Scrap steel cutting equipment

Abstract

The utility model relates to scrap steel cutting equipment, and belongs to the technical field of scrap steel processing. Comprising a moving frame moving in the X-axis direction and a lifting cross beam arranged on the moving frame and moving in the Z-axis direction, a cutting mechanical arm moving in the Y-axis direction is installed on the lifting cross beam and installed on the lifting cross beam through a vertical hard rail, and the vertical hard rail moves on the lifting cross beam in the Y-axis direction. The cutting mechanical arm moves on the vertical hard rail in the X-axis direction. The device further comprises a recognition device installed on the cutting site and / or the movable frame. The cutting machine further comprises a control system electrically connected with all the components, so that the cutting path and cutting parameters are determined, and all the moving components are controlled to move for cutting operation. The moving frame comprises a moving device arranged at the bottom. According to the automatic steel scrap cutting device, automatic identification and automatic cutting of steel scraps in a cutting site can be achieved, the labor intensity of workers is reduced, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to scrap steel processing technical field relates to a scrap steel cutting equipment. BACKGROUND

[0002] As a strategic resource indispensable in the modern industrial system, scrap steel has a wide range of sources and is deeply rooted in various aspects of industrial manufacturing, construction, shipping and daily life. With the progress of society and the development of technology, various types of metal materials are replaced or scrapped after reaching their service life, forming a huge scrap steel resource library. These scrap steels not only come from the disassembly of old cars in daily life, but also cover the demolition of retired warships, old machinery and equipment, and the upgrading of steel structure bridges and buildings. In the shipbreaking industry, old ships are a major source of scrap steel, and their processing is complex and challenging. After carefully dividing the huge ship body into several manageable large scrap steels, the scrap steels are lifted to the processing area by precise operation of a large crane for the scrap steel cutting stage.

[0003] However, the current cutting process still highly depends on manual operation, and workers need to hold cutting guns for long-time operation in a harsh environment with high temperature, smoke and noise. This operation method not only has a great labor intensity and poses a serious threat to the physical and mental health of workers, but also is low in efficiency and difficult to meet the growing demand for scrap steel processing. The sparks and thick smoke generated during the cutting process not only pollute the working environment, but also may cause fire hazards. At the same time, long-term exposure to noise may also cause hearing loss in workers, further increasing the risk of occupational health.

[0004] Therefore, exploring more efficient, environmentally friendly and safe scrap steel cutting technology has become an urgent problem in the industry. UTILITY MODEL CONTENT

[0005] Therefore, the utility model aims to provide a scrap steel cutting equipment for autonomous identification and automatic cutting of scrap steel in the cutting site, reducing the labor intensity of workers and improving the operation efficiency.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] A scrap steel cutting equipment, comprising a moving frame moving along the X-axis direction, and a lifting cross beam arranged on the moving frame and moving along the Z-axis direction, wherein the lifting cross beam is provided with a cutting mechanical arm moving along the Y-axis direction; the X-axis, Y-axis and Z-axis constitute an orthogonal three-axis coordinate system.

[0008] Optionally, the cutting mechanical arm is installed on the lifting cross beam through a vertical hard rail, the vertical hard rail moves along the Y-axis direction on the lifting cross beam, and the cutting mechanical arm moves along the X-axis direction on the vertical hard rail.

[0009] Optionally, the recognition device for recognizing the shape and type information of the scrap steel is further included, and the recognition device is installed on the cutting site and / or the moving frame.

[0010] Optionally, the control system electrically connected with the moving frame, the lifting cross beam, the cutting mechanical arm, the vertical hard rail and the recognition device is further included, the cutting path and the cutting parameter are determined according to the shape and type information of the scrap steel determined by the recognition device, and the moving frame, the lifting cross beam and the vertical hard rail are controlled to drive the cutting mechanical arm to perform the cutting operation.

[0011] Optionally, the bottom of the moving frame is provided with a moving device moving along the X-axis direction.

[0012] Optionally, the moving device includes a moving wheel arranged at the bottom of the moving frame, and the moving wheel rolls in a track arranged along the X-axis direction.

[0013] Optionally, the moving device is a track.

[0014] Optionally, the cutting mechanical arm is provided with a flame cutting gun.

[0015] Optionally, the cutting mechanical arm is a multi-axis mechanical arm.

[0016] Optionally, the recognition device is a combination of one or more of an ultrasonic radar, a millimeter wave radar, a laser radar and a camera.

[0017] The beneficial effects of the utility model lie in:

[0018] The utility model discloses a scrap steel cutting equipment, can realize the scrap steel in cutting site to carry out independent recognition and automatic cutting, reduces manpower cost, alleviates the work intensity of human work, load, improves the working environment of human work, guarantees personnel safety. Using unmanned equipment cutting, can realize 24 hours continuous operation, improves scrap steel cutting efficiency.

[0019] Other advantages, objects and features of the utility model will be set forth in the subsequent description, and to some extent, it will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the utility model. The objects and other advantages of the utility model can be realized and obtained through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to make the purpose, technical scheme and advantages of the utility model more clear, the following will make the preferred detailed description to the utility model combined with the drawings, wherein:

[0021] Fig. 1 It is a schematic view of cutting equipment;

[0022] Fig. 2 It is a schematic view of cutting equipment in example 1;

[0023] Fig. 3 It is a schematic view of cutting equipment in example 2.

[0024] Reference signs:

[0025] 1 mobile frame, 2 lifting cross beam, 3 cutting mechanical arm, 4 vertical hard rail, 5 identification device, 6 moving device. DETAILED DESCRIPTION

[0026] The following will make the preferred detailed description to the utility model combined with the drawings, wherein:

[0027] Wherein, the drawings are only used for example description, and the representation is only schematic diagram, and not physical drawing, and can not be understood as the limitation of the utility model; In order to better illustrate the embodiment of the utility model, some components of the drawings will be omitted, enlarged or reduced, and the size of actual product is not represented; For those skilled in the art, it is understandable that some well-known structures and their description in the drawings can be omitted.

[0028] The same or similar signs in the drawings of the embodiment of the utility model correspond to the same or similar components; In the description of the utility model, it is understood that if there are terms such as 'up', 'down', 'left', 'right', 'front', 'back' and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and not indicating or implying that the device or element must have a particular orientation, a particular orientation and operation, therefore the positional relationship of the terms described in the drawings is only used for example description, and can not be understood as the limitation of the utility model, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific situation.

[0029] Please refer to Figs. 1-3The present invention is a scrap steel cutting device, comprising a movable frame 1 that moves along the X-axis and a lifting beam 2 that is mounted on the movable frame 1 and moves along the Z-axis. A cutting mechanical arm 3 is mounted on the lifting beam 2 and moves along the Y-axis. The X-axis, Y-axis and Z-axis form an orthogonal three-axis coordinate system.

[0030] The cutting robotic arm 3 is mounted on the lifting beam 2 via a vertical rigid rail 4. The vertical rigid rail 4 moves along the Y-axis on the lifting beam 2, and the cutting robotic arm 3 moves along the X-axis on the vertical rigid rail 4.

[0031] It also includes an identification device 5 for identifying the shape and type of scrap steel, which is installed on the cutting site and / or the mobile frame 1.

[0032] It also includes a control system electrically connected to the moving frame 1, the lifting beam 2, the cutting robotic arm 3, the vertical hard rail 4, and the identification device 5. Based on the shape and type information of the scrap steel determined by the identification device 5, the control system determines the cutting path and cutting parameters, and controls the moving frame 1, the lifting beam 2, and the vertical hard rail 4 to move so as to drive the cutting robotic arm 3 to perform the cutting operation.

[0033] The bottom of the movable frame 1 is provided with a moving device 6 that moves along the X-axis. The moving device 6 can be a moving wheel, a track, or a track located at the bottom of the movable frame 1; when the moving device 6 is a moving wheel or a track, the moving wheel rolls within the track arranged along the X-axis.

[0034] The cutting robotic arm 3 is a multi-axis robotic arm, and a flame cutting gun is installed on the robotic arm.

[0035] The identification device 5 is one or more of the following: ultrasonic radar, millimeter-wave radar, lidar, and camera.

[0036] The transmission methods between the mobile frame 1, the lifting beam 2 and the cutting robotic arm 3 include electric transmission, hydraulic transmission, pneumatic transmission, gear transmission, worm gear transmission, belt transmission, chain transmission, and wire rope transmission.

[0037] The identification device 5 determines the size or type of scrap steel, and the control system determines the appropriate cutting path and cutting flame parameters, thereby controlling the linkage of various moving parts to perform the cutting operation. The motion mechanism, consisting of the cutting robotic arm 3, the lifting beam 2, the moving frame 1, and the vertical rigid rail 4, allows the cutting robotic arm 3 to achieve multi-degree-of-freedom rotation and movement in three-dimensional space. The scrap steel cutting robotic arm 3 itself is a multi-axis structure, which can flexibly adjust the cutting angle and the distance between the cutting nozzle and the workpiece surface to cut the scrap steel.

[0038] Example 1:

[0039] like Fig. 2As shown, the system consists of a cutting robotic arm 3, a lifting beam 2, a moving frame 1, and an identification device 5. The identification device 5 identifies the scrap steel within the cutting area and transmits the identification information to the control system. The control system, based on the determined scrap steel size or type information, determines the appropriate cutting path and cutting flame parameters, and controls the coordinated movement of all moving parts to perform the cutting operation. The cutting robotic arm 3 can move and rotate freely in three-dimensional space. The moving frame 1 carries the lifting beam 2 and the cutting robotic arm 3, moving along the x-axis. The cutting robotic arm 3 moves along the y-axis, and the lifting beam 2 moves along the z-axis within the moving frame 1.

[0040] Example 2:

[0041] like Fig. 3 As shown, the system consists of a cutting robotic arm 3, a vertical rigid rail 4, a lifting beam 2, a moving frame 1, and an identification device 5. The vertical rigid rail 4 is additionally mounted on the lifting beam 2, and the cutting robotic arm 3 is mounted on the vertical rigid rail 4, thus adding movement of the cutting robotic arm 3 along the x-axis. The vertical rigid rail 4 and the cutting robotic arm 3 can move together along the y-axis, while the lifting beam 2 moves along the z-axis within the moving frame 1. The additional movement of the cutting robotic arm 3 along the x-axis, achieved by adding the vertical rigid rail 4, replaces part of the overall movement of the moving frame 1, improving efficiency, reducing energy consumption, and also increasing the processing range of the flame cutting equipment.

[0042] This invention enables the automatic cutting of large and complex scrap steel, and has good application prospects in processes that require centralized cutting of large quantities of large scrap steel, such as shipyards, equipment dismantling plants, and scrap steel yards.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution 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 solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A scrap steel cutting device, characterized in that: It includes a movable frame (1) that moves along the X-axis and a lifting beam (2) that moves along the Z-axis and is mounted on the movable frame (1). A cutting robot arm (3) that moves along the Y-axis is mounted on the lifting beam (2). The X-axis, Y-axis and Z-axis form an orthogonal three-axis coordinate system.

2. The scrap steel cutting equipment according to claim 1, characterized in that: The cutting robot arm (3) is mounted on the lifting beam (2) via a vertical hard rail (4). The vertical hard rail (4) moves along the Y-axis on the lifting beam (2), and the cutting robot arm (3) moves along the X-axis on the vertical hard rail (4).

3. The scrap steel cutting equipment according to claim 2, characterized in that: It also includes an identification device (5) for identifying the shape and type of scrap steel, the identification device (5) being installed on the cutting site and / or the mobile frame (1).

4. The scrap steel cutting equipment according to claim 3, characterized in that: It also includes a control system electrically connected to the moving frame (1), lifting beam (2), cutting robot arm (3), vertical hard rail (4), and identification device (5). Based on the shape and type information of the scrap steel determined by the identification device (5), the control system determines the cutting path and cutting parameters, and controls the moving frame (1), lifting beam (2), and vertical hard rail (4) to move so as to drive the cutting robot arm (3) to perform cutting operations.

5. The scrap steel cutting equipment according to claim 1, characterized in that: The bottom of the movable frame (1) is provided with a moving device (6) that moves along the X-axis.

6. The scrap steel cutting equipment according to claim 5, characterized in that: The moving device (6) includes a moving wheel disposed at the bottom of the moving frame (1), the moving wheel rolling in a track arranged along the X-axis direction.

7. The scrap steel cutting equipment according to claim 5, characterized in that: The mobile device (6) is a track.

8. The scrap steel cutting equipment according to claim 1, characterized in that: The cutting robotic arm (3) is equipped with a flame cutting gun.

9. The scrap steel cutting equipment according to claim 1, characterized in that: The cutting robotic arm (3) is a multi-axis robotic arm.

10. The scrap steel cutting equipment according to claim 3, characterized in that: The identification device (5) is one or more of ultrasonic radar, millimeter-wave radar, lidar, and camera.

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