spiral high-pressure rigid pipe 121 is fitted onto the base 210, the second spiral high-pressure rigid pipe 122 is located on the lower side of the torso 220, the third spiral high-pressure rigid pipe 123 is located on the upper side of the torso 220, the fourth spiral high-pressure rigid pipe 124 is fitted onto the swing arm 230, the fifth spiral high-pressure rigid pipe 125 is fitted onto the rotating arm 240, and the sixth spiral high-pressure rigid pipe 126 is fitted onto the arm 250. It also includes a rotary worktable 300, which includes a servo motor 310, a rotating shaft 320, a clamping device 330, and a precision positioning mechanism 340. The rotary worktable 300 corresponds to the cutting nozzle 110. A water collection tank 700 is provided on one side of the rotary worktable 300. A protective cover 500 is provided on the outside of the robot device 200. A water mist collection device 510 and a touch screen 520 are provided on the protective cover 500. The torso 220 can rotate around the vertical and horizontal directions. The swing arm 230 can rotate around the horizontal direction. The rotating arm 240 can rotate around the horizontal direction. The arm 250 can rotate around the horizontal direction. The wrist 260 can rotate around the horizontal direction. The sand nozzle 116 is made of hard alloy. The quantitative feeding tank 620 includes a large material tank 621, a quantitative small material pipe 622, a high-pressure pure water nozzle 623, and a sand mixing section 624. The large material tank 621 is connected to the sand feeding hose 630.

[0025] In a specific embodiment, the high-pressure pipeline 120 adopts a spiral method, converting linear displacement into spiral angular rotation. The spiral high-pressure rigid pipes are connected by high-pressure connectors, and the connections are all fixed with nylon pipe clamps. The abrasive is temporarily stored in a quantitative small material tank by being pressurized from the large material tank 621 through the sand delivery hose 630. The high-pressure pump provides 60,000 PSI high-pressure water, which is delivered to the nozzle device through the spiral high-pressure rigid pipe. After passing through the water nozzle 114, the high-pressure water forms a high-speed jet. This jet forms a negative pressure at the sand suction pipe 640. At this time, the abrasive valve of the small material tank is opened, and the abrasive will enter the sand nozzle 116 under the drive of the airflow, mixing with the high-speed water jet to form abrasive water cutting. The base 210 of the protective cover 500 is equipped with a robot device 200 and a working water tank. The working water tank is equipped with a rotating shaft 320 driven by a servo motor 310. A worktable is configured on the rotating shaft 320. A display screen is installed on the outside of the right front guard plate of the protective cover 500 for operating the whole machine.

[0026] In one specific embodiment, the high-pressure water device 100 uses a hydraulic double-acting booster to increase the hydraulic oil pressure to the required cutting pressure. After the pressure is balanced by the ultra-high pressure accumulator 140, it is supplied to the abrasive jet cutting nozzle 110. The rated pressure generated by the high-pressure water device 100 is 350-600MPa and the flow rate is 3-5L / min.

[0027] Implementation Example: After installing the workpiece to be cut and checking the positioning accuracy, select appropriate abrasive with suitable grit size and hardness based on the material properties of the workpiece. Load the abrasive into the large material tank 621, turn on the air supply device 400 to supply compressed air, and the abrasive is sent from the large material tank 621 to the small material tank through the sand delivery hose 630 to achieve dynamic balance and temporary storage. Select the robot running program, start the high-pressure water device 100, adjust the required pressure to reach the predetermined pressure, and after the high-pressure pump reaches the predetermined cutting pressure, turn on the water switch. The high-pressure water forms a high-speed jet through the high-pressure water nozzle 114 and is suctioned into the abrasive. A negative pressure is created at pipe 640; at this time, the program automatically opens the abrasive switch valve, and the abrasive will enter the suction pipe 640 under the vacuum airflow, mix with the high-speed jet, and form an abrasive water jet with cutting capability. The robot's cutting program is started, and the abrasive water jet will process the part to be processed according to the preset program. During the cutting process, the abrasive in the large material tank 621 will be continuously replenished to the small material tank under the action of compressed air. After the cutting is completed, the cutting program control system will automatically shut off the abrasive and water switches, and finally shut down the high-pressure pump station and the robot, and the predetermined cutting process is completed.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A 3D curved surface post-mixing waterjet cutting device, characterized in that, The device includes a high-pressure water system, a robot system, an air supply system, and a feeding system. The high-pressure water system includes a cutting nozzle, a high-pressure pipeline, a low-pressure water supply unit, and an ultra-high-pressure energy storage device. Starting from the low-pressure water supply unit, the ultra-high-pressure energy storage device, the high-pressure pipeline, and the cutting nozzle are sequentially connected along the water flow direction. The robot system includes a base, a torso, a swing arm, a rotating arm, an arm, and a wrist connected in sequence. The feeding system includes a storage tank, a metering tank, a sand delivery hose, and a sand suction pipe. Starting from the storage tank, the sand delivery hose, the metering tank, and the sand suction pipe are sequentially connected along the abrasive flow direction. The air supply system is connected to the feeding system, and the sand suction pipe is connected to the cutting nozzle.

2. The 3D curved surface post-mixing waterjet cutting device according to claim 1, characterized in that, The cutting nozzle includes a dynamic balance mounting bracket, a high-pressure water switch, an abrasive jet nozzle body, a water nozzle, a sand mixing chamber, a sand nozzle, and an abrasive jet pipe.

3. The 3D curved surface post-mixing waterjet cutting device according to claim 1, characterized in that, The high-pressure pipeline includes a first spiral high-pressure rigid pipe, a second spiral high-pressure rigid pipe, a third spiral high-pressure rigid pipe, a fourth spiral high-pressure rigid pipe, a fifth spiral high-pressure rigid pipe, and a sixth spiral high-pressure rigid pipe. The first spiral high-pressure rigid pipe is sleeved on the base, the second spiral high-pressure rigid pipe is located on the lower side of the torso, the third spiral high-pressure rigid pipe is located on the upper side of the torso, the fourth spiral high-pressure rigid pipe is sleeved on the swing arm, the fifth spiral high-pressure rigid pipe is sleeved on the rotating arm, and the sixth spiral high-pressure rigid pipe is sleeved on the arm.

4. The 3D curved surface post-mixing waterjet cutting device according to claim 1, characterized in that, It also includes a rotary worktable, which includes a servo motor, a rotating shaft, a clamping device and a precision positioning mechanism. The rotary worktable corresponds to the cutting nozzle, and a water collection tank is provided on one side of the rotary worktable.

5. A 3D curved surface post-mixing waterjet cutting device according to claim 1, characterized in that, The robot device is equipped with a protective cover on its outside, and the protective cover is equipped with a water mist collection device and a touch screen.

6. A 3D curved surface post-mixing waterjet cutting device according to claim 1, characterized in that, The torso can rotate in both vertical and horizontal directions, the swing arm can rotate in horizontal directions, the rotating arm can rotate in horizontal directions, the arm can rotate in horizontal directions, and the wrist can rotate in horizontal directions.

7. A 3D curved surface post-mixing waterjet cutting device according to claim 2, characterized in that, The sand nozzle is made of cemented carbide.

8. A 3D curved surface post-mixing waterjet cutting device according to claim 1, characterized in that, The quantitative feeding tank includes a large material tank, a quantitative small material pipe, a high-pressure pure water nozzle, and a sand mixing section. The large material tank is connected to the sand delivery hose.

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