An adjustable-inclination steel strand cutting robot
Patent Information
- Application Number
- CN202522057525.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-24
- Publication Date
- 2026-08-18
- Estimated Expiration
- 2035-09-24
AI Technical Summary
这种方法存在诸多技术缺陷：首先，人工操作难以保证切割端面的平整度，导致钢绞线切割端面出现毛刺或倾斜，影响后续张拉作业的质量；其次，切割后的钢绞线外露长度不均匀，根据铁路施工规范要求，钢绞线切断端头距锚环外露距离应为3-4cm，而人工操作往往难以精确控制这一参数
[0020]1.本实用新型中的一种可调倾角的钢绞线切割机器人包括行走系统、三轴移动机构、切割机以及倾角调节机构，其中倾角调节机构包括底板、主连杆、副连杆及平移机构，底板固定于行走系统的后端，主连杆的下端与底板铰接，上端与三轴移动机构的后端转动连接，副连杆的一端与主连杆的中部铰接，另一端与平移机构铰接，当平移机构水平移动时，通过副连杆驱动主连杆的上端转动角度，以调节三轴移动机构的前倾角度，从而实现钢绞线切割角度补偿功能。
Smart Images
Figure CN224642216U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the technical field of bridge prestressed steel strand cutting equipment, specifically relating to an adjustable tilt angle steel strand cutting robot. Background Technology
[0002] In the construction of precast box girders for railways, the traditional prestressed steel strand cutting process mainly relies on manual hand-held cutting machines to cut the steel strands inside the anchor holes. This method has many technical drawbacks: First, manual operation makes it difficult to ensure the flatness of the cut end, resulting in burrs or tilting on the cut end of the steel strand, affecting the quality of subsequent tensioning operations; second, the exposed length of the cut steel strand is uneven. According to railway construction specifications, the distance between the cut end of the steel strand and the exposed anchor ring should be 3-4 cm, but manual operation often makes it difficult to accurately control this parameter. In addition, the traditional process often requires secondary cutting, which is not only time-consuming and labor-intensive but also significantly reduces work efficiency. More seriously, manual operation poses high safety risks, and operators may face occupational hazards such as mechanical injuries and flying debris.
[0003] Although the steel strand cutting equipment currently on the market has a three-axis movement function, it has obvious shortcomings in dealing with complex working conditions. Moreover, the existing cutting equipment usually adopts a vertical blade design. When the tilt of the exposed end of the steel strand exceeds 15°, the flatness error of the cut using the vertical blade will exceed the construction standard range. Therefore, it is necessary to add a tilt angle adjustment function to the existing three-axis movement function in order to compensate for the cutting angle according to the tilt of the steel strand. Utility Model Content
[0004] To address the shortcomings of existing technologies, this invention proposes an adjustable tilt angle steel strand cutting robot. By setting a tilt angle adjustment mechanism to adjust the forward tilt angle of the three-axis moving mechanism, the steel strand cutting angle compensation function can be achieved.
[0005] To solve the above-mentioned technical problems, this utility model provides an adjustable tilt angle steel strand cutting robot, comprising:
[0006] Walking system;
[0007] A three-axis moving mechanism is located above the walking system and its front end is hinged to the walking system, and it can move along the X, Y, and Z axes.
[0008] A cutting machine is mounted on the three-axis moving mechanism;
[0009] The tilt adjustment mechanism includes a base plate, a main connecting rod, a secondary connecting rod, and a translation mechanism. The base plate is fixed to the rear end of the walking system. The lower end of the main connecting rod is hinged to the base plate, and the upper end is rotatably connected to the rear end of the three-axis moving mechanism. One end of the secondary connecting rod is hinged to the middle of the main connecting rod, and the other end is hinged to the translation mechanism. When the translation mechanism moves horizontally, the upper end of the main connecting rod is driven to rotate by the secondary connecting rod to adjust the forward tilt angle of the three-axis moving mechanism.
[0010] Preferably, in the above scheme, the translation mechanism includes a linear slide rail, a support plate, a ball screw, and a drive assembly. The linear slide rail is disposed on the base plate and slidably connected to the support plate. The support plate is hinged to the other end of the secondary connecting rod. The ball screw is arranged parallel to the linear slide rail and passes through the support plate. The drive assembly is used to drive the support plate to move back and forth on the linear slide rail.
[0011] Preferably, in the above scheme, the translation mechanism further includes graphite sliders, which are respectively disposed at both ends of the support plate and slidably connected to the linear slide rail.
[0012] Preferably, in the above scheme, the drive assembly includes a servo motor and a planetary reducer fixed on the base plate. The output end of the servo motor is connected to one end of the planetary reducer, and the other end of the planetary reducer is coaxially connected to the ball screw via a coupling.
[0013] Preferably, in the above scheme, the three-axis moving mechanism includes an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism. The front end of the Z-axis moving mechanism is hinged to the walking system, and the rear end is rotatably connected to the upper end of the main connecting rod. The X-axis moving mechanism is mounted on the Z-axis moving mechanism, the Y-axis moving mechanism is mounted on the X-axis moving mechanism, and the cutting machine is mounted on the Y-axis moving mechanism.
[0014] Preferably, in the above scheme, the Z-axis moving mechanism includes a U-shaped bracket, a Z-axis guide rail, and a mounting groove. The open end of the U-shaped bracket is hinged to the walking system, and the Z-axis guide rail is provided on both sides. The mounting groove is located at the closed end of the U-shaped bracket and is rotatably connected to the upper end of the main connecting rod through a bearing.
[0015] Preferably, in the above scheme, the cutting machine includes a fixed base, a motor and a concave saw blade. The fixed base is disposed on the Y-axis moving mechanism, the motor is disposed on the fixed base, and its output end is connected to the concave saw blade.
[0016] Preferably, the above solution further includes a cooling mechanism, which includes a water tank, a water pump, and a liquid guide pipe. The outlet of the liquid guide pipe is located above the concave saw blade, and the water pump is used to transport the coolant in the water tank to the surface of the concave saw blade through the liquid guide pipe.
[0017] Preferably, the above scheme further includes a camera module and an image processing module. The camera module is used to acquire images of the position of the steel strand, and the image processing module identifies the cutting position of the steel strand based on a visual algorithm.
[0018] Preferably, in the above scheme, the walking system includes a chassis, a wheel set, a drive mechanism, and a reversing mechanism. The three-axis moving mechanism is provided above the chassis, and the wheel set is provided below it. The base plate is fixed to the rear end of the chassis. The drive mechanism and the reversing mechanism are used to drive the wheel set to rotate and reverse direction, respectively.
[0019] Compared with existing technologies, this utility model has the following beneficial effects:
[0020] 1. The adjustable tilt angle steel strand cutting robot of this utility model includes a walking system, a three-axis moving mechanism, a cutting machine, and a tilt angle adjustment mechanism. The tilt angle adjustment mechanism includes a base plate, a main connecting rod, a secondary connecting rod, and a translation mechanism. The base plate is fixed to the rear end of the walking system. The lower end of the main connecting rod is hinged to the base plate, and the upper end is rotatably connected to the rear end of the three-axis moving mechanism. One end of the secondary connecting rod is hinged to the middle of the main connecting rod, and the other end is hinged to the translation mechanism. When the translation mechanism moves horizontally, the upper end of the main connecting rod is driven to rotate by the secondary connecting rod to adjust the forward tilt angle of the three-axis moving mechanism, thereby realizing the steel strand cutting angle compensation function.
[0021] 2. The translation mechanism of this utility model includes a linear slide rail, a support plate, a ball screw, a graphite slider, and a drive assembly. The graphite slider is respectively disposed at both ends of the support plate and is slidably connected to the linear slide rail. The ball screw is arranged parallel to the linear slide rail and passes through the support plate, which can convert rotational motion into linear motion so that the drive assembly can drive the support plate to move back and forth on the linear slide rail.
[0022] 3. The cutting machine in this utility model includes a concave saw blade. Since the connection between the motor output end and the concave saw blade is recessed inward, it can avoid contact with the end face of the cut steel strand, and can realize continuous flush cutting of all steel strands in the anchor hole, thereby improving the cutting efficiency. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of the installation structure of the tilt adjustment mechanism of this utility model.
[0024] Figure 2 This is a schematic diagram of the tilt adjustment mechanism of this utility model.
[0025] Figure 3 This is a schematic diagram of the installation structure of the tilt cooling mechanism of this utility model.
[0026] Figure 4 This is a schematic diagram of the overall structure of an adjustable tilt angle steel strand cutting robot according to this utility model.
[0027] Among them, 1-walking system, 11-chassis, 12-wheel set, 13-drive mechanism, 14-reversing mechanism, 2-three-axis moving mechanism, 21-X-axis moving mechanism, 22-Y-axis moving mechanism, 23-Z-axis moving mechanism, 231-U-shaped bracket, 232-Z-axis guide rail, 233-mounting slot, 3-cutting machine, 31-fixed seat, 32-motor, 33-concave saw blade, 4-tilt adjustment mechanism, 41-base plate, 42-main connecting rod, 43-secondary connecting rod, 44-translation mechanism, 441-linear slide rail, 442-support plate, 443-ball screw, 444-drive assembly, 445-graphite slider, 446-bearing, 5-cooling mechanism, 51-water tank, 52-water pump, 53-liquid guide pipe, 54-filter, 6-camera module, 7-photoelectric centering rod. Detailed Implementation
[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0029] In the description of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0030] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If the terms "first," "second," and "third" are used in the description, they are for descriptive purposes and to distinguish technical features, and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.
[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The embodiments of this utility model will now be described based on its overall structure.
[0032] like Figures 1 to 4 As shown, this utility model discloses an adjustable tilt angle steel strand cutting robot, including a walking system 1, a three-axis moving mechanism 2, a cutting machine 3, and a tilt angle adjustment mechanism 4. The three-axis moving mechanism 2 is located above the walking system 1 and its front end is hinged to the walking system 1, and it can move along the X, Y, and Z axes. The cutting machine 3 is located on the three-axis moving mechanism 2. The tilt angle adjustment mechanism 4 includes a base plate 41, a main connecting rod 42, a secondary connecting rod 43, and a translation mechanism 44. The base plate 41 is fixed to the rear end of the walking system 1. The lower end of the main connecting rod 42 is hinged to the base plate 41, and its upper end is rotatably connected to the rear end of the three-axis moving mechanism 2. One end of the secondary connecting rod 43 is hinged to the middle of the main connecting rod 42, and the other end is hinged to the translation mechanism 44. When the translation mechanism 44 moves horizontally, the upper end of the main connecting rod 42 is driven to rotate by the secondary connecting rod 43 to adjust the forward tilt angle of the three-axis moving mechanism 2, thereby realizing the steel strand cutting angle compensation function.
[0033] Specifically, the translation mechanism 44 includes a linear slide rail 441, a support plate 442, a ball screw 443, and a drive assembly 444. The linear slide rail 441 is mounted on the base plate 41 and is slidably connected to the support plate 442. The support plate 442 is hinged to the other end of the secondary connecting rod 43. The ball screw 443 is arranged parallel to the linear slide rail 441 and passes through the support plate 442. The drive assembly 444 is used to drive the support plate 442 to move back and forth on the linear slide rail 441.
[0034] Furthermore, the drive assembly 444 includes a servo motor and a planetary reducer fixed to the base plate 41. The output end of the servo motor is connected to one end of the planetary reducer, and the other end of the planetary reducer is coaxially connected to a ball screw 443 via a coupling. The ball screw 443 can convert rotational motion into linear motion, thereby driving the support plate 442 to translate in the Z-axis direction. In this embodiment, linear slide rails 441 are respectively provided below both ends of the support plate 442. The translation mechanism 44 also includes graphite sliders 445, which are respectively provided at both ends of the support plate 442 and slidably connected to the linear slide rails 441. The nut of the ball screw 443 is fixed in the middle of the support plate 442, which can improve the stability of the support plate 442's back-and-forth movement.
[0035] Continue to refer to Figure 4 The three-axis moving mechanism 2 includes an X-axis moving mechanism 21, a Y-axis moving mechanism 22, and a Z-axis moving mechanism 23. The front end of the Z-axis moving mechanism 23 is hinged to the walking system 1, and the rear end is rotatably connected to the upper end of the main connecting rod 42. The X-axis moving mechanism 21 is mounted on the Z-axis moving mechanism 23, the Y-axis moving mechanism 22 is mounted on the X-axis moving mechanism 21, and the cutting machine 3 is mounted on the Y-axis moving mechanism 22. (Continue to refer to...) Figure 1 The Z-axis moving mechanism 23 includes a U-shaped bracket 231, a Z-axis guide rail 232, and a mounting groove 233. The open end of the U-shaped bracket 231 is hinged to the walking system 1, and Z-axis guide rails 232 are provided on both sides. The mounting groove 233 is located at the closed end of the U-shaped bracket 231 and is rotatably connected to the upper end of the main connecting rod 42 via a bearing 446. Specifically, the U-shaped bracket 231 is horizontally positioned above the walking system 1. The open end of the U-shaped bracket 231 can be hinged to the front end of the walking system 1 via a hinge or hinge. The closed end of the U-shaped bracket 231 is provided with a mounting groove 233 that can accommodate the bearing 446. When the drive assembly 444 drives the support plate 442 to move towards the open end of the U-shaped bracket 231, the upper end of the main connecting rod 42 rotates towards the open end of the U-shaped bracket 231, which can raise the height of the closed end of the U-shaped bracket 231, thereby adjusting the forward tilt angle of the three-axis moving mechanism 2.
[0036] Furthermore, the Z-axis moving mechanism 23 drives the X-axis moving mechanism 21 to move on the Z-axis guide rail 232 via a motor and gear rack structure. The X-axis moving mechanism 21 drives the Y-axis moving mechanism 22 to move along the X-axis direction via a motor and gear rack structure. The Y-axis moving mechanism 22 can be a lifting mechanism used to drive the cutting machine 3 to move up and down. (Continue to refer to...) Figure 4The cutting machine 3 includes a fixed base 31, a motor 32, and a concave saw blade 33. The fixed base 31 is mounted on the Y-axis moving mechanism 22, and the motor 32 is mounted on the fixed base 31, with its output end connected to the concave saw blade 33. Because the connection between the output end of the motor 32 and the concave saw blade 33 is recessed inward, it avoids contact with the end face of the cut steel strand, enabling continuous flush cutting of all steel strands within the anchor hole, thereby improving cutting efficiency.
[0037] like Figure 3 and Figure 4 As shown, this embodiment also includes a cooling mechanism 5, which includes a water tank 51, a water pump 52, and a liquid guide pipe 53. The outlet of the liquid guide pipe 53 is located above the concave saw blade 33. The water pump 52 is used to transport the coolant in the water tank 51 to the surface of the concave saw blade 33 through the liquid guide pipe 53. Specifically, the cooling mechanism 5 also includes a flow control valve and a filter. The flow control valve is used to control the coolant flow rate, and the filter can prevent clogging of the liquid guide pipe 53.
[0038] This embodiment also includes a camera module 6 and an image processing module. The camera module 6 is used to acquire images of the steel strand's position. The image processing module identifies the cutting position of the steel strand based on a visual algorithm and can calculate the tilt angle of the steel strand's end using image measurement methods, so as to control the tilt angle adjustment mechanism 4 to adjust the forward tilt angle of the three-axis moving mechanism 2. In addition, it also includes a photoelectric centering rod 7, which can be telescopically mounted on the fixed base 31 along the Z-axis direction to acquire the position information of the steel strand in order to improve cutting accuracy.
[0039] In this embodiment, the walking system 1 includes a chassis 11, a wheel set 12, a drive mechanism 13, and a reversing mechanism 14. A three-axis moving mechanism 2 is provided on top of the chassis 11, and the wheel set 12 is provided below it. A base plate 41 is fixed to the rear end of the chassis 11. The drive mechanism 13 and the reversing mechanism 14 are used to drive the wheel set 12 to rotate and reverse direction, respectively. Specifically, the structure of the chassis 11 matches the structure of the U-shaped bracket 231, and the front ends of the two are hinged together.
[0040] It should be understood that the adjustable tilt angle steel strand cutting robot of this utility model is not only suitable for cutting steel strands in box girders, but also for cutting steel strands or reinforcing bars in slab beams, T-beams, composite beams, and other building walls. In this utility model, the robot can be directly controlled and monitored in all aspects through a computer system, ensuring its intelligent and normal operation. The control circuits, control methods, and power supply of each system are all common knowledge. Furthermore, since this utility model is primarily used to protect mechanical devices, the control methods and circuit connections will not be explained in detail here.
[0041] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the present invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the present invention, as well as various different choices and variations. The scope of the present invention is intended to be defined by the claims and their equivalents.
Claims
1. An adjustable tilt angle steel strand cutting robot, characterized in that, include: Walking system; A three-axis moving mechanism is located above the walking system and its front end is hinged to the walking system, and it can move along the X, Y, and Z axes. A cutting machine is mounted on the three-axis moving mechanism; The tilt adjustment mechanism includes a base plate, a main connecting rod, a secondary connecting rod, and a translation mechanism. The base plate is fixed to the rear end of the walking system. The lower end of the main connecting rod is hinged to the base plate, and the upper end is rotatably connected to the rear end of the three-axis moving mechanism. One end of the secondary connecting rod is hinged to the middle of the main connecting rod, and the other end is hinged to the translation mechanism. When the translation mechanism moves horizontally, the upper end of the main connecting rod is driven to rotate by the secondary connecting rod to adjust the forward tilt angle of the three-axis moving mechanism.
2. The adjustable tilt angle steel strand cutting robot according to claim 1, characterized in that, The translation mechanism includes a linear slide rail, a support plate, a ball screw, and a drive assembly. The linear slide rail is mounted on the base plate and slidably connected to the support plate. The support plate is hinged to the other end of the secondary connecting rod. The ball screw is arranged parallel to the linear slide rail and passes through the support plate. The drive assembly is used to drive the support plate to move back and forth on the linear slide rail.
3. The adjustable tilt angle steel strand cutting robot according to claim 2, characterized in that, The translation mechanism also includes graphite sliders, which are respectively disposed at both ends of the support plate and slidably connected to the linear slide rail.
4. The adjustable tilt angle steel strand cutting robot according to claim 2, characterized in that, The drive assembly includes a servo motor and a planetary reducer fixed to the base plate. The output end of the servo motor is connected to one end of the planetary reducer, and the other end of the planetary reducer is coaxially connected to the ball screw via a coupling.
5. The adjustable tilt angle steel strand cutting robot according to claim 1, characterized in that, The three-axis moving mechanism includes an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism. The front end of the Z-axis moving mechanism is hinged to the walking system, and the rear end is rotatably connected to the upper end of the main connecting rod. The X-axis moving mechanism is mounted on the Z-axis moving mechanism, the Y-axis moving mechanism is mounted on the X-axis moving mechanism, and the cutting machine is mounted on the Y-axis moving mechanism.
6. The adjustable tilt angle steel strand cutting robot according to claim 5, characterized in that, The Z-axis moving mechanism includes a U-shaped bracket, a Z-axis guide rail, and a mounting groove. The open end of the U-shaped bracket is hinged to the walking system, and the Z-axis guide rail is provided on both sides. The mounting groove is located at the closed end of the U-shaped bracket and is rotatably connected to the upper end of the main connecting rod through a bearing.
7. The adjustable tilt angle steel strand cutting robot according to claim 5, characterized in that, The cutting machine includes a fixed base, a motor, and a concave saw blade. The fixed base is mounted on the Y-axis moving mechanism, and the motor is mounted on the fixed base with its output end connected to the concave saw blade.
8. The adjustable tilt angle steel strand cutting robot according to claim 7, characterized in that, It also includes a cooling mechanism, which includes a water tank, a water pump and a liquid guide pipe. The outlet of the liquid guide pipe is located above the concave saw blade. The water pump is used to transport the coolant in the water tank to the surface of the concave saw blade through the liquid guide pipe.
9. The adjustable tilt angle steel strand cutting robot according to claim 1, characterized in that, It also includes a camera module and an image processing module. The camera module is used to acquire images of the position of the steel strand, and the image processing module identifies the cutting position of the steel strand based on a visual algorithm.
10. The adjustable tilt angle steel strand cutting robot according to claim 1, characterized in that, The walking system includes a chassis, a wheel set, a drive mechanism, and a reversing mechanism. The three-axis moving mechanism is located above the chassis, and the wheel set is located below it. The base plate is fixed to the rear end of the chassis. The drive mechanism and the reversing mechanism are used to drive the wheel set to rotate and reverse direction, respectively.